COBOT is a new kind of collaborative robot , which can work with people in a shared space. In this paper a new kind of CVT using differential mechanism is introduced, which is major parts of five-bar COBOT and based t...COBOT is a new kind of collaborative robot , which can work with people in a shared space. In this paper a new kind of CVT using differential mechanism is introduced, which is major parts of five-bar COBOT and based the feature of nonhlonnmic constraint. The dynamic model of differential mechanism and five-bar architecture COBOT is founded. There are two kinds of coupled mode of two CVT:serial and parallel. In this paper, we present the dynamic model of serial and parallel COBOT take five-bar COBOT as research object. From the dynamic analysis foregoing, both serial and parallel COBOT model are have the feature of nonholonomic constraint. The ending track and moving state are controlled by the force of control motor and operator. The control motor can not control the movement and ending track of COBOT without the cooperation of operator.展开更多
A landslide monitoring application is presented by using a high-resolution distributed fiber optic stress sensor. The sensor is used to monitor the intra-stress distribution and variations in landslide bodies, and can...A landslide monitoring application is presented by using a high-resolution distributed fiber optic stress sensor. The sensor is used to monitor the intra-stress distribution and variations in landslide bodies, and can be used for the early warning of the occurrence of the landslides. The principle of distributed fiber optic stress sensing and the intra-stress monitoring method for landslides are described in detail. By measuring the distributed polarization mode coupling in the polarization-maintaining fiber, the distributed fiber stress sensor with stress measuring range 0 to 15 MPa, spatial resolution 10 cm and measuring range 0.5 km, is designed. The warning system is also investigated experimentally in the field trial.展开更多
基金the National Natural Science Foundation of China( 60275030) Harbin Science and Technology Bureau(2002AFLXJ004)
文摘COBOT is a new kind of collaborative robot , which can work with people in a shared space. In this paper a new kind of CVT using differential mechanism is introduced, which is major parts of five-bar COBOT and based the feature of nonhlonnmic constraint. The dynamic model of differential mechanism and five-bar architecture COBOT is founded. There are two kinds of coupled mode of two CVT:serial and parallel. In this paper, we present the dynamic model of serial and parallel COBOT take five-bar COBOT as research object. From the dynamic analysis foregoing, both serial and parallel COBOT model are have the feature of nonholonomic constraint. The ending track and moving state are controlled by the force of control motor and operator. The control motor can not control the movement and ending track of COBOT without the cooperation of operator.
基金supported by the National Natural Science Foundation of China under Grant No. 60377021partially supported by Program for New Century Excellent Talents in University under Grant. No. NCET-07-0152Sichuan Scientific Funds for Young Researchers under Grant No. 08ZQ026-012.
文摘A landslide monitoring application is presented by using a high-resolution distributed fiber optic stress sensor. The sensor is used to monitor the intra-stress distribution and variations in landslide bodies, and can be used for the early warning of the occurrence of the landslides. The principle of distributed fiber optic stress sensing and the intra-stress monitoring method for landslides are described in detail. By measuring the distributed polarization mode coupling in the polarization-maintaining fiber, the distributed fiber stress sensor with stress measuring range 0 to 15 MPa, spatial resolution 10 cm and measuring range 0.5 km, is designed. The warning system is also investigated experimentally in the field trial.
