The motion simulation of arc welding robot is the basis of the system of robot off-line programming, and it has been one of the important research directions. The UGNX 4. 0 is adopted to establish 3D simulating model ...The motion simulation of arc welding robot is the basis of the system of robot off-line programming, and it has been one of the important research directions. The UGNX 4. 0 is adopted to establish 3D simulating model of MOTOMAN-HP6 arc welding robot. The kinematic model under link-pole coordinate system is established by the second development function offered by UG/OPEN API and the method of programming using VC ＋＋ 6. 0. The methods of founding model and operational procedures are introduced, which provides a good basis for off-line programming technique under Unigraphies condition.展开更多
Unmanned aerial vehicles(UAVs) may play an important role in data collection and offloading in vast areas deploying wireless sensor networks, and the UAV’s action strategy has a vital influence on achieving applicabi...Unmanned aerial vehicles(UAVs) may play an important role in data collection and offloading in vast areas deploying wireless sensor networks, and the UAV’s action strategy has a vital influence on achieving applicability and computational complexity. Dynamic programming(DP) has a good application in the path planning of UAV, but there are problems in the applicability of special terrain environment and the complexity of the algorithm.Based on the analysis of DP, this paper proposes a hierarchical directional DP(DDP) algorithm based on direction determination and hierarchical model. We compare our methods with Q-learning and DP algorithm by experiments, and the results show that our method can improve the terrain applicability, meanwhile greatly reduce the computational complexity.展开更多
A novel approach is introduced to generate simulated ground motion records by considering spectral acceleration correlations at multiple periods. Most of the current reliable Ground Motion Record(GMR) simulation proce...A novel approach is introduced to generate simulated ground motion records by considering spectral acceleration correlations at multiple periods. Most of the current reliable Ground Motion Record(GMR) simulation procedures use a seismological model including source, path and site characteristics. However, the response spectrum of simulated GMR is somewhat different when compared with the response spectrum based on recorded GMRs. More specifi cally, the correlation between the spectral values at multiple periods is a characteristic of a record which is usually different between simulated and recorded GMRs. As this correlation has a signifi cant infl uence on the structural response, it is needed to investigate the consistency of the simulated ground motions with actual records. This issue has been investigated in this study by incorporating an optimization algorithm within the Boore simulation technique. Eight seismological key parameters were optimized in order to achieve approximately the same correlation coeffi cients and spectral acceleration between two sets of real and simulated records. The results show that the acceleration response spectra of the synthetic ground motions also have good agreement with the real recorded response spectra by implementation of the proposed optimized values.展开更多
基金Natural Science Foundation of Tianjin(No.07JCYBJC04400).
文摘The motion simulation of arc welding robot is the basis of the system of robot off-line programming, and it has been one of the important research directions. The UGNX 4. 0 is adopted to establish 3D simulating model of MOTOMAN-HP6 arc welding robot. The kinematic model under link-pole coordinate system is established by the second development function offered by UG/OPEN API and the method of programming using VC ＋＋ 6. 0. The methods of founding model and operational procedures are introduced, which provides a good basis for off-line programming technique under Unigraphies condition.
基金supported by the National Natural Science Foundation of China(91648204 61601486)+1 种基金State Key Laboratory of High Performance Computing Project Fund(1502-02)Research Programs of National University of Defense Technology(ZDYYJCYJ140601)
文摘Unmanned aerial vehicles(UAVs) may play an important role in data collection and offloading in vast areas deploying wireless sensor networks, and the UAV’s action strategy has a vital influence on achieving applicability and computational complexity. Dynamic programming(DP) has a good application in the path planning of UAV, but there are problems in the applicability of special terrain environment and the complexity of the algorithm.Based on the analysis of DP, this paper proposes a hierarchical directional DP(DDP) algorithm based on direction determination and hierarchical model. We compare our methods with Q-learning and DP algorithm by experiments, and the results show that our method can improve the terrain applicability, meanwhile greatly reduce the computational complexity.
文摘A novel approach is introduced to generate simulated ground motion records by considering spectral acceleration correlations at multiple periods. Most of the current reliable Ground Motion Record(GMR) simulation procedures use a seismological model including source, path and site characteristics. However, the response spectrum of simulated GMR is somewhat different when compared with the response spectrum based on recorded GMRs. More specifi cally, the correlation between the spectral values at multiple periods is a characteristic of a record which is usually different between simulated and recorded GMRs. As this correlation has a signifi cant infl uence on the structural response, it is needed to investigate the consistency of the simulated ground motions with actual records. This issue has been investigated in this study by incorporating an optimization algorithm within the Boore simulation technique. Eight seismological key parameters were optimized in order to achieve approximately the same correlation coeffi cients and spectral acceleration between two sets of real and simulated records. The results show that the acceleration response spectra of the synthetic ground motions also have good agreement with the real recorded response spectra by implementation of the proposed optimized values.
