A Real-time Look-ahead Trajectory Planning Methodology for Multi Small Line Segments Path

When a robot is required to machine a complex curved workpiece with high precision and speed,the tool path is typically dispersed into a series of points and transmitted to the robot.The conventional trajectory planning method requires frequent starts and stops at each dispersed point to complete the task.This method not only reduces precision but also causes damage to the motors and robot.A real-time look-ahead algorithm is proposed in this paper to improve precision and minimize damage.The proposed algorithm includes a path-smoothing algorithm,a trajectory planning method,and a bidirectional scanning module.The path-smoothing method inserts a quintic Bezier curve between small adjacent line segments to achieve G^(2)continuity at the junctions.The trajectory planning method utilizes a quartic polynomial and a double-quartic polynomial that can achieve a constant velocity at the velocity limitation.The bidirectional scanning module calculates the velocity at each trajectory planning segment point,simplifying calculation complexity and can be run in real time.The feasibility of the proposed algorithm is verified through simulations and experiments,which can be run in real time.In addition,high machining precision can be achieved by adjusting the relevant parameters.

基于多Agent强化学习的多站点CSPS系统的协作Look-ahead控制

研究多站点传送带给料生产加工站(Conveyor-serviced production station,CSPS)系统的最优控制问题,其优化目标是通过合理选择每个CSPS的Look-ahead控制策略,实现整个系统的工件处理率最大.本文首先根据多Agent系统的反应扩散思想,对每个Agent的原始性能函数进行改进,引入了具有扩散功能的局域信息交互项(原始项看作具有反应功能);并运用性能势理论,构建一种适用于平均和折扣两种性能准则的Wolf-PHC多Agent学习算法,以求解决策时刻不同步的多站点的协作Look-ahead控制策略.最后,论文通过仿真实验验证了该算法的有效性,学习结果表明,通过性能函数的改进,各工作站的负载平衡性得到改善,整个系统的工件处理率也明显提高.

结合look-ahead值排序的自适应分支求解算法

基于新近提出的自适应分支约束求解框架,结合look-ahead值启发式,提出一种新的约束求解算法AdaptBranchLVO。为验证算法效率,在标准测试库上进行了充分对比实验。结果表明,新提出算法在效率上明显优于已有的自适应分支求解算法。

A Generalized Acceleration and Deceleration Approach for Continuous Small Line Blocks with Look-ahead

Generally complex 3D contours are divided into a lot of continuous small line blocks by CAD/CAM software. When these small line blocks are used in conventional way,machine tool has to stop at the end of one move before continuing on to the next to meet accuracy requirement,which results in inefficiency.Look-ahead is an intelligent function that aims at adjusting the feed rate automatically to achieve maximum productivity while maintaining accuracy.By now most researchers just utilize the simplest linear acceleration(ACC)and deceleration(DEC)to deal with look-ahead intelligence.A generalized ACC/DEC ap- proach and corresponding optimal look-ahead algorithm based on dynamic back tracking along a doubly linked list are proposed.An improved rounding strategy for reducing interpolation errors is also presented.By using the proposed techniques,arbitrary velocity profiles that offer look-ahead feature and have the desired ACC/DEC characteristics for movement of a lot of continuous line blocks can be generated efficiently.Both simulations and experiments showed the productivity was dramatically increased without sacri- fice of accuracy.

LOOK-AHEAD ALGORITHM FOR VELOCITY CONTROL BASED ON PARAMETERIZED CURVE INTERPOLATOR

To avoid suffering gouge and transient overshooting in high speed cutting machining, a novel parametefized curve interpolator model with velocity look-ahead algorithm is proposed. Based on a prearrangement step interpolation algorithm for parameterized curves and considering high curvature points, parameterized curve tool path is divided into acceleration segments and deceleration segments by look-ahead algorithm. Under condition of characteristics of acceleration and deceleration stored in control system, deceleration before high curvature points and acceleration after high curvature points are realized in real-time in high speed cutting machining. Based on new parameterized curve interpolator model with velocity look-ahead algorithm, a real cubic spline is machined simulativly. The simulation results show that velocity look-ahead algorithm improves velocity changing more smoothly.

A new deep-reading look-ahead method in electromagnetic loggingwhile-drilling using the scattered electric field from magnetic dipole antennas

This paper presents a new deep-reading logging-while-drilling electromagnetic(EM)logging method to detect bed boundaries ahead of bit.Unlike all existing EM logging approaches,the new method is based on the scattered electric field radiated by a magnetic dipole antenna.By analyzing the characteristics of electric tensor responses in layered formations,optimal look-ahead electric component is selected.The selected scattered field contributes to a large portion of the total field and is strongly sensitive to the boundary position.The measured voltage from the scattered electric component can be tens of times larger than that from the scattered magnetic fields and it attenuates slower.Thus,the detection capability improves significantly.A coaxial open-loop half-circle antenna is then proposed to measure the electric field in logging while drilling environment.A practical tool implementation equipped with two tilted close-loop antennas and two open-loop antennas is further developed for look-ahead application.Numerical results demonstrate that the detection depth of the new look-ahead tool can be up to 40 m under favorable conditions.Compared with current look-ahead logging tools,the new method not only significantly shortens the tool size,but also can recognize the boundary position and azimuth.

A new cellular automata model of traffic flow with negative exponential weighted look-ahead potential

With the development of traffic systems, some issues such as traffic jams become more and more serious. Efficient traffic flow theory is needed to guide the overall controlling, organizing and management of traffic systems. On the basis of the cellular automata model and the traffic flow model with look-ahead potential, a new cellular automata traffic flow model with negative exponential weighted look-ahead potential is presented in this paper. By introducing the negative exponential weighting coefficient into the look-ahead potential and endowing the potential of vehicles closer to the driver with a greater coefficient, the modeling process is more suitable for the driver’s random decision-making process which is based on the traffic environment that the driver is facing. The fundamental diagrams for different weighting parameters are obtained by using numerical simulations which show that the negative exponential weighting coefficient has an obvious effect on high density traffic flux. The complex high density non-linear traffic behavior is also reproduced by numerical simulations.

无结构网格上二维浅水流动的数值模拟

提出在无结构网格上建立有限体积高性能格式族的统一框架，通过引入跨单元界面法向数值通量的逆风分解，将一维Ｏｓｈｅｒ、ＴＶＤ两种通量分裂格式自然地推广至二维浅水方程组。给出了各种情况下浅水方程组有限体积法边界处理的计算公式。最后，利用该格式对穹包溢流、陆地动边界和河口潮流三个问题进行计算。结果表明，这类守恒格式具有高精度、无振荡性以及处理复杂流态过渡、自动捕俘间断和模拟陆地动边界的功能。

电厂超大型排烟冷却塔风洞试验与稳定性分析

为了研究电厂超大型排烟冷却塔结构的稳定性能,进行群塔刚体测压和气弹测振模型风洞试验,获得计算风致稳定性所需的表面压力极值分布模式、多塔比例系数和风振系数等参数,采用有限元数值模拟方法和自行编制的前、后处理程序验算了排烟冷却塔的局部、整体稳定性能和极限承载力.计算结果表明:烟道周边壳体局部稳定性安全因子低于规范最小值,必须采取加固措施;加固后冷却塔整体最不利失稳临界风速大于设计检验风速,且考虑内吸力影响会使其有30%左右的下降幅度;施工状态承载力验算表明,随着施工高度的上升,临界风速逐渐降低,当施工模板层数达到100时,其临界风速为119.41 m/s,远大于当地50 a一遇年最大风速(24 m/s).

对流-扩散方程若干AGE格式及其稳定性

以求解对流－扩散方程的中心差分格式、显式逆风格式、Ｓａｍａｒｓｋｉ格式和修正Ｄｅｎｎｉｓ格式为基础，构造了若干新的交替分组显式格式，并证明它们是无条件稳定的．数值结果表明，除了基于中心差分格式的ＡＧＥ格式与ＡＤＥ格式外，其他的各种ＡＧＥ格式与相应的ＡＤＥ格式的精度相当．

抛物问题的一类变网格矩形有限元方法

传统有限元方法要求区域剖分满足正则性条件.对一类抛物问题,首先可利用相应的矩形元,绕开区域剖分中正则性条件的限制,再结合变网格思想,导出所讨论问题的全离散有限元格式;其次,利用Riesz投影算子,通过一些新的技巧和方法,得到与传统有限元相同的最优误差估计.

非稳态方程的一类Crouzeix-Raviart型有限元方法

传统有限元方法要求区域剖分满足正则性条件.对一类非稳态方程,首先利用相应的Crouzeix-Raviart型元,绕开区域剖分中正则性条件的限制,导出所讨论问题的全离散格式;其次,利用Riesz投影算子,通过一些新的技巧和方法,得到最优误差估计.

线性抛物型方程的窄四边形元逼近方法

讨论了一类发展方程——线性抛物型方程的窄四边形元逼近方法,导出了相应的半离散格式和全离散格式,并通过一些新的技巧,得到了相应的误差估计.

一类发展方程的协调元方法

讨论了一类发展方程的协调元方法.首先,导出相应的全离散格式,并通过一些新的技巧,得到了最优误差估计。

京沪高速铁路建设方案浅析

京沪高速铁路，这项我国１９４９年新中国成立以来除了三峡工程以外的第二大工程，被业内外人士广泛关注。尤其对京沪高速铁路是采用“轮轨”还是“磁悬浮”方案，有不同的看法。文中简要介绍了国内外高速铁路的发展状况及京沪高速铁路建设的重要性，对“轮轨”与“磁悬浮”方案进行了技术经济及可行性比较，认为京沪高速铁路宜采用“轮轨”方案。

Trajectory Planning of High Precision Collaborative Robots

In order to satisfy the high efficiency and high precision of collaborative robots,this work presents a novel trajectory planning method.First,in Cartesian space,a novel velocity look-ahead control algorithm and a cubic polynomial are combined to construct the end-effector trajectory of robots.Then,the joint trajectories can be obtained through the inverse kinematics.In order to improve the smoothness and stability in joint space,the joint trajectories are further adjusted based on the velocity look-ahead control algorithm and quintic B-spline.Finally,the proposed trajectory planning method is tested on a 4-DOF serial collaborative robot.The experimental results indicate that the collaborative robot achieves the high efficiency and high precision,which validates the effectiveness of the proposed method.

非线性计算不稳定的例子和分析

非线性计算稳定性是计算数学、计算物理（计算力学）中的一个重要问题。本文以一维非线性对流方程为模型，给出瞬时（半离散）差分格式和leap－frog型差分格式的非线性计算不稳定的若干例子，用定性分析和数值实验两种方法对比地进行讨论、分析，总结出若干易出现非线性计算不稳定的情况。

The Impact of High Speed Machining on Computing and Automation

Machine tool technologies, especially Computer Numerical Control （CNC） High Speed Machining （HSM） have emerged as effective mechanisms for Rapid Tooling and Manufacturing applications. These new technologies are attractive for competitive manufacturing because of their technical advantages, i.e. a significant reduction in lead-time, high product accuracy, and good surface finish. However, HSM not only stimulates advancements in cutting tools and materials, it also demands increasingly sophisticated CAD^CAM software, and powerful CNC controllers that require more support technologies. This paper explores the computational requirement and impact of HSM on CNC controller, wear detection, look ahead programming, simulation, and tool management.

住宅小区地下停车库(场)框架柱下基础设计探讨

分析了地下停车库(场)框架柱下上浮柱墩基础和下沉柱墩基础设计方案的优缺点,提出了采用节省人力物力财力资源,又能缩短施工期、简化施工工序的框架柱下整体筏板结合下沉柱墩基础的设计方案建议,探讨了下沉柱墩结构和整体筏板配筋设计优化问题。

长春轻轨无线通信系统改造方案分析

采用800 MHz TETRA数字集群通信系统进行系统改造,建立一套功能完善的无线通信系统。通过力学计算,利用接触网立柱悬挂漏缆,解决地面线路漏缆安装的难题,满足长春市城市轨道交通运营部门的使用需要。