Oracle Workspace Manager版本管理机理和应用研究

主要介绍Oracle工作区管理器这一版本管理工具的机理并使其应用在土地利用现状数据更新的实际应用中。指出土地利用数据的现实性和准确性是制定科学的土地管理决策的关键。针对土地调查海量数据的高效管理和快速更新问题,探讨了Oracle Workspace Manager版本管理工具的机理,分析了Oracle工作区管理器版本管理机制的实现原理。阐述了其版本管理方法和具体实现,最后通过其在对土地变更数据进行管理并更新土地利用现状数据的中的应用,证实了其可行性和实用性。

Geometric Design-based Dimensional Synthesis of a Novel Metamorphic Multi-fingered Hand with Maximal Workspace

Current research on robotic dexterous hands mainly focuses on designing new finger and palm structures,as well as developing smarter control algorithms.Although the dimensional synthesis of dexterous hands with traditional rigid palms has been carried out,research on the dimensional synthesis of dexterous hands with metamorphic palms remains insufficient.This study investigated the dimensional synthesis of a palm of a novel metamorphic multi-fingered hand,and explored the geometric design for maximizing the precision manipulation workspace.Different indexes were used to value the workspace of the metamorphic hand,and the best proportions between the five links of the palm to obtain the optimal workspace of the metamorphic hand were explored.Based on the fixed total length of the palm member,four nondimensional design parameters that determine the size of the palm were introduced;through the discretization method,the influence of the four design parameters on the workspace of the metamorphic hand with full-actuated fingers and under-actuated fingers was analyzed.Based on the analysis of the metamorphic multi-fingered hand,the symmetrical structure of the palm was designed,resulting in the largest workspace of the multi-fingered hand,and proved that the metamorphic palm has a massive upgrade for the workspace of underactuated fingers.This research contributed to the dimensional synthesis of metamorphic dexterous hands,with practical significance for the design and optimization of novel metamorphic hands.

Design of a Lightweight Force-Feedback Glove with a Large Workspace

A wearable force-feedback glove is a promising way to enhance the immersive sensation when a user interacts with virtual objects in virtual reality scenarios.Design challenges for such a glove include allowing a large fingertip workspace,providing a desired force sensation when simulating both free-and constrained-space interactions,and ensuring a lightweight structure.In this paper,we present a forcefeedback glove using a pneumatically actuated mechanism mounted on the dorsal side of the user’s hand.By means of a triple kinematic paired link with a curved sliding slot,a hybrid cam-linkage mechanism is proposed to transmit the resistance from the pneumatic piston rod to the fingertip.In order to obtain a large normal component of the feedback force on the user’s fingertip,the profile of the sliding slot was synthesized through an analysis of the force equilibrium on the triple kinematic paired link.A prototype five-fingered glove with a mass of 245 g was developed,and a wearable force-measurement system was constructed to permit the quantitative evaluation of the interaction performance in both free and constrained space.The experimental results confirm that the glove can achieve an average resistance of less than 0.1 N in free-space simulation and a maximum fingertip force of 4 N in constrained-space simulation.The experiment further confirms that this glove permits the finger to move freely to simulate typical grasping gestures.

Workspace and Accuracy Analysis on a Novel 6‑UCU Bone‑attached Parallel Manipulator

With the increasingly more extensive application of the medical surgical robot in the clinic,higher requirements have been put forward for medical robots.The bone-attached robot,a popular orthopedic robot in recent years,has a tendency of miniaturization and refinement.Thus,a bone-attached parallel manipulator(PM)based on 6-UCU(universalcylindrical-universal)configuration is proposed,which is characterized by small volume,compact structure,high precision and six-dimensional force feedback.To optimize the structure and make it more compact,the workspace of the 6-UCU PM is analyzed based on the analysis of three kinds of constraint,and workspace model is established through spherical coordinate search method.This study also analyzes the influence of structural parameters on workspace,which may contribute to improving the efficiency of design and ensuring small-sized robots possess relatively large workspace.Moreover,to improve the motion accuracy,an error modeling method is developed based on the structure of 6-UCU PMs.According to this established error model,the output pose error curves are drawn using MATLAB software when the structure parameters change,and the influence of the structure and pose parameters change on the output pose error of PMs is analyzed.The proposed research provides the instruction to design and analysis of small PMs such as bone-attached robots.

基于Sybase Workspace平台构建Replication Server系统

本文介绍了Sybase Workspace开发工具及Replication Server系统,并举例展示如何利用Sybase Workspace构建一个完整的ReplicationServer系统应用,希望能给开发和维护Replication Server系统的开发者和管理员一些借鉴。

Determination of the workspace of a new coordinate-measuring machine using parallel-link mechanism

Presents the detailed algorithm established for determination of workspace for a 3-DOF coordinate measuring machine using parallel link mechanism by constructing the inverse kinematic model first and then reviewing the physical and kinematical constraints from the structural characteristics of the parallel link mechanism, and discusses the actual geometries of workspace and the factors having effect on workspace through computer simulation thereby providing necessary theoretical basis for the research and development of coordinate measuring machines using parallel link mechanism.

Workspace optimization of parallel robot by using multi-objective genetic algorithm

For the narrow workspace problem of the universal-prismatic-universal(UPU)parallel robotwith fixed orientation,a kind of multi-objective genetic algorithm is studied to optimize the robot’sworkspace.The concept of the effective workspace and its solution method are given.The effectiveworkspace height(EWH)and global condition number index(GCI)of Jacobi matrix are selected asthe optimized objective functions.Setting the robot in two different orientations,the geometric pa-rameters are optimized by the multi-objective genetic algorithm named non-dominated sorting geneticalgorithm II(NSGA-II),and a set of structural parameters is obtained.The optimization results areverified by four indicators with the robot’s moving platform at different orientations.The resultsshow that,after optimization,the fixed-orientation workspace volume,the effective workspace heightand the effective workspace volume increase by 32.4%,17.8%and 72.9%on average,respec-tively.GCI decreases by 6.8%on average.

The Research about Prescribed Workspace for Optimal Design of 6R Robot

Based on the D-H notation, kinematics model and inverse kinematics model of 6R industrial robots are established. Using graphical method, the boundary curve equations of the 6R industrial robot workspace are obtained. Based on the prescribed workspace, the D-H parameter optimization method of 6R industrial robots is proposed. Using the genetic algorithm to determine the structural dimensions of a 6R robot, we make sure that its workspace can exactly contain the prescribed workspace. This method can be used to reduce the overall size of the robot, save materials and reduce the power consumption of the robot during its work time.

DISTRIBUTION OF REACHABLE WORKSPACE AREAS IN PHYSICAL MODEL OF THE SOLUTIONS PACE OF 2－DOFPARALLEL PLANAR MANIPULAT

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WorkSpace 360助力SOA协作开发

一如既往，本次BEAWorld2006大会中曝光率最高的词汇依然是SOA。与IBM、Oracle、微软等厂商一样，BEA在SOA上倾其所有，押上最大的赌注。但与前几年仅是对SOA概念的宣传略有不同的是，现在大家逐渐开始务实，思考如何使这一让企业充满希望的架构“落地”。本次会议上，BEA就向业界推出了其引以为豪的SOA360，据BEA中国区总经理蔡汉辉先生表示，“BEASOA360是迄今为止业界最为统一的SOA平台”。

对“Visual Studio 6.0风格”程序中Workspace的三个改进

本文对“Visual Studio 6.0风格”程序中Workspace存在的三个问题进行了改进,即改进了当程序最小化后再恢复,Workspace中的Tree View窗口被阴影覆盖的问题;改进了当Workspace窗口左右拉伸改变大小时,下方Tab按钮大小不能随Workspace窗口大小的改变而随之改变的问题;改进了当Workspace处于漂浮状态,此时若关闭主程序,会严重出错的问题。

推进下一代网络商用进程——华为、微软联手打造WorkSpace企业统一通信解决方案

目前，全球都在期盼以IP网络架构为基础，融合语音、数据、多媒体通信的下一代网络，中国乃至全球各大电信运营商纷纷展开了下一代通信网络（NGN）的部署。

华为、微软联手打造WorkSpace企业统一通信解决方案

2003年11月18日，华为与微软(中国)有限公司共同推出U—SYS WorkSpace企业统一通信解决方案，该方案汇聚了华为在NGN和微软公司在企业办公系统这两方面的优势．为企业现代化办公提供更加高效的通信方案，并以此推进下一代通信网络的商用进程。

浮动基多机协调吊运系统的工作空间分析

At present,the cranes used at sea have several shortcomings in terms of flexibility,efficiency,and safety.Therefore,a floating multi-robot coordinated lifting system is proposed to fulfill the offshore lifting requirements.First,the structure of the lifting system is established according to the lifting task,the kinematic model of the system is developed by using the D–H coordinate transformation,and the dynamic model is developed based on rigid-body dynamics and hydrodynamics.Then,the static and dynamic workspace of the lifting system are analyzed,and the solving steps of the workspace are given by using the Monte–Carlo method.The effect of the load mass and the maximum allowable tension of the cable on the workspace is examined by simulation.Results show that the lifting system has limited carrying capacity and a data reference for selecting the structural parameters by analyzing the factors affecting the workspace.Findings provide a basis for further research on the optimal design of structural parameters and the determination of safe configurations of the lifting system.

Orientation angle workspaces of planar serial three-link manipulators

This paper presents a classification on the workspaces of planar serial three-link manipulators, that is, position workspace and orientation angle workspace. Position workspace indicates the region reached by the reference point on the end-effector. Orientation angle workspace indicates a set of angle ranges by which the end-effector can reach with certain orientation for every point in the reachable position workspace. By introducing a virtual equivalent mechanism, reachable position workspace can be di- vided into several Grashof intervals and non-Grashof intervals. The calculation equations of orientation angle workspace are deduced in three situations according to the relationships among four link lengths in the virtual four-bar chain. Three examples are given for three kinds of relationship of link lengths. The orientation angle workspace of extended groups, that is, two of the three link lengths equal, and the orientation angle workspace when the reference point on the end-effector moves along a non-radial direction are also discussed. A program is developed to calculate orientation angle workspaces and output variation curves of orientation angle workspace and key data within the position workspace. The approach and program in this paper can be used for fast calculation and identification of the variation rule of the orientation angle workspace of any given planar serial three-link manipulator on the basis of its link parameters, and for the design of a highly dexterous serial manipulator with proposed link rela- tions.

Closed form solution to the position workspace of Stewart parallel manipulators

A novel methodology is presented for the workspace analysis of Stewart parallel manipulators. The workspace is defined that enables a description to be made in a unified framework of both the position and orientation capabilities of the mobile platform. Given the orientation capability of the mobile platform, the piecewise closed solution to the workspace boundary is formulated. It is indicated for the first time that the workspace boundary is in fact the cap of twelve envelope surfaces, each of which is generated by a family of spherical surfaces having the movable center located on a two\|branch closed spherical curve. Two examples are given to illustrate the effectiveness of this approach.

Method for Workspace Calculation of 6R Serial Manipulator Based on Surface Enveloping and Overlaying

Aiming at the workspace calculation problem of multi-joint serial manipulators,a surface enveloping and overlaying (SEO) method is presented to identify and visualize the manipulator workspace.The SEO method is composed of two stages:the first stage is to choose reference points of the manipulator and calculate their boundary surfaces using the nth enveloping method;the second stage is to overlay these boundary surfaces to identify the final workspace.The SEO method is basically a combination of the analytic method and the numerical method.By delineating the graphic representation of the workspace step by step,the SEO method is easy to analyze the existence and the shape of voids and holes.The basic theory of the SEO method and formulas for workspace calculation are presented based on a 6R serial manipulator.By showing the workspace calculation results,the SEO method is proved working correctly.

Cable-Driven Parallel Robot Workspace Identification and Optimal Design Based on the Upper Limb Functional Rehabilitation

An assessment of the human motion repeatability for three selected Activities of Daily Living(ADL)is performed in this paper.These exercises were prescribed by an occupational therapist for the upper limb rehabilitation.The movement patterns of five participants,recorded using a Qualisys motion capture system,are compared based on the Analysis of Variance(ANOVA)method.This survey is motivated by the need to find the appropriate task workspace of a 6-degrees of freedom cable-driven parallel robot for upper limb rehabilitation,which is able to reproduce the three selected exercises.This comparison is performed to justify,whether or not,there is enough similarity between the participants’gestures,and so a single reference trajectory can be adopted as the robot-prescribed workspace.Using the results of the comparative study,an optimization process of the sought robot design is carried out,where the structure size and the cable tensions simultaneously minimized.

Teleoperated Puncture Robot System:Preliminary Design and Workspace Analysis

Radiofrequency ablation(RFA)guided by X-ray images aims to relieve herniated disc pain with mini-mal invasiveness and fast recovery.It requires an accurate and fast positioning of the puncture needle.We propose a teleoperated robotic system for percutaneous puncture to support RFA.We report the kinematics modelling and workspace analysis of the proposed system,which comprises preliminary and accurate positioning mechanisms.Preliminary positioning mechanism automatically drives the needle to the puncture area,and accurate positioning is then achieved by teleoperation under the guidance of X-ray images.We calculate the teleoperation workspace of the robot system using a spatial search algorithm and quantitatively analyze the optimal structural parameters aiming to maximize the workspace.The workspace of the proposed robot system complies with clinical requirements to support RFA.