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中国天眼馈源支撑缆索检测机器人设计
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作者 孙翔宇 刘刚峰 +2 位作者 杨清阁 孙才红 赵杰 《科学技术与工程》 北大核心 2023年第3期1119-1129,共11页
中国天眼,即五百米口径球面射电望远镜,简称FAST,是中国的重大科技基础设施。而馈源支撑系统是FAST中对馈源舱进行高精度位姿调节的重要部件。为保障FAST的正常运行,必须定期开展馈源支撑系统的安全检测。为此,需要设计能够自主进行馈... 中国天眼,即五百米口径球面射电望远镜,简称FAST,是中国的重大科技基础设施。而馈源支撑系统是FAST中对馈源舱进行高精度位姿调节的重要部件。为保障FAST的正常运行,必须定期开展馈源支撑系统的安全检测。为此,需要设计能够自主进行馈源支撑缆索缺陷检测的机器人系统。针对机器人在FAST馈源支撑缆索上的工作环境,设计机器人总体方案。根据缆索上障碍多的特点,将检测机器人设计为底部开口、多轮抱索、多节串联形式;根据缆索长、陡的特点,确定两端卷扬机牵引驱动为主、轮驱为辅的驱动形式。依据总体设计方案,分别开展机器人各部分的详细结构设计,保障机器人能够可靠地沿缆索运动与避障;设计主动调整、弹性适应的连接机构实现各节机器人之间连接与相对位置调整。最后,进行机器人整机样机运行实验。实验结果表明,机器人能够稳定地在缆索上运动及避障,验证了所设计的机器人系统沿FAST缆索检测所需的运动能力。 展开更多
关键词 检测机器人 多节式结构 开合 避障 牵引驱动 连接机构
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Energy-Efficient Multi-Mode Clusters Maintenance(M^2CM) for Hierarchical Wireless Sensor Networks
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作者 Xiangdong Hu Zhulin Liu 《China Communications》 SCIE CSCD 2017年第6期1-12,共12页
How to energy-efficiently maintain the topology of wireless sensor networks(WSNs) is still a difficult problem because of their numerous nodes,highly dynamic nature,varied application scenarios and limited resources.A... How to energy-efficiently maintain the topology of wireless sensor networks(WSNs) is still a difficult problem because of their numerous nodes,highly dynamic nature,varied application scenarios and limited resources.An energy-efficient multi-mode clusters maintenance(M2CM) method is proposed based on localized and event-driven mechanism in this work,which is different from the conventional clusters maintenance model with always periodically re-clustered among the whole network style based on time-trigger for hierarchical WSNs.M2 CM can meet such demands of clusters maintenance as adaptive local maintenance for the damaged clusters according to its changes in time and space field.,the triggers of M2 CM include such events as nodes' residual energy being under the threshold,the load imbalance of cluster head,joining in or exiting from any cluster for new node or disable one,etc.Based on neighboring relationship of the damaged clusters,one can start a single cluster(inner-cluster) maintenance or clusters(inter-cluster) maintenance program to meet diverse demands in the topology management of hierarchical WSNs.The experiment results based on NS2 simulation show that the proposed method can significantly save energy used in maintaining a damaged network,effectively narrow down the influenced area of clusters maintenance,and increase transmitted data and prolong lifetime of network compared to the traditional schemes. 展开更多
关键词 HIERARCHICAL iterative clustering MULTI-MODE EVENT-DRIVEN adaptive ENERGY-EFFICIENT
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