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基于仿人智能控制的足球机器人底层运动研究 被引量:26
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作者 雷李 李祖枢 王牛 《哈尔滨工业大学学报》 EI CAS CSCD 北大核心 2004年第7期978-980,共3页
根据仿人智能控制理论的基本原理,构造了仿人智能控制器(包含运行控制级、参数校正级以及协调控制),对机器人运动到定点的算法作了优化,并通过MATLAB仿真验证了该算法的有效性.
关键词 足球机器人 仿人智能控制 底层运动
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高尔夫球童机器人运动控制系统的设计 被引量:2
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作者 刘嘉 韦巍 《电子技术应用》 北大核心 2006年第10期91-92,共2页
针对高尔夫运动的特点,根据慎思/反应混合范式设计了高尔夫球童机器人系统。该系统由上位机系统和底层运动控制系统构成,具有很强的规划能力和实时性。阐述了高尔夫球童机器人的结构和特点、底层运动控制系统结构和超声传感器的应用。
关键词 高尔夫球童机器人 底层运动控制系统 单片机 超声传感器配置
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Study on mechanical principle of reinforcing sidewalls and corners of roadway to control floor heave by anchors 被引量:3
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作者 王卫军 《Journal of Coal Science & Engineering(China)》 2003年第1期17-21,共5页
The movement principle of sidewalls and floor of extraction opening is analyzed, it is found that floor heave not only has something to do with the floor strata, but sidewalls. The effect of sidewall anchor and corner... The movement principle of sidewalls and floor of extraction opening is analyzed, it is found that floor heave not only has something to do with the floor strata, but sidewalls. The effect of sidewall anchor and corner anchor is studied, the mechanical principle of reinforcing sidewalls and corners is put forward and applied in engineering practice. 展开更多
关键词 sidewalls and corners anchor reinforcing floor heave control mechanical principle
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Experimental research on overlying strata movement and fracture evolution in pillarless stress-relief mining 被引量:22
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作者 Junhua Xue Hanpeng Wang +3 位作者 Wei Zhou Bo Ren Changrui Duan Dongsheng Deng 《International Journal of Coal Science & Technology》 EI 2015年第1期38-45,共8页
In multiple seams mining, the seam with relatively low gas content (protective seam) is often extracted prior to mining its overlying and/or underlying seams of high gas content and low permeability to minimize the ... In multiple seams mining, the seam with relatively low gas content (protective seam) is often extracted prior to mining its overlying and/or underlying seams of high gas content and low permeability to minimize the risk of high gas emission and outbursts of coal and gas. A key to success with this mining sequence is to gain a detailed understanding of the movement and fracture evolution of the overlying and underlying strata after the protective seam in extracted. In Zhuji mine, the No. 11-2 seam is extracted as a protective seam with the pillarless mining method by retaining goal-side roadways prior to its overlying No. 13-1 seam. An investigation has been undertaken in the panel 1111 (1) of Zhuji mine to physically simulate the movement and fracture evolution of the overlying strata alter the No. 1 I-2 seam is extracted. In the physical simulation, the displacement, strain, and deformation and failure process of the model for simulation were acquired with various means such as grating displacement meter, strain gauges, and digital photography. The simulation result shows that: (1) Initial caving interval of the immediate roof was 21.6 m, the first weighting interval was 23.5-37.3 m with the average interval of 33.5 m, and the periodic weighting interval of the main roof was in a range of 8.2-20.55 m and averaged at 15.2 m. (2) The maximum height of the caving zone after the extraction of No. 11-2 seam was 8.0 m, which was 4 times of the seam mining height and the internal strata of the caving zone collapsed irregularly. The mining-induced fractures developed 8-30 m above the mined No. 11-2 seam, which was 7.525 times of the seam mining height, the fracture zone was about 65° upward from the seam open-off cut toward the goaf, the height of longitudinal joint growth was 4-20 times of the mining seam height, and the height of lateral joint growth was 20-25 times of the mining seam height. (3) The "arch-in-arch" mechanical structure of the internal goaf was bounded by an expansion angle of broken strata in the lateral direction of the retained goaf-side roadway. The spatial and temporal evolution regularities of over- burden's displacement field and stress field, dynamic development process and distribution of fracture field were analyzed. Based on the simulation results, it is recommended that several goaf drainage methods, i.e. gas drainage with buried pipes in goaf, surface goaf gas drainage, and cross-measure boreholes, should be implemented to ensure the safe mining of the panel 1111 (1). 展开更多
关键词 Low-permeability coal seam Pillarless stress-relief mining Overburden movement Fracture evolution Physical simulation
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清末广东新军编练与庚戌革命的基层动员
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作者 李欣荣 《史林》 CSSCI 北大核心 2024年第4期151-161,219,共12页
清末广东新军革命,呈现中、高级军官少,而基层士兵多的特征,与编练制度密切相关。按制士兵招募须为“良家子弟”,其渴望阶层上升,而晋升军官则要求军事学堂出身,中、高等军事学堂名额尤其稀缺,希望渺茫。虽有学兵营作为补救措施,以培养... 清末广东新军革命,呈现中、高级军官少,而基层士兵多的特征,与编练制度密切相关。按制士兵招募须为“良家子弟”,其渴望阶层上升,而晋升军官则要求军事学堂出身,中、高等军事学堂名额尤其稀缺,希望渺茫。虽有学兵营作为补救措施,以培养基层弁目,吸引力究属有限。加以广东频繁爆发起义,清廷防备綦严,人为阻扰粤籍下级军官的上升空间,导致革命种子萌生于军队底层。同盟会南方支部因应形势,利用江南运动新军的经验,仅半年便策反过半士兵和许多下级军官。不过由于缺乏中、高级的革命军官,军事人才欠缺,无法实施有效的组织掌控。己酉除夕的兵警冲突扩大化表面上是意外,实际从基层革命军官的应变看,他们仍难以控制这支五千多人的新军队伍。此役集中反映广东新军革命的大势已成,走向胜利则仍需解决人才、组织等具体问题。 展开更多
关键词 新军革命 征兵制 底层运动 组织控制
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