四足机器人转向与斜向运动规划理论及方法

为实现四足机器人在平面上的稳定平顺的转向与斜向运动,提出了一种基于参数化坐标变换矩阵的规划方法.通过D-H法建立了四足机器人的运动学模型,分别求得机器人机体坐标系在两种运动中的参数化坐标变换矩阵,并通过参数的调整来完成机器人运动的规划.最后对四足机器人在平面上的转向与斜向运动进行了仿真,仿真结果表明,该方法能够实现四足机器人在平面上的连续、平稳的转向与斜向运动.

一种考虑斜向运动参量的行人疏散模型研究

目前,元胞自动机疏散模型采用Von Neumann型和Moore型两种形式的邻域进行演化处理。这两种邻域形式描述行人疏散均有其不足。Von Neumann型邻域忽略了行人斜向运动的可能性,而Moore型邻域虽然考虑了斜向运动,却不能有效地区分斜向运动与水平竖直运动的区别。基于此,在选择Moore型邻域的基础上,提出了斜向运动参量的概念,重新阐述了疏散演化规则,修正了原Moore型邻域在描述疏散中的不足,更精确地反映了行人的疏散动力学特征。进一步利用新模型模拟仿真了疏散空间的行人疏散过程,结果表明:斜向运动参量越小,行人选择水平竖直方向运动的可能性越大;疏散时间会随斜向运动参量f值减小而增加。斜向运动参量取0.7左右时,疏散效果最佳;而当斜向运动参量取0时,Moore型邻域的疏散结果演化为Von Neumann型邻域的疏散结果。

《Z》系列技术

Monaych针织机械公司和日本Fukuhara精密机械公司是举世公认的世界一流单、双面平纹针织机生产商。它们的最新成果是《Z》系列技术。这两家公司已成功地将这一技术原理应用于多种机型。《Z》

Tectonic property and deformation history of Sangzhi-Shimen synclinorium corridor profile in western margin region of Hunan-Hubei Province

The Sangzhi-Shimen synclinorium, which is in the western margin region of the Hunan-Hubei Province and as the southeast part of the middle Yangtze platform, is a second-level tectonics unit in the south of this region. Along the profile, it can be divided into 5 third-level structure belts. By the comprehensive interpretation of seismic data and magnetotelluric (MT) sounding data, it is found that the surface structure is not in accordance with that of the underground, and this un-coordination can be conducted by many decollement surfaces between the layers. There are three periods of deformation in its geo-history in this region: before the early (Yanshan) stage, during the early Yanshan stage and after the early Yanshan stage, while the main deformation period is during the early (Yanshan) stage. And the mechanism of deformation is the thrust faults in basement, which are controlled by many decollements, in addition to the decollement of the cap-rock.