大型船闸闸室墙移动模机云检测技术研究

宿州市灵璧船闸对改善新汴河航道,加强安徽省内河船闸建设,推动引江济淮工程具有重要意义;船闸闸室墙结构为对称坞式结构,闸室总长240 m,净宽23.0 m,边墙顶高程24.4 m。根据工程特点分析实际施工过程中的重难点,并提出了闸室墙移动模机云监测施工新技术,采用有限元软件MIDAS对施工全过程进行了仿真模拟。研发了针对闸室墙移动模机结构的云平台数据监控、传输和预警系统,说明了云平台及相关监测设备的工作原理,根据有限元计算结果确定了监控点位置,并与监控测量结果进行对比。研究结果表明:在闸室墙施工过程中,移动模机各构件变形和应力均在设计范围值之内,满足规范要求,证明了闸室墙移动模机云监测施工技术适用于宿州市灵璧船闸闸室墙的施工,采用云平台监测技术可以保证施工过程的合理性和安全性。研究成果可为类似工程提供参考依据。

高速铁路现浇箱梁工程中上行式移动模架桥机运用与管理

在高速公路现浇箱梁工程中,合理运用上行式移动模架桥机,有利于缩短工期,提高机械化造桥水平,充分维护施工安全。文章以青林特大桥上跨天华铁路项目为例,分析了上行式移动模架桥机运用原理,经由安装构件、放置支架、吊装主梁、安放模板、整机预压、过孔移位、纵移拆模等细致步骤,充分展现造桥新设备应用价值,依靠完善对接工作、严控技术标准、加强安全使用等管理举措,优化高铁桥梁施工条件,满足高铁建设质量规范。

东淝河船闸闸室大体积混凝土施工技术应用

本文通过研究东淝河船闸闸室大体积混凝土施工中装配式移动模架,闸室墙混凝土一次成型浇筑,大体积混凝土浇筑温控系统布设与预警平台,浮式系船柱整体浇筑,闸室墙拉杆孔封堵及墙身临水面赛柏斯涂刷等施工技术亮点,有效解决了大型船闸大体积混凝土施工温控措施难题,确保了工程建设质量和安全。

Design of intelligent controller for mobile robot based on fuzzy logic

In order to improve a mobile robot＇s autonomy in unknown environments, a novel intelligent controller is designed. The proposed controller is based on fuzzy logic with the aim of assisting a multi-sensor equipped mobile robot to safely navigate in an indoor environment. First, the designs of two behaviors for a robot＇s autonomous navigation are described, including path tracking and obstacle avoidance, which emulate human driving behaviors and reduce the complexity of the robot＇s navigation problems in unknown environments. Secondly, the two behaviors are combined by using a finite state machine （FSM）, which ensures that the robot can safely track a predefined path in an unknown indoor environment. The inputs to this controller are the readings from the sensors. The corresponding output is the desired direction of the robot. Finally, both the simulation and experimental results verify the effectiveness of the proposed method.

Setting up the Model of Xeno-graft Verse Host Disease

Objective: To observe human to mouse one way mixed lymphocyte(MLC); And to set up the xeno-grats verse host disease Xeno-graft host disease(XGVHD) model,probing its immunologic mechamism.Methods: Mouse splenic lymphocyte were collected in asepsis and treated by mitomycin as activating cell. Human Peripheral blood lymphocytes (hPBL)were separated and gathered as reacting cell; Mouse splenic lymphocyte and hPBL were mixed to incubate for a week. Destroying recipient (mouse) immune system by total body irradiation (TBI) and intraperitoneal injecting CTX、MTX; Separating and collecting hPBL; Injecting hPBL to mouse by caudal vein. Results; ①HPBL in the experiment groups(mixed mouse lymphocyte) proliferated obviously, the amount of 3H-TdR in corporation increased evidently(P<0.05); The mean percentage of CD 4、CD 8、IgG 、IgM positive cells rose markedly. ②Experiment groups,the hPBL were found in the spleen and kidney tissue, fas protein expressing, we occasionally discovered and apoptosis cells.Conclusion: The human to mouse one-way MLC has obvious lymphocyte proliferation. By these means,we succeed in inducing XGVHD and setting up a XGVHD model.

EFFECTS OF NITRIC OXIDE ON REPERFUSION INJURY FOLLOWING PANCREATICODUODENAL TRANSPLANTATION IN RATS

Objective To investigate the effects of nitric oxide (NO) on reperfusion injury following pancreaticoduodenal transplanta- tion in rats. Methods The homologous male Wistar rat model of heterotopic total pancreaticoduodenal transplantation was used. The L-arginine (L-Arg) group received intravenous injection of L-Arg 5 minutes before and after reperfusion at a dose of 200 mg/kg while the N-Nitro-L-Arginine methyl ester (L-NAME) group received intravenous injection of L-NAME at a dose of 10mg/kg, and control group received saline. The amount of NO in the pancreas graft was measured. Serum concentration of cytokine-induced neutrophil chemoattractant (CINC) determined by enzyme-linked immunosorbant assay, expression of CINC mRNA detected by Northern blot assay, and myeloperoxidase (MPO) activity in the pancreas graft were measured. Histological observation was performed. Results The amount of NO in the L-Arg group was higher than in the control group, while in the L-NAME group was lower than in the control group (P < 0.05). The peak of serum CINC concentration occurred 3 hours after reperfusion with significant difference among groups. Expression peak of CINC mRNA in the pancreas graft occurred 3 hours after reperfusion. The expression level in the L-Arg group was lower than in the control group, the L-NAME group was higher than control group (P < 0.05). MPO activity in the L-Arg group obviously decreasd compared with other groups. The pancreas inflamma- tion was ameliorated in L-Arg group, and pancreas damage was aggravated in L-NAME group. Conclusions L-Arg can increase the amount of NO and inhibit the elevation of CINC, CINC mRNA expression, and early neutrophil accumulation in the transplanted pancreas. NO has protective effects on the ischemia/reperfusion injury of pancreaticoduodenal transplantation .

Fault detection and identification for dead reckoning system of mobile robot based on fuzzy logic particle filter

To deal with fault detection and diagnosis with incomplete model for dead reckoning system of mobile robot,an integrative framework of particle filter detection and fuzzy logic diagnosis was devised.Firstly,an adaptive fault space is designed for recognizing both known faults and unknown faults,in corresponding modes of modeled and model-free.Secondly,the particle filter is utilized to diagnose the modeled faults and detect model-free fault according to the low particle weight and reliability.Especially,the proposed fuzzy logic diagnosis can further analyze model-free modes and identify some soft faults in unknown fault space.The MORCS-1 experimental results show that the fuzzy diagnosis particle filter(FDPF) combinational framework improves fault detection and identification completeness.Specifically speaking,FDPF is feasible to diagnose the modeled faults in known space.Furthermore,the types of model-free soft faults can also be further identified and diagnosed in unknown fault space.

Place recognition based on saliency for topological localization

Based on salient visual regions for mobile robot navigation in unknown environments, a new place recognition system was presented. The system uses monocular camera to acquire omni-directional images of the environment where the robot locates. Salient local regions are detected from these images using center-surround difference method, which computes opponencies of color and texture among multi-scale image spaces. And then they are organized using hidden Markov model (HMM) to form the vertex of topological map. So localization, that is place recognition in our system, can be converted to evaluation of HMM. Experimental results show that the saliency detection is immune to the changes of scale, 2D rotation and viewpoint etc. The created topological map has smaller size and a higher ratio of recognition is obtained.

Mechanical design and locomotion control of a homogenous lattice modular self-reconfigurable robot

In this paper, we propose a novel, 3D, like cubic shape, modular self-reconfigurable (MSR) robot named M-Cubes. Its key mechanical components are analyzed in detail. By communicating with the neighboring modules, each unit employs its automatic lock device composed of a pin and a hole on each connection plane which can connect or disconnect with neighboring modules. The M-Cubes system consisting of many identical modules cooperates to change their connection, and then the whole structure transforms into arbitrary structure. Furthermore, we describe its locomotion control based on the driving function and the adjacency matrix which is effective for solving the computationally difficult problem and optimizing the system motion path during the self-reconfiguration process. Finally, a simulation experiment using java 3D technology, proved the new method for controlling modular robot is robust and useful.

The obstacle crossing ability analysis and improvement of the cable inspection robot

In this paper, the climbing obstacle capability of the previous special cable inspection robot （ Model Number： XS1T-1） is analyzed. Static equations are established to analyze the relationships between the external forces and the maximum height of an obstacle. Parameters affecting the obstacle crossing ability are obtained. According to the analysis results, an innovated small volume, simple structure and light weight climbing mechanism is proposed （Model Number： XS1T-2）. A simplified kinematics model of the mechanism is established. With two powered wheels, the obstacle crossing ability of the XSIT-2 is improved apparently. For the robot moving without deflection, the relationships of two powered input torques are deduced. The comparison of the simulation results clearly shows that the climbing ability of XS1T-2 is obviously improved, and it can meet the demands of inspection.

Control of trajectory tracking of two-wheeled differential spherical mobile robot

This paper presents a two-wheeled differential spherical mobile robot in view of the problems that the motion of spherical robot is difficult to control and the sensor is limited by the spherical shell.The robot is simple in structure,flexible in motion and easy to control.The kinematics and dynamics model of spherical mobile robot is established according to the structure of spherical mobile robot.On the basis of the adaptive neural sliding mode control,the trajectory tracking controller of the system is designed.During the simulation of the s-trajectory and circular trajectory tracking control of the spherical mobile robot,it is concluded that the spherical mobile robot is flexible in motion and easy to control.In addition,the simulation results show that the adaptive neural sliding mode control can effectively track the trajectory of the spherical robot.The adaptive control eliminates the influence of unknown parameters and disturbances,and avoids the jitter of left and right wheels during the torque output.

SIMULATION OF STRATA MOVEMENTS DUE TO UNDERGROUND MINING USING AN AUTOMATED MEASUREMENT SYSTEM FOR EQUIVALENT MATERIAL MODELING FACILITY

Strata movement simulation was conducted in an equivalent material modeling facility developed by the Department of Mining Engineering, Southern Illinois University at Carbondale, under U. S. Bureau of Mines contracts. An innovative displacement measurement system called videogrammetric system was developed and utilized for recording, measuring and analyzing the deformation and failure process of the models. A room and pillar mining and a longwall mining prototypes were studied in the modeling. Study found that weak floor of coal seam plays an important role in pillar stability and therefore the overburden movements.

In-Pipe Mobile Minimachine and Its Control

This paper deals with utilization possibility of a kinematical couple of screw-matrix in minimachine mechatronic concept which is assigned to move within the pipes having less than 25 mm of the inner diameter. The principle of the movement for a straightforward motion consists in transformation of the actuator rotary movement through a screw and a nut to the linear motion. It causes a change of distance between the front and rear parts of the minimachine modules. Due to minimization of the dimensions, the electrical control and power supply components are placed outside of the minimachine operating area. The control module is based on a programmable integrated circuit （PIC）.

Pattern Formation Control Using QR-Code for Mobile Robots

The article presents multi-pattern formation exchange of mobile robots according to the image signals, programs motion paths using A＊ searching algorithm, and avoids the collision points of motion paths. The system contains an image system, a grid based motion platform, some wireless Radio Frequency （RF） modules and five mobile robots. We use image recognition algorithm to classify variety pattern formation according to variety Quick Response （QR） code symbols on the user interface of the supervised computer. The supervised computer controls five mobile robots to execute formation exchange and presents the movement scenario on the grid based motion platform. We have been developed some pattern formations according to game applications, such as long snake pattern formation, phalanx pattern formation, crane wing pattern formation, sword pattern formation, cone pattern formation, sward pattern tbrmation, T pattern formation, rectangle pattern formation and so on. We develop the user interface of the multi-robot system to program motion paths for variety pattern formation exchange according to the minimum displacement. In the experimental results, the supervised computer recognizes the various QR-code symbols using image system and decides which pattern formation to be selected on real-time. Mobile robots can receive the pattern formation command from the supervised computer, present the movement scenario from the original pattern formation to the assigned pattern formation on the motion platform, and avoid other mobile robots on real-time.

Researches On The Robot Obstacle Avoidance Based On Fuzzy Control

With the continuous development of modem sensor technology, coupled with the integration of artificial intelligence and a variety of emerging computer technology, it makes robots more intelligent and diverse.So the ability of the robot to complete the task is also valued and widely used.In this paper, the whole covered area of the local path planning uses a fuzzy control algorithm,which uses the robustness and an action of perception based on the biological behavior of the fuzzy control algorithm combined with itself.For obstacle avoidance system of mobile robots,we put forward the avoidance strategy of fully contacting the obstacles.And we have conducted a deep study about the theory and implementation methods.

Game theoretic analysis for the mechanism of moving target defense

Moving target defense （MT_D） is a novel way to alter the asymmetric situation of attacks and defenses, and a lot of MTD studies have been carried out recently. However, relevant analysis for the defense mechanism of the MTD technology is still absent. In this paper, we analyze the defense mechanism of MTD technology in two dimensions. First, we present a new defense model named MP2R to describe the proactivity and effect of MTD technology intuitively. Second, we use the incomplete information dynamic game theory to verify the proactivity and effect of MTD technology. Specifically, we model the interaction between a defender who equips a server with different types of MTD techniques and a visitor who can be a user or an attacker, and analyze the equilibria and their conditions for these models. Then, we take an existing incomplete information dynamic game model for traditional defense and its equilibrium result as baseline for comparison, to validate the proactivity and effect of MTD technology. We also identify the factors that will influence the proactivity and effectiveness of the MTD approaches. This work gives theoretical support for understanding the defense process and defense mechanism of MTD technology and provides suggestions to improve the effectiveness of MTD approaches.