五轮铰接式移动机器人的重构特性及分析

针对具有分离式差分机构的三箱体五轮机器人的多重构参数与机器人性能指标如稳定性、驱动力矩等非线性关系,采用iSGIHT-FD软件平台,利用Approximation方法中的响应面模型逼近局部特性,对多目标优化后数据结果进行设计数据可视化敏度分析,获得了多个重构变量对非线性性能指标的量化影响的相对大小.结果表明,轮臂的前倾角的影响最大而第五轮轮臂长度影响最小.随后对机器人实际构型进行了实验验证.该方法对于非线性多元函数的各个变量对相对影响(灵敏度)分析和可视化具有简洁、快速和直观的特点.

具有可重构特性的陷波超宽带天线设计与研究

提出了一种具有陷波及可重构特性的超宽带天线。天线采用在辐射贴片上引入开口圆环和在馈线上开倒U形槽的结构实现双陷波特性。采用在陷波结构中加入PIN二极管开关的方法实现陷波可重构特性,通过切换开关的断开与闭合,分别实现无陷波、单陷波和双陷波特性,进一步提高了超宽带频段的利用率。天线的体积仅为31 mm×24 mm×1.5 mm,结构紧凑。工作频带为2.8~3.2 GHz,4.0~5.0 GHz和6.0~12 GHz,实现了在3.2~4.0 GHz以及5.0~6.0 GHz两个频带的陷波特性,有效阻隔了WIMAX通信频段(3.3~3.6 GHz)、WLAN频段(5.150~5.285 GHz)的干扰。其他工作频段内,该天线具有较好的辐射特性,更适合应用在超宽带系统之中。

一种陷波可重构的超宽带天线设计与研究

该文设计了一种具有四陷波及可重构特性的超宽带天线。通过在天线辐射贴片、微带馈线上刻蚀U形槽,以及在改进型地板上添加环形开口寄生单元来实现天线四陷波特性。采用在陷波结构中加入PIN二极管开关的方法实现陷波可重构特性,通过开关的断开与闭合,分别实现三陷波和四陷波特性,从而进一步提高了超宽带频段的利用率。分析了天线陷波产生的原理,研究了天线部分尺寸参数对陷波的影响。通过仿真和实物测量结果对比表明,该天线在3~11.74 GHz频段内可有效抑制窄带系统的干扰。天线尺寸为24 mm×16 mm×0.8 mm,结构较紧凑,可广泛用于各种超宽带通信系统。

巨磁阻传感器输出非线性与温漂的补偿

采用巨磁阻(GMR)传感器可无接触测量直流大电流,可避免高压直流输电系统中高压直流电流传感器的热耗问题,并提高整个测量系统的稳定性。为同时对GMR传感器进行非线性补偿与温漂补偿以提高其测量精度和稳定性,提出了基于最小二乘支持向量机(LSSVM)与粒子群参数优化相结合的多传感器信息融合算法。使用LSSVM方法重构GMR传感器的传输特性,最后利用粒子群算法优化LSSVM的参数,得到GMR传感器传输特性的重构公式,用于对被测电流进行估算。采用温度传感器PT1000实时监测1台GMR传感器的温度,对该GMR传感器进行了标定实验和分析,结果表明:在-40～40°C的温度变化范围内,经重构的GMR传感器最大可测量电流为1 500A,且输出准确度明显提高,平均补偿误差<1.5%,能够满足一般高压直流电流的测量要求。

A novel line-symmetric Goldberg 6R linkage with bifurcation property

This paper proposes a novel reconfigurable Goldberg 6R linkage,conformed to the construction of variant serial Goldberg 6R linkage,while simultaneously satisfying the line-symmetric Bricard qualifications.The isomeric mechanism of this novel reconfigurable mechanism is obtained in combination with the isomerization method.The geometrically constrained conditions result in variable motion branches of the mechanism.Based on the singular value decomposition of the Jacobian matrix,the motion branches and branch bifurcation characteristics are analyzed,and the schematics of bifurcations in joint space is derived.This novel 6R linkage features one Goldberg 6R motion branch,two line-symmetric Bricard 6R motion branches,and one Bennett motion branch.With regards to the line-symmetric Bricard 6R motion branches,a similar function for the disassembly and recombination process can be achieved by reconstructing an intermediate configuration through bifurcation.Then,the isomerized generalized variant Goldberg 6R linkage is explicated in a similar way.Acting as a bridge,reconfigurability connects two families of overconstrained mechanisms.

Abnormal activity detection for surveillance video synopsis

Video synopsis is an effective and innovative way to produce short video abstraction for huge video archives,while keeping the dynamic characteristic of activities in the original video.Abnormal activity,as the critical event,is always the main concern in video surveillance context.However,in traditional video synopsis,all the normal and abnormal activities are condensed together equally,which can make the synopsis video confused and worthless.In addition,the traditional video synopsis methods always neglect redundancy in the content domain.To solve the above-mentioned issues,a novel video synopsis method is proposed based on abnormal activity detection and key observation selection.In the proposed algorithm,activities are classified into normal and abnormal ones based on the sparse reconstruction cost from an atomically learned activity dictionary.And key observation selection using the minimum description length principle is conducted for eliminating content redundancy in normal activity.Experiments conducted in publicly available datasets demonstrate that the proposed approach can effectively generate satisfying synopsis videos.

Electronic Properties in a Hierarchical Multilayer Structure

We investigate electronic properties of a hierarchical multilayer structure consisting of stacking of barriers and wells. The structure is formed in a sequence of generations, each of which is constructed with the same pattern but with the previous generation as the basic building blocks. We calculate the transmission spectrum which shows the multifractal behavior for systems with large generation index. From the analysis of the average resistivity and the multifractal structure of the wavefunctions, we show that there exist different types of states exhibiting extended, localized and intermediate characteristics. The degree of localization is sensitive to the variation of the structural parameters.Suggestion of the possible experimental realization is discussed.

Organothorium complexes containing terminal metal-ligand multiple bonds

Organoactinide complexes containing terminal metal-ligand multiple bonds have received widespread attention over the past three decades. In the last few years, significant progress has been made in the synthesis and characterization of the imido, oxo, sulfido, and carbene-containing complexes of thorium. Such thorium complexes are of interest because of their unique structural properties, their potential application in novel group transfer reactions and catalysis, as well as their ability to engage the 5f orbitals in metal-ligand bonding. This short review summarizes the synthesis and reactivity of these thorium complexes.