马尔可夫性在AGV全局路径规划中的应用

通过对现有环境模型和路径规划算法的分析,提出了新的环境建模方法和基于已知环境信息的全局路径规划算法。对FMS采用机床位姿增广阵(APMM)和机床相对位姿阵(RPMM)进行建模,所建模型具有环境信息存储量小,数据易维护、易扩充等优点。最优路径的规划采用概率选择法,路径结点并行选择;最优路径取最大概率路径,路径规划效率高。仿真结果表明,所提出的路径规划算法具有简单、快速、可靠、并行搜索等优点。

A New Method of Global Path Planning for AGV

Path planning is important in the research of a mobile robot （MR）. Methods for it have been used in different applications. An automated guided vehicle（ AGV） , which is a kind of MR, is used in a flexible manufacturing system （FMS）. Path planning for it is essential to improve the efficiency of FMS. A new method was proposed with known obstacle space FMS in this paper. FMS is described by the Augmented Pos Matrix of a Machine （ APMM ） and Relative Pos Matrix of Machines （ RPMM）, which is smaller. The optimum path can be obtained according to the probability of the path and the maximal probability path. The suggested algorithm of path planning was good performance through simulation result： simplicity, saving time and reliability.

Computational Fluid Dynamics Uncertainty Analysis for Simulations of Roll Motions for a 3D Ship

The roll motions are influenced by significant viscous effects such as the flow separation.The 3D simulations of free decay roll motions for the ship model DTMB 5512 are carried out by Reynold averaged NavierStokes(RANS) method based on the dynamic mesh technique.A new moving mesh technique is adopted and discussed in details for the present simulations.The purpose of the research is to obtain accurate numerical prediction for roll motions with their respective numerical/modeling errors and uncertainties.Errors and uncertainties are estimated by performing the modern verification and validation(V&V) procedures.Simulation results for the free-floating surface combatant are used to calculate the linear,nonlinear damping coefficients and resonant frequencies including a wide range of forward speed.The present work can provide a useful reference to calculate roll damping by computational fluid dynamics(CFD) method and simulate a general ship motions in waves.

Sensitivity Analysis of the Hydrodynamic Coefficients in 4 Degrees of Freedom Ship Manoeuvring Mathematical Model

The S-type test is simulated based on a ship manoeuvring mathematical model of 4 degrees of freedom(4-DOF);simultaneously,sensitivity analysis of the hydrodynamic coefficients in the mathematical model is implemented by using an indirect method.The mathematical model is simplified by omitting the coefficients of smaller sensitivity according to the results of sensitivity analysis.The 10°/10° zigzag test and 35° turning circle manoeuvre are simulated with the original and the simplified mathematical models.The comparison of the simulation results shows the effectiveness of the sensitivity analysis and the validity of the simplified model.

Microstructure Evolution of Different Forging Processes for12%Cr Steel During Hot Deformation

Five forging experiments were designed and conducted to investigate the effect of process parameters on microstructure evolution during hot deformation for X12CrMoWVNbN10-1-1 steel.The experimental results indicated that average grain size became finer with the increasing number of upsetting and stretching.Especially,the size of stretching three times with upsetting twice had the most remarkable effect on refinement,and the size was only 27.36%of the original one.Moreover,the stress model was integrated into the software and finite element models were established.Simulation results demonstrated that the strain at center point of workpiece was far larger than critical strain value in each process,so that dynamic recrystallization(DRX) occurred in each workpiece,which implied DRX could occur for several times with the increasing number of upsetting and stretching,and uniform finer microstructure would be obtained.However,the results also showed that higher temperature was an unfavorable factor for grain refinement,so the times of heating should be limited for workpiece,and as many forging processes as possible should be finished in once heating.

Stability Analysis of Two-Point Mooring Autonomous Underwater Vehicle

Static stability analysis of the two-point mooring autonomous underwater vehicle(AUV) is presented.The mathematic model is a set of equilibrium equations describing the attitude of the AUV.The mooring lines are regarded as inelastic catenaries,and five degrees of freedom of AUV are considered.The stability of the system is represented by inequality conditions between several physical quantities and the corresponding limitations.We analyze stability of the prime AUV and find that the AUV has a flow-following tendency,which makes the swing angle big.The result shows that the two-point mooring AUV can remain stable under 2.5 kn ocean current speed,and it will weigh anchor when the speed is greater than 3 kn.Subsequent parametric study reveals the influence of the designing parameters on the stability.

Treatment of Aniline-Contaminated Wastewater by Sequencing Biofilm Batch Reactor System Under Micro-Aerobic Condition

Sequencing biofilm batch reactor(SBBR) under micro-aerobic condition was applied to the treatment of aniline-contaminated wastewater in this study.Hydraulic retention time(HRT) of 12—36 h and dissolved oxygen(DO) concentration of 0.1—0.5 mg/L were selected as the operating variables to model,analyze and optimize the process.Five dependent parameters,aniline(AN),chemical oxygen demand(COD),ammonium,total nitrogen(TN) and total phosphorus(TP) removal efficiencies as the process responses,were studied.From the results,increase in DO concentration could promote the AN,COD and ammonium removal;increase in HRT could also lead to increase of the AN and ammonium removal,but might decrease COD removal due to endogenous respiration and soluble microbial products.In the SBBR system,24 h for HRT and 0.5 mg/L for DO concentration were chosen as the optimum operating condition.The actual removal efficiencies of COD,AN and ammonium under the optimum operating condition were 98.37%,100%and 89.29%,respectively.The experimental findings were in close agreement with the model prediction.The presence of glucose could promote bacterial growth and has positive influence on AN degradation and ammonium removal.

Smolyak Type Sparse Grid Collocation Method for Uncertainty Quantification of Nonlinear Stochastic Dynamic Equations

This paper develops a Smolyak-type sparse-grid stochastic collocation method(SGSCM) for uncertainty quantification of nonlinear stochastic dynamic equations.The solution obtained by the method is a linear combination of tensor product formulas for multivariate polynomial interpolation.By choosing the collocation point sets to coincide with cubature point sets of quadrature rules,we derive quadrature formulas to estimate the expectations of the solution.The method does not suffer from the curse of dimensionality in the sense that the computational cost does not increase exponentially with the number of input random variables.Numerical analysis of a nonlinear elastic oscillator subjected to a discretized band-limited white noise process demonstrates the computational efficiency and accuracy of the developed method.

Vibration Characteristic Analysis and Experiment of Non-Rigid Airship with Suspended Curtain

In order to evaluate the vibration characteristics of non-rigid airship with suspended curtain,we introduce vibration characteristic analysis method of the inflatable membrane structure.Modal numerical method of the inflatable membrane structure under the pressure difference is validated by the model testing of the inflatable cantilever tube.The finite element model of 75 m airships is established to simulate the vibration characteristics subjected to only pressure difference and the resultant force of weight and buoyancy.The nonlinear static deformation and stress analysis are investigated for two kinds of equilibrated configurations with various pressure differences,as well as the vibration characteristics.The structural efficiency of the suspended curtain is investigated through the force transfer ratio at the assumed equilibrated point.The effects of manufacture error of the suspended cable length on the structural behavior are analyzed.The results indicate that the local area of airship envelope connected to the suspended cable is a weak part.Various pressures and pressure gradients have significant effects on the global airship structure and the suspended curtain.The suspended curtain is effective to transfer the equilibrated force from the bottom to the top of airship envelope.Manufacture error of the suspended cable length could result in obvious deformation of local airship envelope.The presented work is valuable to the structural engineering design of stratospheric airship.

Modeling the Completely Recrystallized Grain Growth of NiCrMoV Rotor Steel

The present study focuses on the completely recrystallized grain growth of NiCrMoV steel.All the samples were austenitised at 1250℃ for 5min,and then were compressed with strain rate of 0.01s^(-1) and finial strain of 0.8.Once the compression completed,the specimens were held for different time before water quenching.Based on the experimental results,the completely recrystallized grain growth model was established and the effects of temperature and holding time on austenite grain size were investigated.Comparison between the experimental and predicted results was carried out.A good agreement between the experimental and predicted results verifies the developed model.