Compliant landing of a trotting quadruped robot based on hybrid motion/force robust control

A compliant landing strategy for a trotting quadruped robot on unknown rough terrains based on contact force control is presented. Firstly, in order to lower the disturbance caused by the landing impact force, a landing phase is added between the swing phase and the stance phase, where the desired contact force is set as a small positive constant. Secondly, the joint torque optimization of the stance legs is formulated as a quadratic programming(QP) problem subject to equality and inequality/bound constraints. And a primal-dual dynamical system solver based on linear variational inequalities(LVI) is applied to solve this QP problem. Furthermore, based on the optimization results, a hybrid motion/force robust controller is designed to realize the tracking of the contact force, while the constraints of the stance feet landing angles are fulfilled simultaneously. Finally, the experiments are performed to validate the proposed methods.

Production of physic nut hybrid progenies and their parental in various dry land

Hibridization is one of breeding strategy to increase productivity of crop including physic nut (Jatropha curcas Linn.). This study aimed to obtain information productivity per hectare and seed oil content of 11 numbers of physic nut hybrids and their parental in four dry lands. The research was conducted in four dry land: Kalipare-Malang, Oro-oro Pule-Kejayan Pasuruan, Kedung Pengaron-Pasuruan and Jorongan-Leces Probolinggo. The materials used in this research are the eleven result numbers of physic nut hybrids, they are SP38XHS49, SP8XHS49, SP8XSP16, SP8XSP38, SP33XHS49, SM35XHS49, SM35XSP38, IP1AXHS49, IP1AXSP38, IP1PXHS 49, IP1PXSP38, and their parental, they are HS49, SP16, SP38, SP8, SP33, SM35, IP1A, IP1P, IP3P. Observation was done during the plants’ generative phase, on the second harvest. The results showed that SP38XHS49 hybrid on Kedung Pengaron, produces the highest seeds dry weight per hectare (1170 kg/ha) with 62.33 gram of dry weight of 100 seeds and the oil content is 32.56%. The highest average of dry seed productions from all planting sites achieved on the crossing between SP38XHS49 (658.75 kg/hectare) and followed by SP8XHS49 (607.5 kg/hectare). If the comparison of the four locations, the highest average productivity of physic nut achieved on location Jorongan, Leces, Probolinggo. In general, the data proves that the hybrid result from the crossing shows the higher production level compare to their parental. The dry weight of 100 seeds produced ranged from 54.03 grams to 68.29 grams. Of all four planting sites, it shows that the highest 100 seeds dry weight achieved by the crossing between IP1P-XHS49 which is 64.63 grams. The seed oil content ranged from 27.04 to 35.24 percent. The highest average of seed oil content achieved by the crossing between SM35XSP38 (32.035%).

Results of Testing Maize Hybrids on Lands Shifting from Rice-Growing Areas of Less Efficiency in the Mekong Delta

Forecasters predict that by 2020 there will be 4.5 or 5 million tons per annum maize supply deficiency in Vietnam. As a result of this projection, the government responded by shifting 80,000 ha of low-efficiency rice production areas into maize production （2014-2015） and this area of production for maize is expected to increase to 150,000 ha by 2016-2020. Nevertheless, not all commercial maize hybrids could be suitable for rice-growing land in the Mekong Delta and a national project of hybrid maize development for Mekong Delta has been conducted since early 2014. In the project, yield trials of 20 maize hybrids, sourced from Vietnamese institutions and the private sector including Syngenta （NK67） and Dekalb （DK9901）, were sown in Dong Thap, Hau Giang and Long An provinces situated in the Mekong Delta, in minor acid sulphate soils with a pH of 5.0-5.5. The trial included three replications in an Alpha lattice design conducted during spring-summer in 2014. The hybrids flowered at 50-52 d after planting and physiologically matured between 93-97 d after planting. This suggested they would be suitable for cropping systems, which was comprised of three seasons per year. To determine which hybrid is best suited for the region, researchers evaluated yield and ear characteristics. The average yield of the genotypes across locations was 52.03, 54.92 and 57.60 quintals/ha, respectively, and the heritability of genotypes in each location was 0.51, 0.81 and 0.61, respectively. The mean yield of DK9901 was 58.19 quintals/ha, ranking the 7th among 20 hybrids, and NK67 was 47.58 quintals/ha, ranking the 19th. The grand mean was 54.92 quintals/ha and heritability for all genotypes was 0.79. The highest yield was produced by the Southern seed company hybrid SSC474 （69.39 quintals/ha）, which yielded significantly more maize than DK9901 （58.19 quintals/ha） at P 〈 0.05, followed by VS71 from National Maize Research Institute （NMRI） at 63.52 quintals/ha, and LCH9A from NMRI at 63.39 quintals/ha. Although the yield of the VS71 hybrid was greater than the DK9901 hybrid, the ear characteristics were less desirable. Therefore, after comparing these hybrids, it was concluded that SSC474 and LCH9A were the two most suitable hybrids to produce in the Mekong Delta.

考虑协作度的双人异步并行拆卸序列规划

为降低飞机运营中维修成本,减少拆卸时间,使双人拆卸更加灵活、高效,提出协作度概念,建立了考虑协作度的双人异步并行拆卸序列规划模型。使操作者在优先约束下产生的闲置时间加入另一操作者进行协作。设计适用的算子编码、解码方案以及进化规则,提出了适用于模型求解的遗传-粒子群算法;最后以起落架拆卸为例,在MATLAB软件上进行算例验证,与文献方法进行对比,计算结果表明采用考虑协作度的双人异步并行拆卸序列耗时更短,本文建立的模型可有效减少民航业大量的维修工作在拆卸中所耗时间,降低人力成本。

船载投料系统饲料颗粒流落点预测

【目的】为解决网箱养殖中使用船载投料系统的饲料颗粒流落点控制问题,提出一种用于实时分割饲料颗粒流轨迹并精确预测其落点的方法(MLBP)。【方法】考虑到输料管管内参数及饲料颗粒流出口参数获取难度较大,本研究采用高速相机获取饲料颗粒流轨迹图像,并利用提出的混合网络模型分割饲料颗粒流轨迹,以获取轨迹关键信息;为准确预测饲料颗粒流落点,利用BP神经网络的优势,将轨迹信息及投料口高度作为其输入,实现饲料颗粒流落点的预测。【结果】与相关研究方法对比,结合混合网络模型与BP神经网络的MLBP方法的系统单次运行时间降低95%,同时落点预测准确度达到96%,落点的平均误差范围与平均误差百分比也分别降低32.0%和30.5%。【结论】本研究提出的MLBP方法预测精度及实时性均能满足网箱投饵作业需求,可为相关研究提供参考。

基于混合用地模式识别的济南市老城区典型片区绿色空间降温效应分析

城市绿色空间可以通过生态系统服务调节功能有效缓解城市热岛效应,降低高温健康胁迫风险。城市中心城区特别是老城区建成环境具有高度异质性,复杂建成环境中绿色空间的降温效应,特别是混合用地模式中绿色空间的降温强度、阈值、形状等还需进一步明晰。在厘清城市热环境影响因素和绿色空间降温机制基础上,构建了“冷热岛分析提取-混合用地模式聚类识别-混合用地模式热效应分析-典型绿色空间降温效应分析”的研究框架。针对当前城市绿地指标失实、结构失衡、功能失调等现实问题,选择济南市老城区典型片区进行实证研究,重点分析了中层建筑混合用地模式中绿色空间的降温强度、降温面积阈值、形状及植被覆盖度等,总结了具有高降温效能的绿色空间模式,为促进城市健康人居环境发展提供借鉴。

小型全电/混动飞机技术路线与动力系统综述

该文对小型全电/混动载人飞机的技术发展路线、航空推进电机、动力系统架构进行分析、总结与展望。首先,从载人飞机的气动布局、结构拓扑、动力源和起降形式等方面分析,分出6条技术路线,总结各自的乘客数、最大起飞重量、巡航速度、功率和航程等技术指标。其次,总结已装机或拟装机航空推进电机的技术参数和应用机型。对先进航空推进电机的发展现状,按功率等级分类探讨了三相永磁电机、多相永磁电机、兆瓦级涡轮机驱动的兆瓦级电机/发电机、高温超导电机。最后,对6种动力系统架构的技术路线特点、关键技术进行梳理,分析载人全电/混动飞机未来的发展方向。国内载人电动/混动飞机领域刚起步,该文的研究工作对飞机的总体气动布局设计、功率需求、器件选型、动力系统设计具有重要的参考价值。

载人登月自由返回轨道与Hybrid轨道设计方法

对自由返回轨道与Hybrid轨道的设计方法进行了研究。应用分段受摄的高精度动力学模型,设计了搜索变量、约束条件与微分修正搜索算法,搜索得到了自由返回轨道标称轨道,并使用STK软件对其进行了验证与三维仿真,最后对误差传递情况进行了分析。Hybrid轨道由自由返回与非自由返回轨道组合而成,文中给出了一条典型的Hybrid轨道设计过程,并对其优缺点进行了简要分析。文章所述方法与结论可应用于载人登月任务轨道设计,也可应用于嫦娥后期工程和搭载发射的微型月球探测器的轨道设计。

江苏省滨海盐碱地籼粳杂交稻产量优势形成特征

旨在探明滨海盐碱地大田条件下籼粳杂交稻产量优势形成特征。2021—2022年,在江苏省滨海盐碱地择取中度盐碱地(medium saline-alkali soil,MS,土壤电导率平均2.7 dSm^(-1))和重度盐碱地(high saline-alkali soil,HS,土壤电导率平均7.2 dSm^(-1))两类典型田块,以籼粳杂交稻(甬优2640和甬优4949)、常规粳稻(南粳9108和淮稻5号)、杂交籼稻(丰优香占和Y两优372)3种类型水稻品种为试材,探究实地条件下盐胁迫对不同类型品种产量及其形成特征的影响。与中度盐碱地相比:(1)重度盐碱地下各类型品种的穗数、每穗粒数、结实率和千粒重均显著低于中度盐碱地。中度和重度盐碱地下,籼粳杂交稻的产量均显著高于常规粳稻和杂交籼稻,这主要是由于其较高的每穗粒数。(2)重度盐碱地下各类型品种关键生育期(拔节、抽穗和成熟期)的群体茎蘖数及茎蘖成穗率均显著下降。中度和重度盐碱地下,常规粳稻和杂交籼稻关键生育期的群体茎蘖数及茎蘖成穗率均高于籼粳杂交稻。(3)重度盐碱地下各类型品种关键生育期的干物重均显著下降。中度及重度盐碱地下,籼粳杂交稻抽穗期和成熟期干物重、拔节期—抽穗期和抽穗—成熟期作物生长速率均显著高于常规粳稻和杂交籼稻。重度盐碱地下各类型品种的收获指数呈上升趋势。籼粳杂交稻在重度盐碱地下的收获指数高于常规粳稻和杂交籼稻。(4)重度盐碱地下各类型品种关键生育期的叶面积指数、播种期—拔节期、拔节期—抽穗期和抽穗期—成熟期光合势均显著下降。中度和重度盐碱地下,籼粳杂交稻成熟期叶面积指数和抽穗期—成熟期光合势均显著高于常规粳稻和杂交籼稻,抽穗期—成熟期叶面积指数衰减率则呈相反趋势。(5)重度盐碱地下各类型品种株高、上三叶叶长和叶宽、叶片SPAD值和光合速率均显著下降。中度和重度盐碱地下,籼粳杂交稻上三叶叶长和叶宽、叶片SPAD值和光合速率均高于常规粳稻和杂交籼稻。本研究结果表明,滨海盐碱地实地条件下,盐胁迫显著影响水稻产量及其形成特征。与常规粳稻和杂交籼稻相比,籼粳杂交稻在滨海盐碱地仍具有较高的产量优势,这主要得益于其较高的每穗粒数;此外,较高的作物生长速率、较大的上三叶叶面积及其较强的叶片持绿性也是籼粳杂交稻在滨海盐碱地具有较好产量优势的重要特征。

基于Landsat TM数据的江苏海岸带土地利用/覆被变化检测方法比较研究

土地利用/覆被变化是全球环境变化研究的核心问题之一,选择适当的变化检测方法在江苏海岸带土地利用/覆被变化研究工作中具有重要意义。本研究选取江苏海岸带具有典型代表性的大丰市作为变化检测方法比较研究的试验区,采用1992年和2002年两期Landsat TM影像,分别运用主成分分析法、混合变化检测法和变化矢量分析法进行变化检测,提取土地利用/覆被变化信息,并对每种变化检测方法进行定量分析和综合比较。研究表明,主成分分析法对于试验区的土地利用/覆被变化研究具有检测速度快、检测精度高等优点,适合试验区以及整个江苏海岸带的土地利用/覆被变化的检测。最终,综合运用主成分分析法和分类后比较法获得了5期近30年江苏海岸带土地覆被分类图,证明了主成分分析法可有效应用于江苏海岸带的变化检测。

基于加权混合SPF主动轮廓的SAR图像水陆分割

针对现有主动轮廓模型(Active Contour Model,ACM)无法进行准确高效的SAR(Synthetic Aperture Radar)图像水陆分割的难题,提出一种基于加权混合符号压力(Signed Pressure Force,SPF)主动轮廓的新模型.该模型将中值拟合中心和均值拟合中心结合起来,建立新的混合符号压力函数,以抑制干扰边缘的影响.通过设计基于绝对中位差的自适应权重,实现自动调节内外拟合中心的比例系数,以更合理地描述灰度差异.此外,计算平滑后图像梯度信息构建边缘引导函数并引入到SPF函数中,以进一步提高分割性能和演化效率.在实际SAR图像上进行分割实验,结果表明:与相关实验模型相比,提出模型在保持高效的同时能获得更加准确的分割结果,其中Dice相似系数(Dice Similarity Coefficient,DSC)至少提高6%.

Identifying water vapor sources of precipitation in forest and grassland in the north slope of the Tianshan Mountains,Central Asia

Identifying water vapor sources in the natural vegetation of the Tianshan Mountains is of significant importance for obtaining greater knowledge about the water cycle,forecasting water resource changes,and dealing with the adverse effects of climate change.In this study,we identified water vapor sources of precipitation and evaluated their effects on precipitation stable isotopes in the north slope of the Tianshan Mountains,China.By utilizing the temporal and spatial distributions of precipitation stable isotopes in the forest and grassland regions,Hybrid Single-Particle Lagrangian Integrated Trajectory(HYSPLIT)model,and isotope mass balance model,we obtained the following results.(1)The Eurasia,Black Sea,and Caspian Sea are the major sources of water vapor.(2)The contribution of surface evaporation to precipitation in forests is lower than that in the grasslands(except in spring),while the contribution of plant transpiration to precipitation in forests(5.35%)is higher than that in grasslands(3.79%)in summer.(3)The underlying surface and temperature are the main factors that affect the contribution of recycled water vapor to precipitation;meanwhile,the effects of water vapor sources of precipitation on precipitation stable isotopes are counteracted by other environmental factors.Overall,this work will prove beneficial in quantifying the effect of climate change on local water cycles.

Developing an Automated Land Cover Classifier Using LiDAR and High Resolution Aerial Imagery

The aim of this project is to create high resolution land cover classification as well as tree canopy density maps at a regional level using high resolution spatial data. Modeling and the data manipulation and analysis of LiDAR LAS point cloud dataset as well as multispectral aerial photographs from the National Agriculture Imagery Program (NAIP) were carried out. Using geoprocessing modeling, a land cover map is created based on filtered returns from LiDAR point cloud data (LAS dataset) to extract features based on their class and return values, and traditional classification methods of high resolution multi-spectral aerial photographs of the remaining ground cover for Clarion County in Pennsylvania. The newly developed model produced 7 classes at 10 ft × 10 ft spatial resolution, namely: water bodies, structures, streets and paved surfaces, bare ground, grassland, trees, and artificial surfaces (e.g. turf). The model was tested against areas with different sizes (townships and municipalities) which revealed a classification accuracy between 94% and 96%. A visual observation of the results shows that some tree-covered areas were misclassified as built up/structures due to the nature of the available LiDAR data, an area of improvement for further studies. Furthermore, a geoprocessing service was created in order to disseminate the results of the land cover classification as well as the tree canopy density calculation to a broader audience. The service was tested and delivered in the form of a web application where users can select an area of interest and the model produces the land cover and/or the tree canopy density results (http://maps.clarion.edu/LandCoverExtractor). The produced output can be printed as a final map layout with the highlighted area of interest and its corresponding legend. The interface also allows the download of the results of an area of interest for further investigation and/or analysis.

Relationship Between Land Use Changes and the Production of Dust Sources in Kermanshah Province,Iran

Recognizing land use changes(LUC)and evaluating their relationship with producing dust sources are considered effective to manage the environment.Taking Kermanshah Province,Iran as study area,dusty days from 2008 to 2015 were selected and dust sources were identified applying thermal-infrared dust index(TDI),hybrid single-particle lagrangian integrated trajectory(HYSPLIT),false color composite(FCC)and true color composite(TCC)of MODerate resolution Imaging Spectroradiometer(MODIS)images.Afterwards,the land use change map was produced using Landsat images in 2000 and 2015.Then,the distribution and frequency of the sources in each land-use change class and important dust production areas were specified.Eventually,two non-parametric tests including Chisquare and Kruskal-Wallis were applied to examine the relationship between LUC and dust sources.Results indicated that the distribution of dust sources was not identical in the study area,and the sources were mainly generated in the areas where land-use change had occurred.In fact,different classes of LUC have different contributions to dust production,and the highest contribution refers to the deflation in gentle slope areas and lowlands where the rangeland has been converted into agriculture land.The findings from this study are useful to manage and control dust in the identified sources.

多连杆混联仿生腿式起落架设计与着陆实验研究

针对垂直起降飞行器对着陆场地的硬度及平整性要求高、传统起落架智能化程度低的问题,设计了一种基于多连杆混联机构的仿生腿式地形自适应起落架。首先针对单腿的设计构型进行驱动力矩分析与机构优化,在此基础上完成结构设计。其次基于设计构型提出了相应的驱动与运动控制算法,建立控制系统,并针对四腿机构进行着陆仿真。最后以多旋翼无人机为对象,设计了一套仿生起落架系统,与多旋翼无人机形成了整体的验证平台,实现地形识别-飞控-多腿控制融合设计,完成了搭建结构化地形的自适应着陆实验。研究结果表明,多连杆混联式仿生起落架设计方法可应用于垂直起降飞行器起落架的设计中,完成设计载重的斜坡、台阶、凹凸地面等复杂地形的着陆,具备自适应着陆的能力。

混合电推进能源管理系统模糊逻辑控制

针对混合电推进能源管理方法开展研究,设计了一种基于模糊逻辑控制的混合电推进能源管理系统。通过设置垂直起降飞行器的功率要求、内燃机-发电机输出功率和储能电池荷电状态的模糊隶属度函数,动态最优分配发电机与储能电池的功率输出,从而提升系统的燃油经济性与飞行器的航程。结合模型设置,对100 kg级的垂直起降转平飞的飞行器能源系统变化进行仿真计算,验证了能源控制算法的可行性。结果表明:基于模糊逻辑控制的能源管理方法,在总时长约为1.2 h的飞行过程中,内燃机约有1 h的时间工作在比油耗最低的区域,从而提升了混合电推进系统的能量利用效率。研究为后续混合电推进系统的能源高效控制与管理提供了设计思路和分析方法。

华润置地总部大厦塔楼结构方案比选

华润置地总部大厦属于超B级高度的超限高层建筑。为了确定性能最优、最符合建筑设计要求的结构方案,项目在方案阶段对各种可能的结构方案进行了细致的比选,包括抗侧力体系比选、楼盖体系比选和结构柱形式比选等。抗侧力体系比选,对混合结构方案的伸臂桁架或环桁架加强层进行敏感性分析来确定其数量与最优楼层;对混凝土结构方案明确仅需要在43层南北侧设置转换桁架就可以满足规范对整体指标的要求。楼盖体系比选着重比较了各结构方案能实现的净高。对各种结构柱形式的优缺点进行了详细的比较从而确定最优的结构柱形式。最后总结和比较了各结构方案的优缺点并确定最终结构方案。

基于改进蚁群算法的两栖无人飞行器陆空混合路径规划

针对两栖无人飞行器在三维环境中存在过多的能源消耗、收敛速度慢以及算法运行时间较长的情况,提出了一种基于改进蚁群算法的三维陆空混合路径规划方法。采用分层与栅格平面法相结合的方法建立三维环境模型,在该模型中每只蚂蚁采用概率选点的搜索模式搜索路径,在概率选点公式中,结合能源的消耗,更好地筛选优质路线;同时,考虑蚁群在搜索路径时需向终点靠近,引入前进角这一概念,规定范围优化蚂蚁的搜索方向,减少了不必要的蚂蚁浪费;引入影响因子,加快算法的收敛速度,减少算法的运行时间,优化全局信息素的更新方式;创建一个以能源消耗为考量的评价函数进行适应度值的选择,最终生成陆空混合路径轨迹。仿真结果表明,改进后的蚁群算法较传统蚁群算法相比路径规划的速度更快,能够更高质量地生成陆空混合路径,具有一定的实用价值和工程意义。

复合翼垂直起降无人机直驱混合动力系统验证设计与试验建模方法

针对传统复合翼垂直起降(vertical take-off and landing,VTOL)无人机(unmanned aerial vehicle,UAV)垂直机动时间短的固有缺陷,提出了一种应用油电混动技术的直驱混合动力系统拓扑结构。面向起飞质量约15~20 kg的复合翼垂直起降无人机对直驱混合动力系统的软硬件进行开发与选型,设计出了满足上述起飞质量下功率需求的直驱混合动力系统。为对动力系统的设计方法进行验证并在探究其特性规律的基础上建立简化的直驱混合动力系统数学仿真模型,搭建了能够在地面模拟搭载直驱混合动力的复合翼垂起无人机飞行工况与工作模式的直驱混合动力系统地面一体化验证平台。基于此验证平台,设计了直驱混合动力系统特性一体化探究试验方案,采用试验建模法建立了简化的直驱混合动力系统的稳态与动态数学仿真模型,通过仿真与实物对比试验分析法,验证了试验方案的可行性与模型准确性。直驱混合动力系统配装复合翼垂直起降无人机搭建飞行验证平台并完成垂直机动飞行试验,试验过程中,全系统工作正常,飞行验证平台垂直机动时间超过预期指标。飞行试验结果表明,直驱混合动力系统设计方法是正确且有效的,动力系统具有良好的功率输出表现,能够改善复合翼垂起无人机垂直机动时间短的固有缺陷。

华润置地总部大厦结构设计

华润置地总部大厦属于超B级高度的超限高层建筑,采用带伸臂桁架和环桁架的框架-核心筒混合结构体系。首先对项目基本情况进行了介绍,给出了结构在风荷载和小震以及大震作用下的整体指标关键结果。然后针对东西侧框架梁柱节点偏心对整体模型刚度以及框架柱设计的影响进行了分析,得到了整体模型框架梁端刚度释放比例以及角柱等效长度系数。最后针对核心筒的缩进与转换,进行了重力和侧力下的墙体受力分析,并通过有限元模型进行验证。分析表明通过转换层以上墙体开洞、转换层楼板配筋加强等措施,能避免刚度突变,确保结构传力的有效性,满足抗震性能目标。