海底管道机器人定位信号传播特性实验研究

针对双层海底管道机器人定位的需要,提出了一种基于低频电磁信号的管道内机器人的定位方法.研制了低频电磁发射器和电磁信号接收器,通过仿真分析的方法,分析了电磁信号强度在空间的衰减规律,并据此搭建实验系统,对穿透双层金属管道、海水以及空气3种介质后的信号强度分别进行了实验研究.实验结果表明,电磁信号穿过双层金属管道后有效接收...     

基于特征频谱对齿轮箱的振动监测和故障诊断

提出一种基于深度神经网络智能监测与诊断的方法。考虑到现有故障信号数据量及多样性不足以直接用来训练神经网络,提出一种基于特征频段的诊断神经网络。具体是利用现有数据进行频谱与包络谱分析,然后提取相应的故障频段与无故障频段。通过少量信号数据便可以提取足够数量的频段数据用以训练神经网络,利用该神经网络对齿轮箱进行振动监测。     

基于MFCC声音特征信号提取的风机叶片故障诊断

当风机叶片出现损伤时,在空气转动产生的声音信号会存在异常。提出了一种基于声音信号的风机叶片故障监测与诊断方式,通过传声器等设备采集正在运行风机的声音信号并对信号进行滤波处理,提高声音信号的信噪比,同时对信号进行频谱分析,将提取出的声音特征进行建模,设计风机叶片故障分类器,对风机的健康状态进行实时监测与诊断,提高风机叶片运行稳定性,降低叶片检修运维成本。     

可攀附光滑粗糙表面的全向爬壁机器人设计

设计一种即可在光滑壁面也可以在粗糙壁面进行全方向移动的爬壁机器人。首先基于螺旋副原理设计本体移动机构,通过分层设计的方法实现机器人的转向,采用钩爪和吸盘结合的方式实现在粗糙和光滑壁面的吸附。     

振动信号分析技术在汽轮机故障诊断中的应用

分析汽轮机典型故障成因,提出了一种基于振动信号时—频联合分析技术的汽轮机故障诊断方法。分别基于专家经验和经验模态分解法对采集到的汽轮机振动信号进行时域、频域分析,提取了多个与汽轮机故障状态相关的特征量,然后搭建了基于深度信念网络的诊断模型,并依据在线振动监测数据完成了训练,最后测试各模型在测试集中的识别准确率。结果表明,该故障诊断方法的平均准确率可达95.12%,可以有效识别汽轮机的振动诱因。     

基于状态空间模型的脑电去伪迹与节律提取

利用状态空间建模方法实现脑电时间序列的去伪迹与节律提取。通过建立脑电时间序列的自回归滑动平均模型,并将其表示成状态空间并联隔间形式,利用Kalman滤波器对状态进行递推估计实现脑电信号节律提取及去伪迹。给出了单导和多导闭眼静息脑电的两个应用实例,并将多导脑电估计结果和独立成分分析进行了比较。结果表明,该方法能较好地估计出眼动伪迹、工频干扰、alpha节律等成分,且此三种成分与状态转移矩阵的特征值存在对应关系;同时多导脑电估计克服了独立成分的限制,能够得到更多的成分变量。     

第五代机器人“独眼巨人”——“视觉四号”问世

当今世界先进企业的生产线上都有机器人的有力臂膀。然而,工业机器人只不过是机械臂、是一个聪明能干的操作者而已。而以色列的科学家和工程师已研制成功的一代电子“独眼巨人”,则是一种最新式的机器人。它是有眼有脑的“智力机器人”,其脑子是根据人工智能的原理来工作的。这种能力使它在操作和职能上完全代替人。目前,     

软体机器人研究现状综述

软体机器人是一种人们从自然生物中获取灵感设计制造的完全由软体材料构成的仿生机器人,与刚性机器人相比,其自身柔顺性和自由度更高,能够更好地适应非结构环境,常被用来抓取物体、复杂环境探索、医疗康复等。总结软体机器人结构特点、驱动方式、制造加工、研究现状,探讨软体机器人的发展方向。     

基于加速度信号的动平衡方法研究

针对一些设备因结构限制需通过加速度信号做动平衡的实际问题,开展了基于加速度信号的影响系数动平衡方法研究。加速度传感器拾取的不平衡信号含有大量高强度噪声,强噪声造成信号相位剧烈变化,为克服相位难以检测的问题,论文采用自适应陷波算法分离微弱的目标信号,通过提取目标信号的幅值和相位等参数构建影响系数,进而根据影响系数法的动平衡原理求解转子系统的不平衡量。此外还开展了相关实验研究,结果表明,基于加速度信号的影响系数平衡法可提取相位等特征值及求解系统的不平衡量。     

一种基于PCI8335B的人体穴位生物阻抗的测量方法

穴位是人体经络脏腑之气血输注的部位,体内气血的变化可反应于相应的穴位,尚可表现为相应穴位电学特性的改变.设计了一种基于采集卡PCI8335B控制并采集信号,主要由AD9833,AD620,AD8302等组成的硬件系统,通过VB语言编写PCI8335B的控制信号并采集硬件产生的穴位阻抗电信号,实现穴位阻抗的测量.     

The R&D/Production Interface: A Case Study of New Product Commercialization

The R&D/production interface is a key component of the innovation process. Effective transfer of technology across this interface has a direct bearing on the success of commercializing new technologies. Martin Ginn and Albert Rubenstein intensively studied three strategic business units of a major chemical company to examine how behavioral and performance variables interrelate for the key participants. The interface was found to be a key focus for interpersonal conflict. The conflict was found to be exacerbated by such factors as goal incompatibility, manufacturing complexity, uncertainty of product outcomes, exercises of power, and imperatives for action. Interestingly, projects which were more successful, both technically and commercially, tended to have higher levels of conflict and more superordinate goals than those that were less successful. Increasing compatibility of goals among participating groups is suggested as a means for improving interface relations.     

搅拌摩擦焊接装备及其过程控制研究进展

综述了搅拌摩擦焊接设备的发展现状,系统分析了这些设备的特点,并对搅拌摩擦焊接中位移控制、压力控制、焊缝跟踪等过程控制技术进行了概述。分析表明:搅拌摩擦焊接装备经历了铣床改装搅拌摩擦焊接设备、搅拌摩擦焊接专机、搅拌摩擦焊接机器人的发展过程;搅拌摩擦焊接机器人凭借高度柔韧性、多种模式过程控制、高度智能化的优势,将被广泛应用于多种工业制造领域,成为近期的研究热点;搅拌摩擦焊接过程控制技术目前主要侧重于压力监控、位移控制和焊缝跟踪,但是控制精度和稳定性均无法满足实际生产需求,因此高精度、高可靠性的多过程耦合控制技术是今后的重点研究内容。     

基于USB接口的电路检测系统的硬件设计

随着USB(universal serial bus)接口技术的迅速发展,使其已经成为微机的基本配置,将USB技术、虚拟仪器技术、单片机技术以及数据采集技术进行综合运用,开发了一种专门用于电路板检错的USB外设———基于USB接口的电路板检错笔。     

“Am I Getting It or Not?” The Practices Involved in “Trying to Consume” a New Technology

In recent years, high rates of failure of technology‐based products have spurred interest in understanding the psychological and sociological barriers to consumer learning of technological innovations. The main focus of this research was to examine the learning process and consumers’ coping mechanisms when they encounter technological innovations. A study was designed to understand the learning process in real time as consumers engaged in a set of activities associated with the novel interface. The goal was to investigate how consumers cope with high levels of complexity during their initial interactions with a technology‐based product and how their coping strategies may hinder the learning process. Verbal protocol measures were used in order to understand the consumer's learning process as he or she interacts with a technology‐based product in real time. They were told that they would have to think aloud while performing certain tasks and that their thoughts would be recorded for further analysis. The personal digital assistant (PDA) with handwriting recognition as its interface was chosen for this study. The main task for the participants was to learn how to use Graffiti writing—i.e., the product's handwriting recognition software. We proceeded to a thematic analysis in which interpretations were generated by the researchers going back and forth between the transcribed texts, the developing interpretation, the new interface itself, and also the relevant literature. The results suggest that the new product's interface serves to structure the consumer's learning process even as he or she responds in relatively unstructured ways. The findings identify three basic factors that interfere with the learning process during consumers’ initial interactions with a technological innovation: interface and functionality practices, social influence, and causal attributions. Specifically, the results suggest that in designing technology‐based products there is a gap between the levels of know‐how between the manufacturer and the user. The challenge for manufacturers is to understand the consumer's learning experience and coping strategies and provide mechanisms that would make the transition easy and intuitive. This could be achieved by incorporating into the new interface some degree of flexibility that will allow consumers to modify tasks based on their preferences, or by including indicators that will provide feedback to the user. Furthermore, in the context of communication strategies, in order to minimize the negative impact that prior knowledge and social influence may have on learning, marketers could communicate specific steps describing how to use the new interface.     

The Influence of Temporal Distance on Consumer Preferences for Technology‐Based Innovations*

Rapid technological developments in the computer and the telecommunications industries have spurred the introduction of technology‐based products. An important feature of these products is that they can be characterized based on improvements in the functionality and the interface. When consumers evaluate a technology‐based product, they face a trade‐off: How should they choose between a product that offers a superior functionality and another product that offers a superior interface? The present research focuses on how temporal distance (i.e., time) from the purchase or use occasion of a technology‐based innovation influences consumers' evaluations of the new product. Specifically, the present study examines how temporal distance affects the trade‐offs consumers make between improvements in the interface and improvements in the functionality of a new product. This research demonstrates that the weight consumers place on the functionality and the interface of a new product is a function of the temporal distance. Specifically, the functionality of the product is valued more in distant future events. In contrast, the interface of the product is more important in the near future. This research has direct implications for various aspects of the new product development process such as customer‐product research methods used, communication strategies, and product preannouncements.     

一种基于UWB的护理机器人定位系统

护理机器人大部分时间在室内工作,由于室内环境比室外复杂且定位环境恶劣,因此需要具有很高的定位精度。为了更好地解决护理机器人的定位问题,建立了一种基于超宽带(UWB)的高精度护理机器人定位系统。首先,采用基于信号到达时间的定位模型,不需标签与基站之间的时钟同步,只需3个基站时钟同步来获取护理机器人上的标签距离各个基站的位置信息;其次,将收集到的位置信息通过室内局域网传输给利用Matlab搭建的上位机系统;最后,在上位机系统内进行偏最小二乘法线性回归,再通过遗传算法进一步对数据进行优化得到精确的位置信息,并进行仿真分析。结果表明,系统的定位精度相比于TDOA模型直接定位有较大的提高,能达到护理机器人的定位要求。基于超宽带技术的定位方法还可以应用于仓储物流小车等其他室内移动设备的高精度定位。     

Knowledge Acquisition in University–Industry Alliances: An Empirical Investigation from a Learning Theory Perspective*

A firm's technological knowledge base is the foundation on which internal product and process innovations are generated. However, technological knowledge is not accumulated solely through internal learning processes. Increasingly, firms are turning to external sources in the technology supply chain to acquire the technological knowledge they need to introduce product and process innovations. Thus, the successful structuring and executing of partnerships with external “technology source” organizations is often critical to competitive success in technologically dynamic environments. This study uses situated learning theory as a basis for explaining how factors inherent to the knowledge acquisition context may affect the successful transference of technological knowledge from universities to their industry partners. Data collected via a survey instrument from 104 industry managers were used to explore the effects of various organizational knowledge interface factors on knowledge acquisition success in university–industry alliances. The organizational knowledge interface factors hypothesized to affect knowledge acquisition success in the current research include partner trust, partner familiarity, technology familiarity, alliance experience, formal collaboration teams, and technology experts' communications. Results indicate that partner trust predicts the successful acquisition of tacit knowledge but not explicit knowledge. Both forms of knowledge are predicted by partner familiarity and communications between the partners' technology experts. These findings suggest three principal managerial implications. First, although the development of a trusting relationship between the knowledge source and knowledge‐seeking parties is generally advisable, firms that seek to acquire explicit technological knowledge from their alliance partners may successfully do so without having made significant time and energy investments designed to assure themselves that they can trust those partners. The relative observability and verifiability of explicit knowledge relative to tacit knowledge may enable knowledge‐seeking parties to have greater confidence that knowledge has been acquired when partner trust is in question or has not been deliberately developed. A second implication is that, other things being equal, a knowledge‐seeking party's interests may be best served through repeated exposures to particular alliance partners, particularly if those exposures facilitate mutual understandings on relevant process‐related matters. A third managerial implication is that ongoing, broad‐based communications between the partners' technology experts should be used to effect technology transfer. A key quality of the organizational knowledge interface that promotes the successful acquisition of technological knowledge, both tacit and explicit, is multipoint, real‐time contact between the technology experts of the partner organizations. Such communications potentially enable the knowledge‐seeking party to directly access desired information through the most knowledgeable individuals on an as‐needed basis.     

Progression in Technology Education in New Zealand: Components of Practice as a Way Forward

Understanding and undertaking technological practice is fundamental to student learning in technology education in New Zealand, and the enhancement of student technological literacy. The implementation of technology into New Zealand’s core curriculum has reached the stage where it has become critical that learning programmes are based on student progression to allow for a seamless education in technology from early primary to senior secondary. For this to occur, teachers and students need to focus learning on key features of technology education. This paper is based on research initiated in 2001 which explored the nature of progression of student learning in technology. It draws on findings from research undertaken in New Zealand classrooms in 1999–2000 that resulted in the development of the technology assessment framework (TAF), (as reported in detail Compton & Harwood 2003). The 1999–2001 research was funded by the New Zealand Ministry of Education. Findings from the 2001 research allowed for the identification of key features of technology education that are relevant across all age groups, contexts and technological areas. These key features were collectively termed components of practice. The three components of practice established to date are brief development, planning for practice, and outcome development and evaluation. This paper discusses the development of progression matrices for each of these and provides illustrative examples of student work levelled against the matrix indicators of progression for brief development.     

一种新的机器人自组网群组运动控制模型

针对现有机器人自组网运动控制模型无法真实反映机器人运动规律的问题,提出一种新的群组运动控制模型(group movement control model,GMCM)。该模型基于机器人通用运动学模型,采用群组控制算法,对传统群组随机运动模型——参考点群组运动模型(reference point groupmobility,RPGM)进行修改,可描述机器人编队解散和集合的运动状态,满足群组分割与合并的需求。进一步实现GMCM模型,并基于GMCM,RPGM,DRGM模型对机器人自组网路由协议进行模拟仿真。结果表明,基于GMCM模型仿真时协议性能有所降低,较为真实地模拟了机器人编队运动,对机器人自组网的研究具有一定的参考价值。     

移动机器人模块化机械臂运动学分析

机械手臂的运动学分析是移动机器人机械臂实现抓取作业的一个关键问题。为成功完成抓取作业,将移动机器人模块化手臂优选为4自由度构型。运用D-H法建立了机器人的运动学方程,基于装备在移动机器人的模块化手臂的运动学研究,建立了机械手臂自主抓取的数学模型,分析手臂的工作空间,并用Matlab仿真验证运动学算法的正确性。建立了视觉与手臂基础坐标系的位姿矩阵,并用实验验证了该构型的运动学结论和位姿转换矩阵的正确性。