钢丝绳因具有质量轻、强度高、传动平稳等特点被广泛应用于机器人传动系统中.为提高机器人传动精度,对机器人中的钢丝绳传动进行了分析研究.针对目前已有建模方法的缺点,提出一种改进型的轴套力建模方法,该方法基于adams软件,对单层缠绕和多层缠绕两种传动缠绕方式进行了建模与仿真,分别得到传动效率为94％和98％,由此得到了较好的缠绕方式,并确定多层缠绕方式的最佳传动速度范围为5 r/s和40 r/s,同时传动过程中的具体数据为控制策略及控制方法提供了可靠依据.

A novel pipelined sampling accumulator structure with opamp sharing technique is presented,which is fit for CMOS TDI( time-delay-integration) image sensor. The sampling speed of the analog accumulator can be doubled with only 1 opamp instead of n opamps for an n-stage accumulator. This structure decreases chip area and power dissipation and increases accumulating speed as well. This paper illustrates the topology of the proposed structure and analyzes the output noise. The proposed circuit is designed in a 0. 18 μm CMOS process. Simulation results show that the power dissipation of the proposed circuit is 0.29 mW under 3.3 V voltage supply,and the sampling rate of the accumulator is 2 Msample/s. It proves that the proposed accumulator structure is suitable to the applica-tion at high scanning speed.

In view of the characteristics of natural gas vehicle program,the contents of the post-evaluation are analyzed from five aspects: implementation process,economics and finance,safety,environmental effects,and sustainability.Based on this analysis,a three-layer post-evaluation index system is established.This newly-designed index system not only includes the evaluation for implementation process,finance and sustainability in general project post-evaluation,but also highlights the characteristics of natural gas vehicle program in aspects of safety,environmental protection and energy conservation.

The layout of CNG filling station has an important impact on the development of CNG vehicles. Rational distribution of filling stations can make stations service more CNG vehicles by less transport costs, and get a higher level of profitability. Therefore, a maximum revenue based filling station location model is constructed, and a simulated annealing algorithm to the model is designed. Finally, the effectiveness of the model and the designed algorithm is illustrated by a numerical example.

With a combination of construction and operation stages in project life cycle, gas filling station project schedule was studied, and a fuzzy dependent-chance programming model was established. A monkey algorithm based simulation method to the model was designed, and used to a filling station project schedule numerical simulation. The results show that, compared with the Max-npv model which considered the construction stage only, the life-cycle Max-npv model can speed up the project progress, increase the amount of work done, and improve the npv.

In view of the uncertainty and fuzzy of indicators for evaluating natural gas vehicle program,this paper builds natural gas vehicle post-evaluation model based on fuzzy matter element model,and applies this model to Hainan natural gas vehicle program.Through an analysis on evaluation results and main influencing factors,national policy guide and resource limitation are found to be the most important factors that affect natural gas vehicle program.Investors need to establish a multi-party and long-term energy supply system with natural gas producer under the national policy.

This paper introduced the mainstream criteria and methods for information security assessment and the measures for information security management,analyzed the deficiencies in existing information security management measures,and designed a model of information security control center based on SOC systematic self-learning method.The proposed method solves the problems of non-interoperability,non-real-time and non-validity of the results caused by long period of information security assessment effectively.