The paper aims to test the integrity of offshore cages. In this paper, offshore robots are used to collect video images. Through preprocessing methods such as color space conversion and Retinex algorithm of fusion-oriented filtering, the color distortion of the image is improved and the edge information of the image is maintained, so that the collected cage image is better recognized and calculated by the computer. And the paper uses the Canny algorithm to accurately locate the edge of the image, so that the boundary information can be reflected in more detail. In this paper, the adaptive threshold segmentation algorithm combined with mathematical morphology processing method is used to segment the offshore cage image, and extract the skeleton of the decomposed image to realize the detection of the integrity of the offshore net. Finally, a ROV equipped with a camera was used to verify the proposed method in a wave-flow water tank, which confirmed the effectiveness of the method and optimized the integrity recognition and image processing of the cage.

A self-balancing ballbot refers to a robot capable of adjusting its own balance by itself. It originates from an inverted pendulum model and is a typical multivariable underactuated system. A controller based on fuzzy logic was proposed for the non-linear, highly coupled and unstable characteristics of the self-balancing ballbot. Firstly, the three-dimensional complex dynamic model of the robot was simplified into a two-dimensional dynamic model with three independent planes, and the Lagrange plane dynamic equation is established. The accurate dynamic model of the robot can be obtained via incorporating the dynamics of the driving motor into the robot dynamic equation. Secondly, the fuzzy logic controller was designed according to the plane dynamic equation, and the simulation model of the control system is established in Simulink. Finally, the tracking simulation of the linear trajectory and circular trajectory was performed on the control system model. Simulation results showed that this controller had a favorable tracking effect on both linear trajectory and nonlinear trajectory.

This paper proposes a self-balancing control method based on genetic algorithm optimization in order to further improve the self-balancing ability of robots. Firstly, the robot system is simplified to a 2D single-ball inverted pendulum model, and an Eular-Lagrange dynamic model is established for mechanical analysis. Then, the self-balancing controller is designed by combining the motion control law of the robot and the linear quadratic optimal control algorithm based on genetic algorithm. The normalized quadratic performance index is taken as the optimization standard, and the weight matrix is optimized by genetic algorithm. Finally, the optimized controller is used to simulate the origin self-balancing control. The simulation results show that the optimized controller not only improves the response speed and robustness of the system, but also effectively reduces the power consumption of the controller.

Vehicle driving simulators are widely employed in training and entertainment utilities because of its safe, economic and efficient. Amphibious vehicle driving simulator was used to simulate amphibious vehicle on land and in water. Because of the motion difference between aircraft and amphibious vehicle, it is necessary to design a reasonable 6-DOF motion system according to the flight simulator motion system standard and vehicle motion parameter. FFT of DSP and PSD were used to analysis the relationship between them. Finally according to the result analysis, a set of reasonable 6-DOF motion system motion parameter was given to realize the driving simulator motion cueing used to reproduce vehicle acceleration.

液压控制阀在液压传动系统中是对液压油液实现控制调节的元件,它使得液压系统可以进行操纵控制以完成一定的任务,因此在液压传动系统占有重要地位。在液压传动系统中液压控制阀的性能将直接影响到系统功能的实现。鉴于此,在本科液压传动课程的教学工作中开设了液压控制阀性能实验。文中对该实验进行了介绍,对实验中的主要性能参数进行了讨论,并通过对06级一个班同学随机调查的结果表明达到了开设本实验的目的。

In order to obtain direct solutions of parallel manipulator without divergence in real time, a modified global Newton-Raphson (MGNR) algorithm was proposed for forward kinematics analysis of six-degree-of-freedom (DOF) parallel manipulator. Based on geometrical frame of parallel manipulator, the highly nonlinear equations of kinematics were derived using analytical approach. The MGNR algorithm was developed for the nonlinear equations based on Tailor expansion and Newton-Raphson iteration. The procedure of MGNR algorithm was programmed in Matlab/Simulink and compiled to a real-time computer with Microsoft visual studio.NET for implementation. The performance of the MGNR algorithms for 6-DOF parallel manipulator was analyzed and confirmed. Applying the MGNR algorithm, the real generalized pose of moving platform is solved by using the set of given positions of actuators. The theoretical analysis and numerical results indicate that the presented method can achieve the numerical convergent solution in less than 1 ms with high accuracy (1×10−9 m in linear motion and 1×10−9 rad in angular motion), even the initial guess value is far from the root.

液压泵和液压阀是液压系统中的关键液压元件,对它们的性能进行实验在液压传动课程的教学中非常重要,而液压泵/阀的性能测试实验台是进行教学实验的基础。该文介绍了哈尔滨工业大学研制的用于液压传动课程教学的液压泵/阀性能实验台,给出用实验台进行实验的基本原理和实验方法,从4个年级40个小班的实验效果来看,该实验台达到了设计要求,在实验教学中发挥了应有的作用。

The hydraulic pump is the device that converts mechanical energy into static pressure energy in hydraulic system. Its performance has direct influence on the performance of whole system. The test on its performance is a very important part in hydraulic transmission course. This experiment has been set in order to make the undergraduates enhance their understanding of the performance of hydraulic pumps and to let them master the experiment way of solving problems.The experiment aim, experiment device and its principle were introduced. The main performance parameters were discussed.To know the experimental effect, a random survey was made in the undergraduates who enters college in 2006.The results indicate that the expecting effect is achieved.

In this paper, the spatial six-DOF(degree of freedom) parallel manipulator is described as a rigid body, and in many cases, this simplification is adequate for describing the properties of the whole mechanical system, especially with large and heavy motion system. By using Kane approach the explicitly forward dynamic equations with six variables are gained straightly and readily. Under identical conditions, a typical PID controller is developed for dynamic models in both Simulink and SimMechanics. Simulation results show that the responses of the dynamic model using Kane method in Simulink are fully consistent with that of SimMechanics, the dynamic models in both Simulink and SimMechanics are exact.

The hydraulically driven 6-DOF parallel Gough-Stewart mechanism was used as a motion simulator to simulate the real motions of carrier for testing firing control systems in laboratory.The bidirectional force/torque versus velocity interactions between mechanical dynamics system and its hydraulic driving system was explored to establish an integrated dynamic model.Then the couplings of pose outputs were presented and experimental results show that the couplings between these outputs will become more intense with the increase of motion frequency within natural frequency of the Gough-Stewart mechanism.Moreover,for the safety of the motion simulator,a simple criterion which only uses the lengths of legs instead of complicated and time-consuming method of condition number of Jacobian is proposed to distinguish singular area from the workspace.Amplitude and Phase Control(APC) and random wave duplication techniques were employed to greatly improve the simulation fidelity not only for sine waveform but for random waveform as well.

介绍了哈尔滨工业大学液压传动课程教学中节流调速系统实验的基本内容、节流调速系统实验台的组成、实验内容、实验原理,其目的是通过实践教学使学生掌握液压系统中的节流调速的方法,深入理解所学的课堂教学内容,帮助学生提高认识和分析液压系统的能力,并进行理论知识与工程实践相结合的训练。

with continuing improvement in hardware and software, flight simulator plays an expanding and important role in the training of aircraft crews, design of new aircraft, entertainment and Human-Machine Interaction. With the development of China large commercial aircraft, flight simulator can be used to research cabin equipment arrangement to fulfill human-machine interaction comfortable requirement and aircraft performance evaluation. Based on the background, a fixed-based reconfigurable flight simulator was developed. In order to reduce development cost and software development time consuming and debugging difficulty greatly, Commercial-Off-The-Shelf software and Rapid Prototyping technology were adopted. This paper shows you the development process and the research application.

The real-time distributed computing environment and reusable software architecture are important factors that affect the fidelity of flight simulation. We accomplished a flight simulator based on DDS (data distribution service for real-time systems) middleware and structural software architecture and proved its high fidelity as a flight training device. According to the analysis of flight simulator's functional blocks, we developed the real-time distributed computing environment which utilized DDS middleware through Ethernet and decreased the communication latency among functional blocks. Furthermore, we proposed the structural software architecture on the basis of layered and component-based design pattern to facilitate the higher simulation components' reuse and replacement. The real-time communication procedures among simulation components are also described in this paper. The validation method and the contrasting simulation results are presented finally to show the feasible design based on DDS to carry out flight simulation with low communication latency and high quality.

Flight simulator is important aviation experiment equipment using simulation technology to develop/test different airplane systems and train pilots. With the development of computer science and modeling technology, new more powerful computers and application software have made it possible to built more and more advanced simulators which allows more complicated and high efficiency simulation. While modern flight simulator is a complex system in existence including software and hardware, with the improvement of fidelity request, real-time constraints and other quality attribution of software system must be guaranteed. In order to fulfill the requirements of extendibility, reusability, compatibility and maintainability for flight simulator, according to the components of flight simulator, software architecture decomposition modules and hardware architecture were given, object-oriented technology and rapid control prototyping technology were used to develop flight simulator system. Result shows that the developed system fulfilled above-mentioned requirement.

Six degrees of freedom shaking table is an actuation redundant system.It's easy to generate internal force coupling among actuators,seriously leading to the shaking table unable to work.In order to analysis the inner force of six DOF(Degrees Of Freedom) shaking table,the simulation system based on the establishment of virtual prototyping technology has to be established.The characteristic of inner force is analyzed.Furthermore force balance control strategy is validated.

This paper introduces a kind of checking device used to monitor the running situation of a real-time control system.The new checking device uses high frequency signal generator and shift register detection circuit to ensure monitoring function.The control circuit will drive the protection circuit effectively to achieve protection timely when malfunction happens.This circuit has advantages such as tunable warning time,fast response,no single running system,hardware-only testing etc.which can improve the system reliability.This device is used in the hydro-pneumatic suspension testing system to improve the system's real-time safety and reliability so that the new technology presents a promising potential of the system energy saving.

The new method of path planning is presented in this paper. The method is used to plan the path of the ground to air weapon to change the state between tracing the object and readiness position in the battle when received the command from radar.The path planning algorithm considers both the maximum speed of the system and the maximum acceleration the weapon system can bear. With these restraints,the optimal path planning algorithm is presented.

国外住房保障模式主要分为廉价实物配租和货币租金补贴两种模式.目前,我国在住房供给的模式上还存在很多问题,与国际相比,差异很大.应借鉴国外成功经验,健全廉租房制度保障模式,明确政府在住房保障建设中的主体地位,完善住房保障工作机制及法制法规建设,解决好中低收入群体住房的问题.

In this paper,the species of speed regulating system is introduced with emphasis on the frequency-changeable's principle of work,control mode,type selection and the experiences in engineering application.What's discussed in this paper is valuable to engineer.

<span id="ChDivSummary" name="ChDivSummary" class="abstract-text">随着环保意识的提高 ,绿色管理的开展成为企业的大势所趋 ,但绿色业绩如何体现是一个亟待解决的问题。企业环境成本报告正是从企业绿色管理的成本投入与效果增加两个方面 ,对信息使用者披露企业环境负荷的减少和环保效益的增加等相关信息 ,以反映企业绿色的业绩 ,供其决策参考。</span>