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⊙第71篇⊙

電動連續式爬纜機器人設計理論分析與試驗
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注意:本論文已在《上海交通大學學報》2003,37(1):58-61上發表
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張家梁,呂恬生,宋立博,王鈞功
(上海交通大學 機械與動力工程學院,上海 200030)

摘要:纜索自動爬升是在役纜索維護機器人化的最關鍵問題。在分析纜索曲線約束和爬升阻力等工作環境基礎上,提出一種采用鉸鏈結構的電動連續式爬纜機器人結構模型,建立了其彈簧壓緊力、車輪抱緊力等力學模型,并對樣機研制實例進行了驗算。研制的爬纜機器人具有液壓控制的彈簧壓緊裝置,能在纜索上快速安裝和安全收回。在實驗室多次試驗后,該機器人已在南浦大橋進行了現場試驗,結果表明其能高效、可靠地爬升和涂裝實際斜拉橋纜索全長。
關鍵詞:機器人;自動爬升;纜索;液壓控制 

Design Theory Analyses and Experiments of a Running Cable-Climbing Robot

ZHANG Jia-liang, LÜ Tian-sheng, SONG Li-bo, WANG Jun-gong
(School of Mechanical and Power Eng., Shanghai Jiaotong Univ., Shanghai 200030, China)

Abstract: Cable automatic climbing was the key problem of the maintenance robotization for in-service cables. Based on analyzing cable curve restrictions and climb resistances, the paper presented a mechanism model of an electric running cable-climbing robot with turning joints. Then, the mechanical models of its spring press forces and wheel enclasped-forces were created and the engineering examples were simulated. Finally, an engineering prototype machine controlled by a hydraulic cylinder was developed, it could be mounted on the cable and taken back quickly and safely. After the robot was tested in the lab, the experiments were done on the Nanpu Bridge. The results indicated that the robot could climb and paint all stay cables on the cable-stayed bridge efficiently and reliably.
Key words: robot; automatic climbing; cable; hydraulic pressure control


⊙第72篇⊙

氣動爬纜機器人氣壓分析與試驗
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注意:本論文已在《上海交通大學學報》2003,37(1):54-57上發表
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張家梁,呂恬生,宋立博,姚香根
(上海交通大學 機械與動力工程學院,上海 200030)

摘要:針對索徑變化較大、表面情況惡劣的纜索,提出了一種采用鉸鏈結構的氣動蠕動式爬纜機器人結構模型,建立了該機器人氣缸受力與高空氣壓損失等理論模型,并對樣機研制實例進行了驗算。研制了工程樣機并在上海徐浦大橋上成功進行了現場試驗。仿真和實驗表明,機器人氣體壓力損失與施工距離、高度、系統耗氣量、氣管傾斜度等成正比例非線性變化;機器人下降時速度較上升時均勻性好,能在斜拉橋纜索上安全高效爬升。
關鍵詞:氣動機器人;纜索;壓力損失;斜拉橋

Pressure Analyses and Experiments of a Pneumatic Cable-Climbing Robot 

ZHANG Jia-liang, LÜ Tian-sheng, SONG Li-bo, Yao Xiang-gen
(School of Mechanical and Power Eng., Shanghai Jiaotong Univ., Shanghai 200030, China)

Abstract: Aiming at the maintenance of the cables of variable diameters and rough surface to some extent in overall length, a mechanism model of a pneumatic worming cable-climbing robot was put forward. Then, the mechanical models of the cylinder airloads and the pressure loss of the altitude air-pipe were created and the engineering examples were simulated. Finally, an engineering prototype machine was developed and experiments were done on the Xupu Bridge. It indicated that the air-pipe pressure loss of the robot was nonlinear and direct proportional to its operation distance, height, air consumption and gradient of the pipe; the robot could climb down at an evener velocity than that up, and could climb stay cables safely and efficiently.
Key words: pneumatic robot; cable; air pressure loss; cable-stayed bridge


⊙第73篇⊙

Matrix Expression of the Orthogonal Wavelet (Packets) Transform
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注意:本論文已在《Chinese J. Chem. Eng.》2002,10(6):701-705上發表
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EISCI 已經收錄本文)
DU Hongbin (杜紅彬), TENG Hu (滕虎) and YAO Pingjing (姚平經)
(Institute of Process System Engineering, Dalian University of Technology, Dalian 116012,China)

Abstract: Matrix expression of finite orthogonal wavelet transform of finite impulse response signal is more valuable for theoretical analysis and understanding. However, clear deduction for matrix expression has not been provided yet. In this paper, the formulation to generate the related matrix is put forward and the theorem on the orthogonality of this matrix proved. This effort deploys a basis for more deeper and wider applications in chemical processes.
Key words: finite orthogonal wavelet (packets) transform, matrix expression, finite impulse response signal


⊙第74篇⊙

一類非線性系統的自適應神經網絡控制
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注意:本論文已在《控制與決策》,2005,20(4):455-458發表
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杜紅彬1,薛云燦2,邵惠鶴1
(1上海交通大學自動化系,上海200030;2 河海大學計算機及信息工程學院,常州)

摘 要: 本文針對一類具有非仿射函數和下三角結構的受干擾未知的非線性系統,提出了一種新的自適應神經網絡控制方法。它是嚴格反饋不確定系統和純反饋系統的更一般化的表達。本文在Backstepping設計思想的基礎上證明了閉環信號的半全局最終一致有界性,并且很好地處理了控制方向和控制奇異問題。通過仿真驗證了方法的有效性。
關鍵詞: 非線性,自適應控制,神經網絡,Nussbaum增益
中圖分類號:TP273 文獻標識碼:A

Adaptive Neural Network Control For a Class of Nonlinear Systems

DU Hong-bin1,XUE Yun-can2, SHAO Hui-he1
(1.Institute of Automation, Shanghai Jiaotong University, Shanghai, 200030;2.Hohai University,Changzhou)

Abstract: A class of unknown perturbed nonlinear systems is theoretically stabilized by using a novel adaptive neural network control scheme. The systems with disturbances and non-affine unknown functions have low triangular structure that generalizes both strict-feedback uncertain systems and pure-feedback ones. Based on Lemma1 and the idea of backstepping, one can prove the Semi-global uniformly ultimately boundedness of all the signals in the closed-loop. The two problems, control directions and control singularity, are also free of considering. The effectiveness of proposed scheme is showed by a proper nonlinear system. 
Key words: nonlinear; adaptive control; neural networks; Nussbaum gain.


⊙第75篇⊙

INTERACTION OF VISCOUS WAKES WITH A FREE SURFACE
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注意:本論文已在Applied Mathematics and Mechanics(English Edition, Vol 25, No 6, Jun 2004,pp647-655)上發表
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SCI 已經收錄本文)
LU Dong-qiang (盧東強)1,2
(1. Shanghai Institute of Applied Mathematics and Mechanics, Shanghai University,Shanghai 200072, P.R. China;
2. Department of Mechanical Engineering, The University of Hong Kong, Pokfulam Road, Hong Kong, P.R. China)

Abstract: The interaction of laminar wakes with free-surface waves generated by a moving body beneath the surface of an incompressibleviscous fluid of infinite depth was investigated analytically. The analysis was based on the steady Oseen equations for disturbed flows. The kinematic and dynamic boundary conditions were linearized for the small-amplitude free- surface waves. The effect of the moving body was mathematically modeled as an Oseenlet. The disturbed flow was regarded as the sum of an unbounded singular Oseen flow which represents the effect of the viscous wake and a bounded regular Oseen flow which represents the influence of the free surface. The exact solution for the free-surface waves was obtained by the method of integral transforms. The asymptotic representation with additive corrections for the free-surface waves was derived by means of Lighthill's two-stage scheme. The symmetric solution obtained shows that the amplitudes of the free-surface waves are exponentially damped by the presences of viscosity and submergence depth.
Key words: free-surface wave; viscous wake; viscosity; submergence depth; Oseenlet;Lighthill' s two-stage scheme; asymptotic solution


⊙第76篇⊙

On Sampling for Surfaces Reconstruction
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Yong-chun Zhang(張永春), Fei-peng Da, Wen-zhong Song
(Research Institute of Automation, Southeast University, Nanjing, China, 210096)

Abstract: In CAD and reverse engineering, triangulation, i.e. C0 interpolation, of scattered sampled points should has the property of shape-preserving for precisely reconstruction of original surface. This depends much more on sampling. It is well known that over-sampling or under-sampling either increases computing consumption in triangulation or cannot get the correct reconstruction. In this paper, the local structure of 3D curve is firstly analyzed in frequent domain with Fourier transformation. And then the sampling frequency based on Shannon theorem is discussed. Subsequently, generalizing it to the surface case, we present in particularly a sampling method for 3D surfaces. The results indicate that , with the method, dense enough triangulations can be obtained so as to avoid over- and under-sampling. Oseenlet;Lighthill' s two-stage scheme; asymptotic solution.


⊙第77篇⊙

三維散亂點集的曲面三角剖分
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注意:本論文已在《中國圖象圖形學報》 2003, 8(12):1379~1388上發表
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張永春 達飛鵬 宋文忠
(東南大學自動化研究所, 南京 210096)

摘要:根據三維散亂點集構造曲面剖分在CA GDˆCAD、反求工程等方面有著十分廣泛的應用. 本文回顧了三維散亂點集曲面三角剖分的兩種主要方法即平面投影法和直接剖分法, 對幾種常用的算法作了較為詳細的描述, 同時對剖分算法中經常出現的數據結構作了詳細的介紹. 由于剖分采用的優化準則決定了剖分結果, 因此本文討論了幾種常用的剖分優化準則, 并舉例對幾種優化準則進行了較詳細的分析比較. 最后簡要地討論了算法復雜度以及目前剖分的主要研究方向, 并指出在實際工程應用中對復雜曲面采樣得到的散亂點集, 要得到光順和保形的三角剖分, 需要新的剖分準則和算法.
關鍵詞:圖象處理,三維散亂點集,曲面三角剖分,數據結構,優化準則

 

Surface Triangulations Based on 3D Arbitrary Point-sets

Yong-chun Zhang(張永春), Fei-peng Da, Wen-zhong Song
(Research Institute of Automation, Southeast University, Nanjing, China, 210096)

Abstract: Surface triangulations based on 3D arbit rary point sets are widely applied in CA GD/CAD and reverse engineering, etc. In the first place, this paper reviews two main methods in surface triangulations, named as plane projection and direct triangulation. For the former, Delaunay triangulations are mainly enunciated. For the later, algorithm developed by B. K. Choi is particularized. Some typical algorithms are introduced in detail, as well as various data-structures built in these algorithms. Next, since the final result of triangulation is determined by the optimal criterion, some proverbial optimal criteria are specified and analyzed in this paper, and they are thoroughly compared with each other here through anatomizing an example. It is pointed that, in practical engineering, it is necessary to develop new algorithms with new criteria for triangulations of scattered points sampled from complicated surfaces so as to maintain the properties such as better smoothness and shape preserving. Finally the time and space complexities of various algorithms are briefly and concisely discussed, also the research trend of surface triangulations based on 3D arbit rary point-sets.
Keywords:
 3D arbitrary point-sets, Surface triangulations, Data structures, Optimal criteria


⊙第78篇⊙

虛擬激勵法在自錨式懸索橋豎向地震反應分析中的應用
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注意:本論文已在《東南大學學報(自然科學版)》 2003, 33(4):522~525上發表
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劉春城 張哲 石磊
(大連理工大學橋梁工程研究所,大連116023)

摘要:考慮壓、彎耦合效應,建立了自錨式懸索橋的豎向地震動方程,并利用虛擬激勵法來求解,由于虛擬激勵法自動計及了參振振型的互相關項和激勵之間的互相關項,是快速精確的CQC算法.文中以蘭旗松花江混凝土自錨式懸索橋為例,計算了主梁、主塔和主纜的期望峰值響應,并對地震動空間效應對自錨式懸索橋的豎向地震反應影響規律作了詳細的討論.
關鍵詞:虛擬激勵;自錨式懸索橋;豎向地震反應;空間效應;壓彎耦合

Application of pseudo excitation method to vertical seismic response analysis of self-anchored suspension bridges
Liu Chuncheng, Zhang Zhe, Shi Lei
(Bridge Engineering Institute, Dalian University of Technology, Dalian, 116023, China)

Abstract: The vertical seismic dynamic equation of self-anchored suspension bridges is presented by taking into account coupling effect of axial and flexural action, and pseudo excitation method is utilized to solve this equation. Because the method is highly efficient and involves the necessary cross-correlation terms both  between the participant modes and between the excitations, it is a fast and exact CQC (complete quadratic combination) algorithm. The expected peak responses of main beam, towers and cables of Lanqi Song Hua River concrete self-anchored suspension bridge are investigated, and the spatial variation effect on vertical seismic response of self-anchored suspension bridge are detailed.
Key words: pseudo excitation; self-anchored suspension bridge; vertical seismic response; spatial variation effect; coupling of axial and flexural action


⊙第79篇⊙

延吉市布爾哈通河局子街自錨式混凝土懸索橋設計
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注意:本論文已在《公路》 2003年8月 第8期(下):85~87上發表
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張哲,石磊,黃才良,劉春城
(大連理工大學橋梁研究所 大連市 116024) 

摘要:延吉市布爾哈通河局子街橋的跨徑組合為69m+162m+69m,是目前我國最大跨徑的混凝土自錨式懸索橋,介紹該橋的總體設計構思及具體結構設計。 
關鍵詞:自錨式懸索橋;混凝土;加勁梁;鋼筋混凝土主塔


⊙第80篇⊙

混凝土自錨式懸索橋結構內力分析
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注意:本論文已在《哈爾濱工業大學學報》2003,35(5):625-627發表
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EI已經收錄本文)

張哲,石 磊,劉春城,黃才良
(大連理工大學橋梁研究所,遼寧大連 116024)

摘 要: 為研究混凝土自錨式懸索橋的結構受力特征以及與地錨式懸索橋的差別.通過計算實例,分析比較混 凝土自錨式懸索橋結構的力學特性,研究其拱度、矢跨比變化時引起的內力變化規律,混凝土收縮、徐變對內力影響的規律.對于中小跨度的自錨式懸索橋來講,除了主梁的軸力偏大以外,結構的其余內力與地錨式懸索橋的差別不是很大,差值在10%以內.拱度和混凝土的收縮、徐變的影響比較明顯.與相應的水平加勁梁和不考慮收縮、徐變影響的計算結果比較,差值均在20%以上.彈性理論適合于中小跨度的自錨式懸索橋的設計和計算.
關鍵詞: 混凝土;自錨式懸索橋;地錨式懸索橋;結構分析

Analysis of Concrete Self-anchored Suspension Bridge

ZHANG Zhe SHI Lei LIU Chun-cheng HUANG Cai-liang
( Bridge Institute of Dalian University of Technology, Liaoning ,Dalian,116024,China)

Abstract:The mechanic performance of concrete self-anchored suspension bridge and the contrast with the earth-anchored suspension bridge are researched in this paper. The variational law of concrete self-anchored suspension bridge’s internal force is analyzed when the camber and the rise-span ratio are changed by the computed results, and the law of the internal force affected by creep is also analyzed. The main difference between the earth-anchored suspension bridge and the self-ahchored suspension bridge is the axial force of main girder. Otherwise, there is no less than 10% difference in all other internal force between the two types of bridges. The effect of arch degree, creep and shrink of concrete is very distinct. Ignoring the effect of these factors, the comparison would arrive at a significant deviation of no less than 20%. Elastic theory is applicable to the design and calculation of medium-span self-anchored suspension bridges.
Key words: concrete, self-anchored suspension bridge, suspension bridge, construct analysis


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