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⊙第71篇⊙

电动连续式爬缆机器人设计理论分析与试验
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注意:本论文已在《上海交通大学学报》2003,37(1):58-61上发表
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张家梁,吕恬生,宋立博,王钧功
(上海交通大学 机械与动力工程学院,上海 200030)

摘要:缆索自动爬升是在役缆索维护机器人化的最关键问题。在分析缆索曲线约束和爬升阻力等工作环境基础上,提出一种采用铰链结构的电动连续式爬缆机器人结构模型,建立了其弹簧压紧力、车轮抱紧力等力学模型,并对样机研制实例进行了验算。研制的爬缆机器人具有液压控制的弹簧压紧装置,能在缆索上快速安装和安全收回。在实验室多次试验后,该机器人已在南浦大桥进行了现场试验,结果表明其能高效、可靠地爬升和涂装实际斜拉桥缆索全长。
关键词:机器人;自动爬升;缆索;液压控制 

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⊙

气动爬缆机器人气压分析与试验
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注意:本论文已在《上海交通大学学报》2003,37(1):54-57上发表
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张家梁,吕恬生,宋立博,姚香根
(上海交通大学 机械与动力工程学院,上海 200030)

摘要:针对索径变化较大、表面情况恶劣的缆索,提出了一种采用铰链结构的气动蠕动式爬缆机器人结构模型,建立了该机器人气缸受力与高空气压损失等理论模型,并对样机研制实例进行了验算。研制了工程样机并在上海徐浦大桥上成功进行了现场试验。仿真和实验表明,机器人气体压力损失与施工距离、高度、系统耗气量、气管倾斜度等成正比例非线性变化;机器人下降时速度较上升时均匀性好,能在斜拉桥缆索上安全高效爬升。
关键词:气动机器人;缆索;压力损失;斜拉桥

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:本论文已在《Chinese J. Chem. Eng.》2002,10(6):701-705上发表
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EISCI 已经收录本文)
DU Hongbin (杜红彬), TENG Hu (滕虎) and YAO Pingjing (姚平经)
(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⊙

一类非线性系统的自适应神经网络控制
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注意:本论文已在《控制与决策》,2005,20(4):455-458发表
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杜红彬1,薛云灿2,邵惠鹤1
(1上海交通大学自动化系,上海200030;2 河海大学计算机及信息工程学院,常州)

摘 要: 本文针对一类具有非仿射函数和下三角结构的受干扰未知的非线性系统,提出了一种新的自适应神经网络控制方法。它是严格反馈不确定系统和纯反馈系统的更一般化的表达。本文在Backstepping设计思想的基础上证明了闭环信号的半全局最终一致有界性,并且很好地处理了控制方向和控制奇异问题。通过仿真验证了方法的有效性。
关键词: 非线性,自适应控制,神经网络,Nussbaum增益
中图分类号:TP273 文献标识码: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:本论文已在Applied Mathematics and Mechanics(English Edition, Vol 25, No 6, Jun 2004,pp647-655)上发表
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SCI 已经收录本文)
LU Dong-qiang (卢东强)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(张永春), 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⊙

三维散乱点集的曲面三角剖分
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注意:本论文已在《中国图象图形学报》 2003, 8(12):1379~1388上发表
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张永春 达飞鹏 宋文忠
(东南大学自动化研究所, 南京 210096)

摘要:根据三维散乱点集构造曲面剖分在CA GDˆCAD、反求工程等方面有着十分广泛的应用. 本文回顾了三维散乱点集曲面三角剖分的两种主要方法即平面投影法和直接剖分法, 对几种常用的算法作了较为详细的描述, 同时对剖分算法中经常出现的数据结构作了详细的介绍. 由于剖分采用的优化准则决定了剖分结果, 因此本文讨论了几种常用的剖分优化准则, 并举例对几种优化准则进行了较详细的分析比较. 最后简要地讨论了算法复杂度以及目前剖分的主要研究方向, 并指出在实际工程应用中对复杂曲面采样得到的散乱点集, 要得到光顺和保形的三角剖分, 需要新的剖分准则和算法.
关键词:图象处理,三维散乱点集,曲面三角剖分,数据结构,优化准则

 

Surface Triangulations Based on 3D Arbitrary Point-sets

Yong-chun Zhang(张永春), 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⊙

虚拟激励法在自锚式悬索桥竖向地震反应分析中的应用
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注意:本论文已在《东南大学学报(自然科学版)》 2003, 33(4):522~525上发表
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刘春城 张哲 石磊
(大连理工大学桥梁工程研究所,大连116023)

摘要:考虑压、弯耦合效应,建立了自锚式悬索桥的竖向地震动方程,并利用虚拟激励法来求解,由于虚拟激励法自动计及了参振振型的互相关项和激励之间的互相关项,是快速精确的CQC算法.文中以兰旗松花江混凝土自锚式悬索桥为例,计算了主梁、主塔和主缆的期望峰值响应,并对地震动空间效应对自锚式悬索桥的竖向地震反应影响规律作了详细的讨论.
关键词:虚拟激励;自锚式悬索桥;竖向地震反应;空间效应;压弯耦合

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⊙

延吉市布尔哈通河局子街自锚式混凝土悬索桥设计
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注意:本论文已在《公路》 2003年8月 第8期(下):85~87上发表
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张哲,石磊,黄才良,刘春城
(大连理工大学桥梁研究所 大连市 116024) 

摘要:延吉市布尔哈通河局子街桥的跨径组合为69m+162m+69m,是目前我国最大跨径的混凝土自锚式悬索桥,介绍该桥的总体设计构思及具体结构设计。 
关键词:自锚式悬索桥;混凝土;加劲梁;钢筋混凝土主塔


⊙第80篇⊙

混凝土自锚式悬索桥结构内力分析
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注意:本论文已在《哈尔滨工业大学学报》2003,35(5):625-627发表
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EI已经收录本文)

张哲,石 磊,刘春城,黄才良
(大连理工大学桥梁研究所,辽宁大连 116024)

摘 要: 为研究混凝土自锚式悬索桥的结构受力特征以及与地锚式悬索桥的差别.通过计算实例,分析比较混 凝土自锚式悬索桥结构的力学特性,研究其拱度、矢跨比变化时引起的内力变化规律,混凝土收缩、徐变对内力影响的规律.对于中小跨度的自锚式悬索桥来讲,除了主梁的轴力偏大以外,结构的其余内力与地锚式悬索桥的差别不是很大,差值在10%以内.拱度和混凝土的收缩、徐变的影响比较明显.与相应的水平加劲梁和不考虑收缩、徐变影响的计算结果比较,差值均在20%以上.弹性理论适合于中小跨度的自锚式悬索桥的设计和计算.
关键词: 混凝土;自锚式悬索桥;地锚式悬索桥;结构分析

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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