簡介：BENDABILITYANDFORMINGBEHAVIOUROFHIGHSTRENGTHSTEELINUBENDINGOPERATIONPKAEWTATIP1,NPRASITKHETKHAN1,AKHANTACHAWANA1,VPREMANOND1,RHATO1,BSRESOMREONG1,NKOGA21KINGMONGKUT’SUNIVERSITYOFTECHNOLOGYTHONBURI,THAILAND2NIPPONINSTITUTEOFTECHNOLOGY,JAPANSUMMARYINTHISWORK,THEBENDABILITYANDFORMINGBEHAVIOUROFHIGHSTRENGTHSTEELSINUBENDINGWERESTUDIEDTHESHEETMATERIALSUSEDINTHEEXPERIMENTSAREJISSAPH440THICKNESS2MM,SPFH590THICKNESS2MMANDSPFC780YTHICKNESS12MMFIRSTLY,MINIMUMBENDRADIUSOFEACHMATERIALWASINVESTIGATEDNEXT,THEEXPERIMENTSTOCOMPARETHREEDIFFERENTMETHODSOFMINIMIZINGSPRINGBACKWERECARRIEDOUTTHEFIRSTMETHODIS,SOCALLEDBOTTOMINGTHATISTHEREDUCTIONOFSHEETTHICKNESSATTHEBOTTOMOFTHEWORKPIECEORATBENDEDANGLEBY10THESECONDONEISBOTTOMOVERBENDING,IE,THEMETHODTOOVERBENDTHEWORKPIECEATBOTTOMBY6OFORTHISMETHOD,THEPUNCHHAVINGACONCAVEBOTTOMSURFACEANDTHEBOTTOMPADHAVINGCORRESPONDEDCONVEXUPPERSURFACEHAVEBEENUSEDTHELASTONEISFLANGEOVERBENDING,IE,THEMETHODTOOVERBENDTHEFLANGEOFWORKPIECEBY6OTHISCANBEDONEBYUSINGTHEPUNCHHAVINGSIDERELIEFANGLETAPERPUNCHTHEPUNCHESANDDIESEDGERADIIARE5MMTHECLEARANCEBETWEENPUNCHANDDIEAREDETERMINEDTOBETHESAMEASMATERIALTHICKNESSTWOKINDSOFSHEETLAYOUTSWEREEXPERIMENTED,IE,THESHEETSWEREPLACEDINORDERTHATTHEIRROLLINGDIRECTIONSWERE1PARALLELAND2PERPENDICULARTOTHEBENDLINETHERESULTSREVEALEDTHATTHESPRINGBACKANGLEINCREASEDWITHTHESTRENGTHOFSHEETMATERIALTHEBOTTOMANDFLANGEOVERBENDINGMETHODSAREMOREEFFECTIVETOREDUCESPRINGBACKTHANBOTTOMINGMETHODINADDITION,FORBOTTOMINGMETHOD,THEFORCEREQUIREDWASABOUT8TIMESHIGHERTHANCONVENTIONALBENDINGFORCE1INTRODUCTIONNOWADAYS,HIGHSTRENGTHSTEELSHEETSHAVEBEENWIDELYUSEDINAUTOMOBILEINDUSTRYINORDERTOREDUCEWEIGHTOFTHEVEHICLESWHICHISSTRONGLYRELATEDTOTHEIRFUELCONSUMPTIONRATE14HOWEVER,ITISGENERALLYKNOWNTHATTHESTRENGTHOFTHESHEETS,WHICHISRELATIVELYHIGHERTHANTHATOFTHECONVENTIONALCARBONSTEELSHEETS,LEADSTOTHEIRLOWFORMABILITYANDHIGHSPRINGBACKOFTHEDEFORMEDPARTSMANYWORKSPROPOSEDTOREDUCESPRINGBACKOFTHEHIGHSTRENGTHSTEELFOREXAMPLES,MORI2PROPOSEDTOCONTROLTHESPRINGBACKOFTHEVBENDEDPARTBYUTILIZINGCNCSERVOPRESSTOREDUCETHESHEETTHICKNESSATBENDANGLENEXT,YAMANO3HASBEENSTUDIEDTOREDUCESIDEWALLCURLOFTHEDRAWBENDEDUSHAPEPARTBYUSINGSOCALLEDOVERRUNINDUCINGPUNCHYOSHIDA4STUDIEDACRASHFORMINGMETHODTOREDUCESPRINGBACKOFTHEPARTMADEOFHIGHSTRENGTHSTEELSHEETYANAGIMOTO5,6SHOWEDTHATSPRINGBACKFREEFORMINGOFHIGHSTRENGTHSTEELSHEETSCOULDBEACHIEVEDBYFORMINGTHESHEETATELEVATEDTEMPERATUREINTHERANGEOFWARMWORKINGTEMPERATUREHIGHERTHAN750KBUTCONSIDERABLYLOWERTHANHOTWORKINGTEMPERATURETHEMETHODSTOREDUCESPRINGBACKUSEDINTHEPREVIOUSWORKSAREMOSTLYBASEDONBOTTOMINGANDOVERBENDINGPRINCIPLESINTHISWORK,THEEXPERIMENTSTOCOMPARETHERESULTSOFTHREEDIFFERENTMETHODSOFMINIMIZINGSPRINGBACKWERECARRIEDOUTINORDERTOVERIFYTHEIREFFECTIVENESSINELIMINATIONTHESPRINGBACKOFHIGHSTRENGTHSTEELSHEETTHOSEMETHODSAREBOTTOMING,FLANGEOVERBENDINGANDBOTTOMOVERBENDING,RESPECTIVELYINADDITION,THEBENDABILITYWHICHISREPRESENTEDBYMINIMUMBENDRADIUSWASALSOINVESTIGATEDFORTHESHEETHAVINGTHESTRENGTHRANGEDFROM440TO780MPA2EXPERIMENTALSETUPANDMETHODOLOGYTHREEKINDSOFSHEETMATERIALS,ASSHOWNINTABLE1,WEREUSEDINTHEEXPERIMENTTHESHEETSWERECUTINTORECTANGULARSHAPEWITHDIMENSIONOF120X50MMTHEWORKPIECESHAVEBEENDEFORMED,BYTHETOOLSINFIG1A,INTOUSHAPEHAVINGDIMENSIONASSHOWNINFIG1BTHEDIESETISSHOWNINFIGTA12ICTP2008THE9THINTERNATIONALCONFERENCEONTECHNOLOGYOFPLASTICITY295ABOTTOMINGBFLANGEOVERBENDINGCBOTTOMOVERBENDINGFIG3THREEDIFFERENTMETHODSOFELIMINATIONSPRINGBACKUSEDINTHEEXPERIMENTS3RESULTSANDDISCUSSIONS31BENDABILITIESMINIMUMBENDRADIUSTHERATIOOFBENDINGFORCEREQUIREDANDSHEETTHICKNESSFOREACHMATERIALARESHOWNINFIG4ITISCLEARLYSHOWNTHATLARGERFORCESAREREQUIREDFORTHEMATERIALHAVINGHIGHERSTRENGTHANDFORTHEPUNCHHAVINGSMALLEREDGERADIUSINCASESOFUSINGTHEPUNCHWITHSHARPEDGERP0,THEREQUIREDFORCESARELARGESTWHICHARE187190TIMESOFTHOSEWHENUSINGTHEPUNCHHAVINGRP5MMTHERESULTSOFMINIMUMBENDRADIUSARESHOWNINTABLE2THEDEFORMEDPARTSWEREOBSERVEDBYBOTHVISUALMETHODANDOPTICALMICROSCOPEFOURDIFFERENTSYMBOLSWEREUSEDTODISTINGUISHTHEQUALITYOFPARTSTHEDEFINITIONOFEACHSYMBOLISINDICATEDBELOWTHESAMETABLETHESAMPLEPICTURES,INTHECASESOFUSINGSHARPEDGEPUNCH,CORRESPONDEDTOEACHSYMBOLARESHOWNINTABLE3ASTHERESULTS,FORALLTHREEKINDSOFSHEETMATERIALS,BENDINGPERPENDICULARTOROLLINGDIRECTIONISEASIERTHANBENDINGPARALLELTOROLLINGDIRECTION,ASGENERALLYKNOWNBENDABILITIES,WHICHAREREPRESENTEDBYMINIMUMBENDRADIUS,BECAMEWORSEWITHINCREASINGOFSTRENGTHOFMATERIALSFORSAPH440,THEWORKPIECESWITHOUTFRACTURECOULDBEOBTAINEDALTHOUGHUSINGTHEPUNCHWITHSHARPEDGERP0WHENBENDINGPERPENDICULARTOROLLINGDIRECTIONONTHEOTHERHAND,SPFH590COULDBESUCCESSFULLYBENDEDIFTHERATIOOFPUNCHRADIUSANDSHEETTHICKNESSWASLARGERTHAN050MOREOVER,THESAMERATIOSHOULDBELARGERTHAN083INTHECASEOFSPFC780YSHEETTHESEMIGHTBEEXPLAINEDBYTHEDIFFERENTVALUESOFTHEDUCTILITYOFTHESHEETMATERIALSTHEMINIMUMBENDRADIUSISSMALLERFORTHEMATERIALHAVINGHIGHERDUCTILITYELONGATIONATBREAKASSHOWNINTABLE132COMPARISONOFDIFFERENTMETHODSOFSPRINGBACKELIMINATIONTHEFORCETRAVELDIAGRAMSOFFORMINGSAPH440WORKPIECESBYCONVENTIONALUBENDING,BOTTOMING,FLANGEOVERBENDINGANDBOTTOMOVERBENDINGARESHOWNINFIG5THEMAXIMUMFORCESREQUIREDFORFIG4FORCESREQUIREDFORUBENDINGOFEACHMATERIALR56OR501T6OR5137108957318514911297244198163129051015202530R0R1R2R5SAPH440SPFH590SPFC780YPUNCHEDGERADIUSRPMMBENDINGFORCE/SHEETTHICKNESSKN/MMICTP2008THE9THINTERNATIONALCONFERENCEONTECHNOLOGYOFPLASTICITY297

簡介：ORIGINALARTICLEGENERATINGTOOLPATHWITHSMOOTHPOSTURECHANGEFORFIVEAXISSCULPTUREDSURFACEMACHININGBASEDONCUTTER’SACCESSIBILITYMAPLLLIYFZHANGHYLILGENGRECEIVED26MAY2009/ACCEPTED16JULY2010/PUBLISHEDONLINE4AUGUST2010SPRINGERVERLAGLONDONLIMITED2010ABSTRACTINFIVEAXISHIGHSPEEDMILLING,ONEOFTHEKEYREQUIREMENTSTOENSURETHEQUALITYOFTHEMACHINEDSURFACEISTHATTHETOOLPATHMUSTBESMOOTH,IE,THECUTTERPOSTURECHANGEFROMONECUTTERCONTACTPOINTTOTHENEXTNEEDSTOBEMINIMIZEDTHISPAPERPRESENTSANEWMETHODFORGENERATINGFIVEAXISTOOLPATHSWITHSMOOTHTOOLMOTIONANDHIGHEFFICIENCYBASEDONTHEACCESSIBILITYMAPAMAPOFTHECUTTERATAPOINTONTHEPARTSURFACETHECUTTER’SAMAPATAPOINTREFERSTOITSPOSTURERANGEINTERMSOFTHETWOROTATIONALANGLES,WITHINWHICHTHECUTTERDOESNOTHAVEANYINTERFERENCEWITHTHEPARTANDTHESURROUNDINGOBJECTSBYUSINGTHEAMAPATAPOINT,THEPOSTURECHANGERATESALONGTHEPOSSIBLECUTTINGDIRECTIONSCALLEDTHESMOOTHNESSMAPORSMAPATTHEPOINTAREESTIMATEDBASEDONTHEAMAPSANDSMAPSOFALLTHESAMPLEDPOINTSOFTHEPARTSURFACE,THEINITIALTOOLPATHWITHTHESMOOTHESTPOSTURECHANGEISGENERATEDFIRSTSUBSEQUENTLY,THEADJACENTTOOLPATHSAREGENERATEDONEATATIMEBYCONSIDERINGBOTHPATHSMOOTHNESSANDMACHININGEFFICIENCYCOMPAREDWITHTRADITIONALTOOLPATHGENERATIONMETHODS,EG,ISOPLANAR,THEPROPOSEDMETHODCANGENERATETOOLPATHSWITHSMALLERPOSTURECHANGERATEANDYETSHORTEROVERALLPATHLENGTHTHEDEVELOPEDTECHNIQUESCANBEUSEDTOAUTOMATEFIVEAXISTOOLPATHGENERATION,INPARTICULARFORHIGHSPEEDMACHININGFINISHCUTKEYWORDSFIVEAXISMILLINGTOOLPATHGENERATIONCUTTERPOSTURECHANGEMACHININGSTRIPWIDTH1INTRODUCTIONASTHENEEDFORCOMPLEXCOMPONENTSSUCHASTHREEDIMENSIONAL3DMOULDSANDDIESHASRISEN,SCULPTUREDSURFACEMACHININGHASASSUMEDAMOREANDMOREIMPORTANTROLEINMANUFACTURINGFORTHELASTFEWDECADESTHEEMPLOYMENTOFFIVEAXISNUMERICALCONTROLNCMACHINESINSCULPTUREDSURFACEMACHININGOFFERSNUMEROUSADVANTAGESOVERTHREEAXISMODESUCHASSETUPREDUCTION,FASTMATERIALREMOVALRATES,ANDIMPROVEDSURFACEQUALITYTOMAKETHEBESTUSEOFFIVEAXISMACHINING,HOWEVER,PROBLEMSRELATEDTOCOMPLICATIONANDCOMPLEXITYCAUSEDBYTHETWOADDITIONALROTARYAXESHAVETOBESOLVEDONEOFTHECHALLENGINGTASKSISTOAUTOMATICALLYGENERATEERRORFREETOOLPATHWITHOUTUSERINTERACTIONFORMACHININGSCULPTUREDSURFACESINTHEPROCESSPLANNINGOFFIVEAXISFINISHCUT,THETOOLPATHGENERATIONTASKISTOSELECTATOOLPATHPATTERN,GENERATETHECUTTERCONTACTCCPOINTSTHATSATISFYTHEACCURACYREQUIREMENT,ANDDETERMINETHECUTTER’SPOSTUREORIENTATIONATEVERYCCPOINTWITHOUTCAUSINGANYINTERFERENCEDURINGTHISPROCESS,TOENSURETHEQUALITYOFTHEMACHINEDSURFACE,THESMOOTHDYNAMICSOFCUTTERMOTIONISAMUST,IE,THEPOSTURECHANGEFROMONEPOINTTOTHENEXTMUSTBEMINIMIZEDEXTREMECHANGEINCUTTERPOSTURE,WHICHISNECESSARYFORINTERFERENCEAVOIDANCE,ISAMAJORCAUSEFORTHEUNNATURALMOVEMENTOFTHECUTTERANDWILLLEADTOOVERANDUNDERCUTTINGINFIVEAXISFINISHANDUNDESIRABLEIRREGULARITYOFTHESURFACEAPPEARANCE1,2SOFAR,THEREISLIMITEDREPORTEDWORKONOBTAININGTHECUTTERLOCATIONCLDATAWITHSMOOTHCONTINUOUSCHANGEINCUTTERPOSTURESALONGAPRESETPATHANDCUTTINGDIRECTION1–3,ANDTHEREISNOREPORTEDMETHODTHATCANGENERATECLDATAWITHGLOBALOPTIMIZATIONOFCUTTERMOTIONDYNAMICSWITHRESPECTTOACUTTINGDIRECTIONINFIVEAXISFINISHCUTLLLIYFZHANGHYLILGENGDEPARTMENTOFMECHANICALENGINEERING,NATIONALUNIVERSITYOFSINGAPORE,10KENTRIDGECRESCENT,SINGAPORE119260,SINGAPOREEMAILMPEZYFNUSEDUSGINTJADVMANUFTECHNOL201153699–709DOI101007/S0017001028492EFFICIENCY,ANDINPARTICULAR,SMOOTHPOSTURECHANGESUSINGTHEAMAPSANDSMAPSATALLTHESAMPLEDPOINTSONTHESURFACE,THEOPTIMALTOOLPATHSAREGENERATEDSUCHTHATTHECHANGEINCUTTERPOSTUREISMINIMIZEDWHENPASSINGTHROUGHTHEGENERATEDCCPOINTSBESIDES,MACHININGSTRIPWIDTHBETWEENADJACENTPATHSISALSOCONSIDEREDTOACHIEVEHIGHMACHININGEFFICIENCY3THEACCESSIBILITYMAPOFACUTTERATAPOINTTHEACCESSIBILITYMAPAMAPISDEFINEDINRESPECTTOACUTTERPOSITIONEDATAPOINTONTHEPARTSURFACEITREFERSTOTHEPOSTURERANGEINTERMSOFTHETWOROTATIONALANGLES,ANDWITHINTHISRANGE,THECUTTERDOESNOTHAVEANYINTERFERENCEWITHTHEPARTANDTHESURROUNDINGOBJECTSTHEAMAPEFFECTIVELYCHARACTERIZESTHEACCESSIBILITYOFACUTTERTOAPOINT,WHICHPROVIDESIMPORTANTGEOMETRICINFORMATIONFORCUTTERSELECTIONANDINTERFERENCEFREETOOLPATHGENERATIONABRIEFINTRODUCTIONOFAMAPISGIVENHEREASSHOWNINFIG1A,THELOCALFRAMEXL?YL?ZLORIGINATESATTHEPOINTOFINTERESTPCWITHZLAXISALONGTHESURFACENORMALVECTOR,XLAXISALONGTHESURFACEMAXIMUMPRINCIPALDIRECTION,ANDYLAXISALONGTHESURFACEMINIMUMPRINCIPALDIRECTION21ACUTTERPOSTUREL,ΘMEANSTHATTHECUTTER’SAXISINCLINESCOUNTERCLOCKWISEWITHLABOUTYLAXISANDROTATESAΘABOUTZLAXISTHEAMAPOFTHECUTTERATTHISPOINTISREPRESENTEDINL,ΘDOMAININTHELOCALFRAMEINORDERTOFINDTHEAMAPATTHEPOINT,THEFOURACCESSIBLEPOSTURERANGESBASEDONTHEIRRESPECTIVEINTERFERENCEFREEATTRIBUTES,IE,MACHINEAXISLIMITSML,LOCALGOUGINGLG,REARGOUGINGRG,ANDGLOBALCOLLISIONGC,AREFOUNDFIRSTFORIMPLEMENTATION,THEPARTSURFACETOBEMACHINEDISFIRSTLYSAMPLEDINTOMPOINTSATASPECIFICPOINT,THEFEASIBLERANGEOFΘ–LBASEDONMLISFIRSTCALCULATEDΘISTHENUNIFORMLYSAMPLEDINTOKANGLESATEACHDISCRETEΘ,THEMINIMUMLNEEDEDTOELIMINATELGISFOUNDFORRGANDGC,THERANGEOFLATEACHDISCRETEΘTHATISINTERFERENCEFREEFROMALLTHEREMAININGM?1POINTSISIDENTIFIEDTHEAMAPATTHISPOINTISSIMPLYTHEINTERSECTIONOFTHESEFOURACCESSIBLEPOSTURERANGESSEEFIG1BTHEOVERALLALGORITHMFORFINDINGTHEAMAPFORACUTTERATAPOINTONTHEPARTSURFACEISCALLEDTHECUTTERACCESSIBILITYCAALGORITHMOBVIOUSLY,THECAALGORITHMISNUMERICALINNATUREWITHACOMPUTATIONALCOMPLEXITYOFΟKMFORMOREDETAILSABOUTTHEEVALUATIONOFTHEAMAP,READERSCANREFERTO22ADIRECTAPPLICATIONOFTHISAMAPCONCEPTISFORTHEOPTIMALCUTTERSELECTIONTOFINISHAGIVENSCULPTUREDSURFACE22BYAPPLYINGTHECAALGORITHMTOALLTHESAMPLEDPOINTSONAPARTSURFACE,ONECANJUDGEWHETHERACUTTERCANTRAVERSETHEWHOLESURFACEWITHOUTANYINTERFERENCETHEOPTIMALCUTTERCANTHEREFOREBETHELARGESTAVAILABLECUTTERWITHNONEMPTYAMAPSATALLSAMPLEDSURFACEPOINTS4THESMOOTHNESSMAPOFACUTTERATAPOINTSINCETHEAMAPONLYCHARACTERIZESTHEGEOMETRICPROPERTYOFTHECUTTER’SPOTENTIALCONFIGURATIONATAPOINT,ITISNECESSARYTOADDTHEDYNAMICPROPERTYOFTHECUTTERATTHEPOINTTOCOMPLETETHEINFORMATIONSETTHEDYNAMICPROPERTYOFCUTTERISACOMPLEXISSUEINVOLVINGMANYFACTORS,EG,FEEDRATE,CUTTINGLOAD,ANDPATHSMOOTHNESSSINCETHISWORKFOCUSESONFINISHINGTOOLPATHPLANNING,ONLYPATHSMOOTHNESSISCONSIDERED,WHICHISMEASUREDBYTHEPOSTURECHANGERATEPCROFTHECUTTERATTHEPOINTGIVENACCPOINTPIANDNEXTCCPOINTPI1ONAPATH,PCRIISDEFINEDASPCRI?JVIT1?VIJJPIT1?PIJD1TWHEREVIISTHEUNITVECTOROFCUTTERAXISALONGITSPOSTUREΘI,LIATPIINTHEGLOBALFRAMEBEFOREACUTTINGDIRECTIONISSELECTED,ITISNECESSARYTOOBTAINTHEPCRSALONGALLPOSSIBLECUTTINGDIRECTIONS,WHICHISCALLEDTHESMOOTHNESSATHECUTTERINTHELOCALFRAMEBTHEAMAPATPCXLYLPCZLΛΘFIG1THECUTTERAMAPATAPOINTONTHEPARTSURFACEATHECUTTERINTHELOCALFRAMEBTHEAMAPATPCINTJADVMANUFTECHNOL201153699–709701

簡介：ELSEVIERJOURNALOFMATERIALSPROCESSINGTECHNOLOGY681199725726RJOURNALOFMATERIALSPOROCESS1NGTECHNOBGYADVANCESINTHEPREDSIONMACHININGOFSMALLDEEPHOLESZMWANGEOEZUGWU“,,DSUB“SCHOOLOFENGKWERINGVSTEMSANDDEIGN,SOUTHBANKUNILCRSIO,,LOMTMTSEI04,4,UKHDEPARTMENT/AHCHANICALENGINEERING,VOLTINGHAMTREML_TIRCRSITVVOTLHTGHAMNGI4BU,UKRECEIVED20OCTOBER1995ABSTRACTBASEDONTHEANALYSISOFTHEFORCESACTINGONADEEPHOLEDRILLINGHEADANDTHEUNDERSTANDINGOFTHEBURNISHINGACTIONOFTHECARBIDEGUIDEPADS,ANINVESTIGATIONOFTHEPRECISIONDRILLINGMETHODOFSMALLDEEPHOLESINDIFFICULTTOCUTMATERIALSWASCARRIEDOUTTHEINFLUENCEOFTOOLGEOMETRYANDCUTTINGPARAMETERSCUTTINGSPEEDSANDFEEDRATESONTHESURFACEQUALITYOFTHEDRILLEDHOLESWASSTUDIED,THERESULTSOFWHICHINDICATINGTHAT1020MMSMALLDEEPHOLESOFHIGHTOLERANCEGRADESIT7TOIT9ANDLOWERSURFACEROUGHNESSVALUESRDINTHERANGEOF0216TJMCANBEACHIEVEDANDTHEPROBLEMOFAXIALDEVIATIONOFHOLESDRILEDMINIMISEDUNDEROPTIMISEDCUTTINGPARAMETERSBYMEANSOFTHENEW/IMPROVEDBTADRILL“,,1997ELSEVIERSCIENCESAKEYWORDSDIFFICULTTOCUTMATERIALSSMALLDEEPHOLESPRECISIONDRILLINGSTABILITYBURNISHINGACTION1INTRODUCTIONDEEPHOLEMACHININGISRECOGNISEDASADIFFICULTPROCESSDUETOTHECONFINEDCUTTINGSPACEANDTHEPOORCUTTINGCONDITIONS,DIFFICULTCHIPBREAKINGANDCHIPREMOVAL,ANDCANTILEVEREDCUTTINGACTION,ASWELLASPOORMACHININGSYSTEMSTIFFNESSFRAZAOETAL1POINTEDOUTTHAT“THEMACHININGOFHOLESOFHIGHLENGTHTODIAMETERRATIOTOHIGHSTANDARDSOFSIZE,PARALLELISM,STRAIGHTNESSANDSURFACEFINISHHASALWAYSPRESENTEDPROBLEMS“LOWMACHINABILITYOFDIFFICULTTOCUTMATERIALSMAKESITMOREDIFFICULTTOACHIEVETHEPROCESSEFFICIENTLYANDECONOMICALLY,ESPECIALLYINTHESOLIDDRILLINGOFSMALLDEEPHOLESCURRENTLY,THEREARETHREEMAINTECHNIQUESAVAILABLEFORDEEPHOLEDRILLING,IETHEGUN,THEBTAFROMBORINGTREPANNINGASSOCIATIONANDTHEEJECTORDRILLINGSYSTEMS2,3THEBASICPRINCIPLESOFEACHPROCESSARETHESAME,BUTTHEBTAPROCESSINITIALLYDEVELOPEDINGERMANYDURINGWORLDWARTWOREPRESENTSTHEMOSTECONOMICALMETHODFORDEEPHOLEDRILLINGWITHHIGHLENGTHTODIAMETERRATIO4THEBTAPROCESSCANCOVERALARGERANGEOFBOREDIAMETERS6750RAMANDHIGHLENGTHTODIAMETERRATIOSUPTO1005SMALLBTATOOLSUNDER20RAMNORMALLYCONSISTOFASINGLECUTTINGTIPWITHTWOCORRESPONDINGAUTHORFAX44171815769909240136/97/1700?1997ELSEVIERSCIENCESAALLRIGHTSRESERVEDPIIS0924013696000295SELLPILOTINGCARBIDEPADSFIG1WHENDRILLINGWITHTHESELFPILOTINGTOOLINTEGRATEDWITHAHIGHPRESSURECOOLANTSYSTEMWHICHFLUSHESTHECHIPBACKTHROUGHTHEINTERIOROFTHEBORINGBAR,THECUTTINGFORCESGENERATEDATTHECUTTINGEDGESAREBALANCEDBYGUIDEPADSRUBBINGAGAINSTTHEBOREWALLTHISMEANSTHATTHEREISBURNISHINGACTIONOFTHEGUIDEPADSONTHEWALLOFTHEMACHINEDHOLEITISDUETOTHEBURNISHINGANDFIXEDSIZEACTIONOFTHEGUIDEPADSCOMBINEDWITHINTERIORCHIPREMOVALMETHODOFTHEBTAPROCESSANDTHEUSEOFANEXTREMELYRIGIDCYLINDRICALBORINGBARTHATHIGHPRECISIONDEEPHOLESCANISACHIEVEDINONEPASS6,7THISWORKISAIMEDATDEVELOPINGARELIABLEMETHODFORTHEPRECISIONDRILLINGOFSMALLDEEPHOLESINDIFFICULOCUTMATERIALSGUDEPADSE±RDLNGRMCUT±NGLIP/FIGTHEBTADRILLINGHEADZMWANGETAL/JOURNAL/“MATERIALSPROCESSINGTECHNOLOGY680997257261259350030002500200010005003000250020001500ANDBTORQUEAXIALFORCEATTHEOUTEREDGEISOBTAINEDPERIODAWHENTHEMIDDLEEDGEENTERS,THEREALAXIALFORCEINCREASESTOBPOINTWHENTHEINNEREDGEMAKESCONTACTWITHTHEWORKPIECE,ARESULTANTAXIALTBRCEKTWITHAPOINTCISOBSERVEDTHEAXIALFORCEINCREASESSUDDENLYASSOONASTHECOREISCUTANDTHEGUIDEPADSENTERTHEMACHINEDHOLEAFTERASHORTPERIOD,ASTABLEAXIALFORCEFADEVELOPSTHECUTTINGTORQUETANDTHERESULTANTTORQUETAWEREMEASUREDINTHESAMEWAYFIG4BSHOWINGATYPICALTORQUETIMECURVEASSHOWNINFIG2,THESUPPORTINGFORCEACTINGONEACHOFTHEGUIDESDEPENDSMAINLYONBOTHTHEMAGNITUDEANDTHEDIRECTIONOFFANDTHEPOSITIONALANGLESQHANDQ2OFTHEGUIDEPADSATQH87°ANDQ2183THESUPPORTINGFORCEONGNEARLYEQUALSTHECUTTINGFORCEF,WHILSTTHEFORCEONG2ISABOUT20OFTHECUTTINGFORCEF10THEREFOREITCANBECONSIDEREDTHATTHEFIRSTPADGBEARSTHECUTTINGIRCEF,WHILETHESECONDPADG2DETERMINESTHEDIAMETEROFTHEDRILLEDHOLE2EXPERIMENTALPROCEDURESBASEDONTHECAREFULINVESTIGATIONOFTHEBTADEEPHOLEDRILLINGPROCESS,INCLUDINGTHEANALYSISOFTHEFORCESACTINGONTHEDEEPHOLEDRILLINGHEAD,THEOBSERVATIONOFTHEDRILLINGSTABILITYANDTHEUNDERSTANDINGOFTHEBURNISHINGACTIONOFTHEGUIDEPADS,ANIMPROVED16THESTUDYINDICATESTHAT1020MMSMALLDEEPHOLESOFHIGHTOLERANCEGRADESIT7TOIT9FIG6ANDLOWERSURFACEROUGHNESSVALUESRAINTHERANGEOF02TO16PMFIG7CANBEACHIEVEDUNDERTHEOPTIMISEDCUTTINGPARAMETERSBYMEANSOFTHENEW/IMPROVEDTYPEOFBTADRILL31EFFECTOFTOOLGEOMETRYEXPERIMENTALINVESTIGATIONOFDEEPHOLEDRILLINGINDIFFICULTTOCUTMATERIALCRNI3MOVINDICATESTHATTHEGOODSURFACEFINISH,HIGHDIMENSIONACCURACYANDTHEIMPROVEDRUNOUTOFTHEMACHINEDDEEPHOLESCANBEATTRIBUTEDPARTLYTOTHEHIGHSTABILITYOFTHEDRILLINGHEADANDTHEIMPROVEDBURNISHINGACTIONOFTHEGUIDEPADSTHEHIGHSTABILITYOFTHEDRILLINGHEADISACHIEVEDBYARRANGINGTHETWOCARBIDEPADSATPOSITIONALANGLESOF8095°AND180190°ANDINSERTINGANASSISTANTPILOTINGCARBIDEPADAT270275°CLOCKWISEFROMTHECUTTIFFGEDGESTHEVIBRATIONRESISTINGPADSATTHEBACKOFDRILLINGHEADFURTHERPROMOTETHESTABILITYOFTHEDRILLINGHEADDUETOTHEIRDAMPINGACTIONANOTHERSIGNIFICANTCONTRIBUTIONOFTHESOFTPADSISTOSUPPRESSTHEAXIALDEVIATIONOFHOLE,WHICHLATTERISONEOFTHEMAINPROBLEMSFACEDINDEEPHOLEDRILLING,ESPECIALLYINDIFFICULTTOCUTMATERIALSWHENASLENDERBOR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簡介：LEARNINGMULTIROBOTJOINTACTIONPLANSFROMSIMULTANEOUSTASKEXECUTIONDEMONSTRATIONSMURILOFERNANDESMARTINSDEPTOFELECANDELECTRONICENGINEERINGIMPERIALCOLLEGELONDONLONDON,UKMURILOIEEEORGYIANNISDEMIRISDEPTOFELECANDELECTRONICENGINEERINGIMPERIALCOLLEGELONDONLONDON,UKYDEMIRISIMPERIALACUKABSTRACTTHECENTRALPROBLEMOFDESIGNINGINTELLIGENTROBOTSYSTEMSWHICHLEARNBYDEMONSTRATIONSOFDESIREDBEHAVIOURHASBEENLARGELYSTUDIEDWITHINTHEFIELDOFROBOTICSNUMEROUSARCHITECTURESFORACTIONRECOGNITIONANDPREDICTIONOFINTENTOFASINGLETEACHERHAVEBEENPROPOSEDHOWEVER,LITTLEWORKHASBEENDONEADDRESSINGHOWAGROUPOFROBOTSCANLEARNBYSIMULTANEOUSDEMONSTRATIONSOFMULTIPLETEACHERSTHISPAPERCONTRIBUTESANOVELAPPROACHFORLEARNINGMULTIROBOTJOINTACTIONPLANSFROMUNLABELLEDDATATHEROBOTSFIRSTLYLEARNTHEDEMONSTRATEDSEQUENCEOFINDIVIDUALACTIONSUSINGTHEHAMMERARCHITECTURESUBSEQUENTLY,THEGROUPBEHAVIOURISSEGMENTEDOVERTIMEANDSPACEBYAPPLYINGASPATIOTEMPORALCLUSTERINGALGORITHMTHEEXPERIMENTALRESULTS,INWHICHHUMANSTELEOPERATEDREALROBOTSDURINGASEARCHANDRESCUETASKDEPLOYMENT,SUCCESSFULLYDEMONSTRATEDTHEEFFICACYOFCOMBININGACTIONRECOGNITIONATINDIVIDUALLEVELWITHGROUPBEHAVIOURSEGMENTATION,SPOTTINGTHEEXACTMOMENTWHENROBOTSMUSTFORMCOALITIONSTOACHIEVETHEGOAL,THUSYIELDINGREASONABLEGENERATIONOFMULTIROBOTJOINTACTIONPLANSCATEGORIESANDSUBJECTDESCRIPTORSI29ARTIFICIALINTELLIGENCEROBOTICSGENERALTERMSALGORITHMS,DESIGN,EXPERIMENTATIONKEYWORDSLEARNINGBYDEMONSTRATION,MULTIROBOTSYSTEMS,SPECTRALCLUSTERING1INTRODUCTIONASUBSTANTIALAMOUNTOFSTUDIESINMULTIROBOTSYSTEMSMRSADDRESSESTHEPOTENTIALAPPLICATIONSOFENGAGINGMULTIPLEROBOTSTOCOLLABORATIVELYDEPLOYCOMPLEXTASKSSUCHASSEARCHANDRESCUE,DISTRIBUTEDMAPPINGANDEXPLORATIONOFUNKNOWNENVIRONMENTS,ASWELLASHAZARDOUSTASKSANDFORAGING–FORANOVERVIEWOFTHEFIELD,SEE13DESIGNINGDISTRIBUTEDINTELLIGENTSYSTEMS,SUCHASMRS,ISAPROFITABLECITEASLEARNINGMULTIROBOTJOINTACTIONPLANSFROMSIMULTANEOUSTASKEXECUTIONDEMONSTRATIONS,MFMARTINS,YDEMIRIS,PROCOF9THINTCONFONAUTONOMOUSAGENTSANDMULTIAGENTSYSTEMSAAMAS2010,VANDERHOEK,KAMINKA,LESPéRANCE,LUCKANDSENEDS,MAY,10–14,2010,TORONTO,CANADA,PP?COPYRIGHTC?2010,INTERNATIONALFOUNDATIONFORAUTONOMOUSAGENTSANDMULTIAGENTSYSTEMSWWWIFAAMASORGALLRIGHTSRESERVEDFIGURE1THEP3ATMOBILEROBOTSUSEDINTHISPAPER,EQUIPPEDWITHONBOARDCOMPUTERS,CAMERAS,LASERANDSONARRANGESENSORSTECHNOLOGYWHICHBRINGSBENEFITSSUCHASFLEXIBILITY,REDUNDANCYANDROBUSTNESS,AMONGOTHERSSIMILARLY,ASUBSTANTIALAMOUNTOFSTUDIESHAVEPROPOSEDNUMEROUSAPPROACHESTOROBOTLEARNINGBYDEMONSTRATIONLBD–FORACOMPREHENSIVEREVIEW,SEE1EQUIPPINGROBOTSWITHTHEABILITYTOUNDERSTANDTHECONTEXTINWHICHTHEYINTERACTWITHOUTTHENEEDOFCONFIGURINGORPROGRAMMINGTHEROBOTSISANEXTREMELYDESIREDFEATUREREGARDINGLBD,THEMETHODSWHICHHAVEBEENPROPOSEDAREMOSTLYFOCUSSEDONASINGLETEACHER,SINGLEROBOTSCENARIOIN7,ASINGLEROBOTLEARNTASEQUENCEOFACTIONSDEMONSTRATEDBYASINGLETEACHERIN12,THEAUTHORSPRESENTEDANAPPROACHWHEREAHUMANACTEDBOTHASATEACHERANDCOLLABORATORTOAROBOTTHEROBOTWASABLETOMATCHTHEPREDICTEDRESULTANTSTATEOFTHEHUMAN’SMOVEMENTSTOTHEOBSERVEDSTATEOFTHEENVIRONMENTBASEDONITSUNDERLYINGCAPABILITIESASUPERVISEDLEARNINGMETHODWASPRESENTEDIN4USINGGAUSSIANMIXTUREMODELS,INWHICHAFOURLEGGEDROBOTWASTELEOPERATEDDURINGANAVIGATIONTASKFEWSTUDIESADDRESSEDTHEPREDICTIONOFINTENTINADVERSARIALMULTIAGENTSCENARIOS,SUCHASTHEWORKOF3,INWHICHGROUPMANOEUVRESCOULDBEPREDICTEDBASEDUPONEXISTINGMODELSOFGROUPFORMATIONINTHEWORKOF5,MULTIPLEHUMANOIDROBOTSREQUESTEDATEACHER’SDEMONSTRATIONWHENFACINGUNFAMILIARSTATESIN14,THEPROBLEMOFEXTRACTINGGROUPBEHAVIOURFROMOBSERVEDCOORDINATEDMANOEUVRESOFMULTIPLEAGENTSALONGTIMEWASADDRESSEDBYUSINGACLUSTERINGALGORITHMTHEMETHODPRESENTEDIN9ALLOWEDASINGLEROBOTTOPREDICTTHEINTENTIONSOF2HUMANSBASEDONSPATIOTEMPORALRELATIONSHIPSHOWEVER,THECHALLENGEOFDESIGNINGANMRSSYSTEMINWHICHMULTIPLEROBOTSLEARNGROUPBEHAVIOURBYOBSERVATION931931938I1I2INF1F2FNSTATESATTM1M2MNPREDICTIONVERIFICATIONATT1PREDICTIONVERIFICATIONATT1PREDICTIONVERIFICATIONATT1P1P2PNFIGURE3DIAGRAMATICSTATEMENTOFTHEHAMMERARCHITECTUREBASEDONSTATEST,MULTIPLEINVERSEMODELSI1TOINCOMPUTEMOTORCOMMANDSM1TOMN,WITHWHICHTHECORRESPONDINGFORWARDMODELSF1TOFNFORMPREDICTIONSREGARDINGTHENEXTSTATEST1P1TOPNWHICHAREVERIFIEDATST1MAYPERFORMCERTAINACTIONSSEQUENTIALLYORSIMULTANEOUSLYRESULTINGINACOMBINATIONOFACTIONS,WHILETHEROBOTHASACCESSTOTHEJOYSTICKCOMMANDSONLYINORDERTORECOGNISEACTIONSFROMOBSERVEDDATAANDMANOEUVRECOMMANDS,THISPAPERMAKESUSEOFTHEHIERARCHICALATTENTIVEMULTIPLEMODELSFOREXECUTIONANDRECOGNITIONHAMMERARCHITECTURE7,WHICHHASBEENPROVENTOWORKVERYWELLWHENAPPLIEDTODISTINCTROBOTSCENARIOSHAMMERISBASEDUPONTHECONCEPTSOFMULTIPLEHIERARCHICALLYCONNECTEDINVERSEFORWARDMODELSINTHISARCHITECTURE,ANINVERSEMODELHASASINPUTSTHEOBSERVEDSTATEOFTHEENVIRONMENTANDTHETARGETGOALS,ANDITSOUTPUTSARETHEMOTORCOMMANDSREQUIREDTOACHIEVEORMAINTAINTHETARGETGOALSONTHEOTHERHAND,FORWARDMODELSHAVEASINPUTSTHEOBSERVEDSTATEANDMOTORCOMMANDS,ANDTHEOUTPUTISAPREDICTIONOFTHENEXTSTATEOFTHEENVIRONMENTASILLUSTRATEDINFIG3,EACHINVERSEFORWARDPAIRRESULTSINAHYPOTHESISBYSIMULATINGTHEEXECUTIONOFAPRIMITIVEBEHAVIOUR,ANDTHENTHEPREDICTEDSTATEISCOMPAREDTOTHEOBSERVEDSTATETOCOMPUTEACONFIDENCEVALUETHISVALUEREPRESENTSHOWCORRECT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簡介：556IEEETRANSACTIONSONCONTROLSYSTEMSTECHNOLOGY,VOL10,NO4,JULY2002LINEOFSIGHTRATEESTIMATIONANDLINEARIZINGCONTROLOFANIMAGINGSEEKERINATACTICALMISSILEGUIDEDBYPROPORTIONALNAVIGATIONJACQUESWALDMANN,MEMBER,IEEEABSTRACTACCELERATIONCOMMANDSINMISSILESGUIDEDBYPROPORTIONALNAVIGATIONREQUIRETHEMEASUREMENTOFLINEOFSIGHTLOSRATEITISOFTENOBTAINEDBYFILTERINGTHEOUTPUTOFATWODEGREEOFFREEDOM2DOFRATEGYROMOUNTEDONTHEINNERGIMBALOFTHESEEKERTHISPAPERDESCRIBESTHEMODELINGOFANIMAGINGSEEKERANDTHEFORMULATIONOFANEXTENDEDKALMANFILTEREKFFORTHEESTIMATIONOFLOSRATEFROMMEASUREMENTSOFRELATIVEANGULARDISPLACEMENTBETWEENSEEKERGIMBALSANDALOWCOSTSTRAPDOWNINERTIALUNITTHEAPPROACHAIMSATCIRCUMVENTINGTHENEEDFORTHERATEGYROONTHESEEKERALINEARIZINGFEEDBACKCONTROLLAWFORDECOUPLINGMISSILEMOTIONFROMTHATOFTHESEEKERISPROPOSEDBASEDONTHEFILTERMODELANDITSESTIMATESADDITIONALLY,THECONTROLLAWUSESVISUALINFORMATIONFROMTHEIMAGESEQUENCEFORTARGETTRACKINGSEEKERDYNAMICSANDCONTROLARETHENINTEGRATEDINTOADYNAMICMODELOFACRUCIFORMMISSILEEQUIPPEDWITHCANARDSANDROLLERONSANDGUIDEDBYPROPORTIONALNAVIGATIONINTHREEDIMENSIONAL3DINTERCEPTIONTASKSMONTECARLOSIMULATIONISEMPLOYEDTOEVALUATETHEOVERALLSYSTEMACCURACYSUBJECTTODIFFERENTINITIALCONDITIONSLATERALANDHEADONENGAGEMENTSANDTHEIMPACTOFROLLINGMOTIONDURINGHIGHMANEUVERSONMISSDISTANCETHEVALIDATIONMODELINCLUDESNOISEINTHEVARIOUSSENSORS,COUPLEDINERTIAOFTHESEEKERGIMBALS,SIGNALSATURATIONATVARIOUSSUBSYSTEMS,OPTICALGEOMETRICDISTORTION,ANDTARGETSEGMENTATIONERRORSINTHEIMAGEPLANEINITIALENGAGEMENTGEOMETRYANDROLLRATEDAMPINGATHIGHINCIDENCEANGLESHAVEBEENOBSERVEDTOHAVEASIGNIFICANTIMPACTONMISSDISTANCEINDEXTERMSIMAGESEQUENCEANALYSIS,KALMANFILTERING,MACHINEVISION,MISSILEGUIDANCE,NONLINEARESTIMATIONANDCONTROL,OPTICALDISTORTION,POINTINGSYSTEMSIINTRODUCTIONGIMBALLEDSEEKERSAREOFTENUTILIZEDINCONTEMPORARYTACTICALMISSILESTHEYSHOULDPROVIDERAPIDANDACCURATETRACKINGOFBORESIGHTERRORSIGNALSGENERATEDBYTHETARGETDETECTORLOCATEDINTHEINNERGIMBALTHEDEMANDSONSEEKERCONTROLBECOMEMORESEVEREATTHEENDGAMEPORTIONOFTHEENGAGEMENTINADEQUATEPERFORMANCERESULTSINLARGEMISSDISTANCESANDTHUSREDUCESTHEPROBABILITYOFASUCCESSFULINTERCEPTIONATWODEGREEOFFREEDOM2DOFRATEGYROISUSUALLYMOUNTEDONTHEINNERGIMBALANDFEEDSINERTIALANGULARRATEDIRECTLYTOTHETORQUERSTOPROVIDEBORESIGHTERRORTRACKINGANDSTABILIZATIONAGAINSTBASEMOTION1,2THELATTERISACONSEQUENCEMANUSCRIPTRECEIVEDDECEMBER11,2000REVISEDNOVEMBER9,2001MANUSCRIPTRECEIVEDINFINALFORMFEBRUARY22,2002RECOMMENDEDBYASSOCIATEEDITORSBANDATHEAUTHORISWITHTHECENTROTéCNICOAEROESPACIAL,INSTITUTOTECNOLóGICODEAERONáUTICA,DEPARTMENTOFSYSTEMSANDCONTROL,12228900S?OJOSéDOSCAMPOSSP,BRAZILEMAILJACQUESELEITACTABRPUBLISHERITEMIDENTIFIERS1063653602053563OFTHEMISSILEANGULARANDLINEARMOTIONDURINGTHEENGAGEMENTANDISTRANSMITTEDTOTHEGIMBALSBYMECHANICALMEANSACCURATESTABILIZATIONOFIMAGINGSEEKERSISCRITICALTOREDUCEIMAGESMEARINGWHICHINTURNIMPACTSADEQUATETARGETACQUISITION,SEGMENTATION,ANDTRACKINGADDITIONALLY,MINORMASSUNBALANCESADDTOTHEDISTURBANCESACTINGUPONTHEGIMBALSASTHEMISSILESUFFERSACCELERATIONSTHEPACKAGINGOFSUBSYSTEMSINTACTICALMISSILESISSERIOUSLYAFFECTEDBYVOLUMEANDAERODYNAMICCONSTRAINTSTHATULTIMATELYDICTATEMANEUVERABILITYGIMBALLEDSEEKERSAREUSUALLYPOSITIONEDATTHEFRONTTIPOFTHEMISSILENOTRARELYTHESIZEOFTHESEEKERANDITSSUPPORTINGSYSTEMSDICTATESTHESHAPEOFTHEFRONTTIPOFTHEMISSILEINSUCHCASES,THEBULKIERTHESHAPE,THEMOREINTENSEBECOMETHEGENERATEDSHOCKWAVESWHICHDEGRADEMISSILEPERFORMANCESEEKERVOLUMECANBEREDUCEDBYREMOVINGTHERATEGYROFROMTHEGIMBALLEDASSEMBLYANDUSINGASTRAPDOWNCONFIGURATIONHOWEVER,THEAPPROACHCALLSFORTHEESTIMATIONOFTHEINNERGIMBALANGULARRATERELATIVETOTHEMISSILEBODYDIFFERENTIATIONOFTHERELATIVEANGULARRATEOFTHEGIMBALSANDFURTHERMATCHEDFILTERINGTOREDUCENOISEHASBEENUSEDINALINEARIZEDAPPROACH3TOSTABILIZEASINGLEAXISGIMBALLEDIMAGINGSEEKERDISTURBEDBYMISSILEMOTIONINCORRECTOUTPUTBYTHEIMAGESEGMENTATIONALGORITHMWASNEGLECTEDSLIDINGMODECONTROLHASBEENUSED4UNDERTHEASSUMPTIONOFUNCOUPLEDIDENTICALPITCHANDYAWCHANNELSAGAINWITHASINGLEAXISGIMBALLEDSEEKERANDEVALUATEDAGAINSTAREPRESENTATIVECOMMANDSIGNALTHEPROPOSEDCONTROLLAWREQUIREDTHECOMPUTATIONOFFIRSTANDSECONDTIMEDERIVATIVESOFTHECOMMANDSIGNALASWELLASPERFECTMEASUREMENTSOFGIMBALANGULARDISPLACEMENTANDRATERELATIVETOTHEMISSILEBODYTHISPAPERPROPOSESTOEXTENDTHEABOVEFORMULATIONTOCOPEWITHTHEDYNAMICSOFAYAWANDPITCHCONTROLLEDIMAGINGSEEKERTHEAPPROACHISBASEDONMODELINGTHENONLINEARSEEKERDYNAMICSWITHITSTIMEVARYINGINERTIAFORUSEINANEXTENDEDKALMANFILTEREKF,AIMINGATTHEESTIMATIONOFRELATIVEANGULARDISPLACEMENTOFTHEGIMBALSFURTHERMORE,IMAGESEQUENCEANALYSISASSUMINGTHATTARGETSEGMENTATIONHASBEENSOLVEDANDANOISYESTIMATEOFITSCENTROIDLOCATIONINTHEIMAGEPLANEISAVAILABLEISADDRESSEDINTERMSOFOPTICALFLOW21ESTIMATIONFORVISUALFEEDBACKTOTHETORQUERSTHEAPPROACHISEVALUATEDBYASSESSINGTHEMISSDISTANCESTATISTICSVIAMONTECARLOSIMULATIONOFTHECLOSEDLOOPCOMPRISINGSEEKERCONTROLANDTHEDYNAMICMODELOFATACTICALCRUCIFORMMISSILETHEMISSILEISGUIDEDBYPUREPROPORTIONALNAVIGATIONINTHREEDIMENSIONAL3DENGAGEMENTSAGAINSTONENONMANEUVERINGTARGET10636536/021700?2002IEEE558IEEETRANSACTIONSONCONTROLSYSTEMSTECHNOLOGY,VOL10,NO4,JULY2002DYNAMICSOFTHELASTTWOCOMPONENTSIN1BWHENEXCITEDBYTORQUEFROMTHEACTUATORSTHEFIRSTCOMPONENTREFERSTOTHEREACTIONTORQUEOFTHEMISSILEBODYACTINGUPONTHEOUTERGIMBALANDHENCEISNOTCONSIDEREDINTHEENSUINGMODELONONEHAND,TORQUECOMPONENTISAPPLIEDTOTHEOUTERGIMBALALONGTHEDIRECTIONANDAFFECTSTHEANGULARMOMENTUMCOMPONENTOFBOTHGIMBALSGIVENBYTORQUECOMPONENT,ONTHEOTHERHAND,ISAPPLIEDTOTHEINNERGIMBALALONGTHEDIRECTIONBYANACTUATORLOCATEDINSUCHWAYATTHEOUTERGIMBALTHATITSACTIONISPERPENDICULARTOTHEREFORE,ONLYAFFECTSTHEANGULARMOMENTUMCOMPONENTOFTHEINNERGIMBALALONGDIRECTION,GIVENBY4SUBSTITUTING2–4IN1BPRODUCESTHEFOLLOWING5A5BWHICHYIELDSAFTERSOMEALGEBRAICMANIPULATION6A6B6C6D6E6F6G6H6I6J6KTHEDYNAMICMODELOFSEEKERMOTIONRELATIVETOTHENBECOMES7AAND7BATTHEBOTTOMOFTHEPAGEANDTHEDYNAMICCOUPLINGARISINGFROMTHEINERTIAPRODUCTSBECOMESAPPARENTTORQUERDYNAMICSISMODELEDBY8WHERE,ARECURRENTSIGNALSAPPLIEDTOEACHTORQUERAND,ARECONSTANTGAINSTHECURRENTSIGNALSTOTHETORQUERSMUSTDRIVETHESEEKER,AIMINGATBASEMOTIONSTABILIZATIONANDTARGETTRACKINGINERTIAMOMENTSANDPRODUCTSOFBOTHGIMBALSANDELECTROOPTICALPAYLOADAREKNOWNALONGTORQUERAXESPRIORTOSEEKERASSEMBLYTHETORQUERAXESAREALIGNEDWITHTHECOORDINATEFRAMETHEREFORE,THEINERTIAPARAMETERSOFTHEINNERGIMBALASSEMBLYANDITSPAYLOADRELATIVETOTHEFRAMEVARYINTIMEDURINGSEEKEROPERATIONDUETOTHEOCCURRENCEOFRELATIVEMOTIONINELEVATION,GIVENBYANDTHEINERTIAMOMENTSANDPRODUCTSOFTHEINNERGIMBALANDELECTROOPTICALPAYLOADINTHEFRAME,ALONGWITHTHERESPECTIVETIMERATES,ARECOMPUTEDAS9EQUATIONS6–9COMPOSETHEDYNAMICMODELRELATINGTHEINPUTDRIVINGTHETORQUERSTOTHEOUTPUT,WHICHISTHESEEKERMOTIONRELATIVETOTHECOORDINATEFRAMEINORDERTOSTABILIZETHESEEKERININERTIALSPACEANDTRACKTHETARGETWHILEPERFORMINGPROPORTIONALNAVIGATION,THEINERTIALLOSRATEFROMSEEKERTOTARGETHASTOBEESTIMATEDFROMAVAILABLEMISSILEANGULARRATEANDRELATIVEGIMBALANGLEMEASUREMENTSINORDERTOCIRCUMVENTTHENEEDFORA2DOFRATEGYROMOUNTEDONTHEINNERGIMBALSECTIONIIIDESCRIBESTHEFORMULATIONOFANEKFFORTHISPURPOSEIIILOSRATEESTIMATIONVIAEKFTHEAVAILABLEMEASUREMENTSFORLOSRATEESTIMATIONARETHEOUTERGIMBALANGLERELATIVETOTHEMISSILEBODY,INNERGIMBAL7A7B

簡介：從同步任務(wù)執(zhí)行演示中學(xué)習(xí)多個(gè)機(jī)器人聯(lián)合行動(dòng)計(jì)劃從同步任務(wù)執(zhí)行演示中學(xué)習(xí)多個(gè)機(jī)器人聯(lián)合行動(dòng)計(jì)劃MURILOIEEEORGMURILOIEEEORGELECELEC與電子工程系，穆里羅費(fèi)爾南德斯馬丁斯，英國倫敦帝國學(xué)倫敦，英與電子工程系，穆里羅費(fèi)爾南德斯馬丁斯，英國倫敦帝國學(xué)倫敦，英國摘要摘要設(shè)計(jì)智能機(jī)器人通過行為示范已經(jīng)很大程度上影響了機(jī)器人系統(tǒng)的核心。許多架構(gòu)的認(rèn)識和預(yù)測提出了一個(gè)教師的意圖。無論如何，很少的工作被完成訪問如何使一組機(jī)器人能夠在許多教師同時(shí)地示范中學(xué)習(xí)。本文有助于學(xué)習(xí)多個(gè)機(jī)器人聯(lián)合行動(dòng)計(jì)劃不存在的數(shù)據(jù)。個(gè)人行為的機(jī)器人首先學(xué)習(xí)錘子架構(gòu)，隨后,運(yùn)用時(shí)空聚類算法將行為分割在時(shí)間和空間上。根據(jù)實(shí)驗(yàn)結(jié)果表明，人類遠(yuǎn)程操作機(jī)器人在搜索和營救任務(wù)布置旗艦成功的示范了個(gè)人水平結(jié)合性行為識別和團(tuán)體行為分割的功效，測定準(zhǔn)確的時(shí)刻和讓機(jī)器人必須聯(lián)合實(shí)現(xiàn)預(yù)期的目標(biāo)，因此生產(chǎn)一代合理的多功能機(jī)器人聯(lián)合行動(dòng)計(jì)劃。分類和主題描述符號【人造的智力】機(jī)器人概述算法，設(shè)計(jì)，實(shí)驗(yàn)關(guān)鍵詞關(guān)鍵詞從示范中學(xué)習(xí)，多功能機(jī)器人系統(tǒng)，光譜的采集11引言引言對多功能機(jī)器人系統(tǒng)研究的本質(zhì)發(fā)表演說，潛在的應(yīng)用程序保證大多數(shù)機(jī)器人能合作地部署復(fù)雜的任務(wù)，像搜索和營救。分配地圖和探索陌生的環(huán)境，有危險(xiǎn)的任務(wù)和覓食一樣對于領(lǐng)域的一個(gè)綜述，看【13】，設(shè)計(jì)分散式的智能系統(tǒng)，比如，MPS，是賺錢的科技，他帶來的益處比如靈活性，裁員和穩(wěn)健性。本節(jié)還介紹錘架構(gòu)7和14提出的SC算法的實(shí)現(xiàn)是如何被利用來解決動(dòng)作識別和群體行為的分割問題，其次，在第4部分描述了正是多功能機(jī)器人計(jì)劃的產(chǎn)生實(shí)驗(yàn)性的測試已完成，第5部分分析得到的結(jié)果，最后，第6部分給出了結(jié)論和進(jìn)一步的工作。2系統(tǒng)設(shè)計(jì)問題這篇文章的MOLBD體系結(jié)構(gòu)計(jì)劃是基于機(jī)器人遙控平臺，被【8】和【16】的工作所啟迪的設(shè)計(jì)，還有LBD體系結(jié)構(gòu)在【7】【9】所呈現(xiàn)的。一些MRS的設(shè)計(jì)包括了在這個(gè)研究區(qū)域的普遍問題，尤其是機(jī)器人遙控系統(tǒng)帶來了幾個(gè)核心的（重要的）設(shè)計(jì)問題，在接下來的章節(jié)會(huì)論述到。21人類VS機(jī)器人感知中心遙控平臺通常提供在機(jī)器人附著的遠(yuǎn)程環(huán)境中受限制的直覺，然而，依賴于應(yīng)用和環(huán)境，人類可以以全面的。不受限制的觀察的這樣一種方式戰(zhàn)略性地被安置是可行的。第一被說明的設(shè)計(jì)問題是人類VS機(jī)器人幾種的知覺人被允許觀察自己的感覺世界或者他們應(yīng)該有自己的看法僅限于機(jī)器人介導(dǎo)的數(shù)據(jù)。。但先前的表現(xiàn)導(dǎo)致了簡化的系統(tǒng)，上述的MRS潛在運(yùn)用難免會(huì)落后，執(zhí)行這項(xiàng)工作的遙控平臺因此基于對環(huán)境的受限制的知覺，為人類提空了機(jī)器人可以通過他的傳感器獲得的本地的相同的遙遠(yuǎn)的知覺（人類被放置在機(jī)器人有知覺的鞋里）。22人類行為的觀察設(shè)計(jì)一個(gè)遙控操作平臺的另一個(gè)關(guān)鍵問題是如何定義相關(guān)的命令發(fā)送給機(jī)器人。人類的行為是不能被機(jī)器人直接觀察到的。盡管人類是“放置在機(jī)器人的感知中心一個(gè)機(jī)器人只能訪問它的遙控機(jī)器人的動(dòng)作指令，而不是人類的動(dòng)作一圖。如圖2所示。

簡介：三維空間攔截的前置追蹤變結(jié)構(gòu)制導(dǎo)律三維空間攔截的前置追蹤變結(jié)構(gòu)制導(dǎo)律葛連正,沈毅,高云峰,趙立軍哈爾濱工業(yè)大學(xué)控制科學(xué)與工程系，黑龍江哈爾濱150001摘要摘要為了解決導(dǎo)引頭探測由于高速運(yùn)動(dòng)所引起的干擾問題，提出了空間攔截的前置攔截方式。在建立了前置追蹤導(dǎo)引方式的三維制導(dǎo)模型的基礎(chǔ)上，對機(jī)動(dòng)目標(biāo)攔截基于李亞普諾夫穩(wěn)定性分析方法設(shè)計(jì)了一種前置追蹤非線性變結(jié)構(gòu)制導(dǎo)律。前置追蹤制導(dǎo)律將攔截器導(dǎo)引到目標(biāo)軌道的前方進(jìn)行攔截，要求攔截器的速度小于目標(biāo)導(dǎo)彈的速度。攔截器和目標(biāo)導(dǎo)彈彈道攔截的三維數(shù)字仿真驗(yàn)證了制導(dǎo)模型和制導(dǎo)律的正確性。關(guān)鍵詞前置追蹤；三維制導(dǎo)模型；非線性變結(jié)構(gòu)；李亞普諾夫定理；制導(dǎo)律1引言引言在攔截戰(zhàn)術(shù)彈道導(dǎo)彈的攔截，多用來探測目標(biāo)的紅外導(dǎo)引頭。然而，檢測精度往往是由于氣動(dòng)加熱而退化1。為了解決氣動(dòng)燒蝕問題，最近已開發(fā)的前置追蹤（HP）制導(dǎo)律攔截導(dǎo)彈，它的位置在對其飛行軌跡的目標(biāo)摧毀目標(biāo)2。利用該制導(dǎo)律，攔截器可以飛相同的方向與目標(biāo)在一個(gè)較低的速度擊中目標(biāo)。相比于正面接觸，低速度達(dá)到減少能源消耗。HP的指導(dǎo)方法是文獻(xiàn)中的進(jìn)一步改進(jìn)。相對運(yùn)動(dòng)模型可以被視為兩個(gè)垂直通道和制導(dǎo)問題每一個(gè)平面的問題。前置追蹤變結(jié)構(gòu)制導(dǎo)律進(jìn)行了基于平面的模型。然而，由于實(shí)際導(dǎo)彈攔截發(fā)生在在三維空間中，一個(gè)三維的前置追蹤指導(dǎo)方法在實(shí)際中是比較有用的。各種經(jīng)典制導(dǎo)方法已檢查的三維制導(dǎo)攔截以來實(shí)施的三維純比例導(dǎo)引律由艾德勒提出的起源5。參考文獻(xiàn)611。已開發(fā)的三維制導(dǎo)模型，給出了基于李雅普諾夫穩(wěn)定性理論指導(dǎo)法。這些制導(dǎo)律只適宜迎面攔截，攔截方式和運(yùn)動(dòng)學(xué)模型不同于HP的指導(dǎo)方法。作為一個(gè)直觀的強(qiáng)大的控制技術(shù)，滑模變結(jié)構(gòu)控制1215一直在用各種指導(dǎo)應(yīng)用用來解決大的建模誤差和不確定性的非線性1??Ω?2COSCOS?COSCOS?COSCOSSINCOSTANCOSSIN?COSSIN??3COSSIN?COSSIN?COS?SINSINSIN?SIN?4SINTANCOSSIN?COSSIN?COSSIN?SIN?COSCOSSINCOSTAN?COSSIN?COSSIN??5COSSIN?COSSIN?COSSINSINSIN?SIN?SINTANCOSSIN?COSSIN?COS6SIN?SIN和VT分別是攔截器速度矢量和目標(biāo)速度矢量。Ω1是LOS的視線角速度矢量。AYT和AZT分別是假定上的目標(biāo)機(jī)動(dòng)加速度和偏航機(jī)動(dòng)加速度。AYM和AZM分別是俯仰機(jī)動(dòng)加速度和攔截器的偏航機(jī)動(dòng)加速度。前置追蹤制導(dǎo)律要求攔截器的速度低于目標(biāo)，所以速度比定義為7N1為了達(dá)到目標(biāo)，在攔截點(diǎn)R0不僅是必需的，但也需要目標(biāo)在方向上攔截飛行器，因此,8LIM→00LIM→00,9LIM→00LIM→00指導(dǎo)法的目的是使前置追蹤的攔截器的達(dá)到這個(gè)點(diǎn)，這是限制的公式。（8）（9）。因此，攔截器導(dǎo)角ΘM和MΦ需要與目標(biāo)的鉛角度相對瞄準(zhǔn)線,1012

簡介：1一種尋的制導(dǎo)導(dǎo)彈模型參考變結(jié)構(gòu)自動(dòng)駕駛儀的設(shè)計(jì)摘要設(shè)計(jì)某尋的導(dǎo)彈的自動(dòng)駕駛儀回路,使導(dǎo)彈控制系統(tǒng)在正確響應(yīng)制導(dǎo)指令的同時(shí),對彈體氣動(dòng)力參數(shù)變化、量測噪聲等具有很好的抑制作用。將模型參考自適應(yīng)控制方法與變結(jié)構(gòu)控制方法相結(jié)合,為某型導(dǎo)彈設(shè)計(jì)了結(jié)構(gòu)簡單、實(shí)現(xiàn)方便的模型參考變結(jié)構(gòu)控制系統(tǒng)。仿真結(jié)構(gòu)表明,模型參考變結(jié)構(gòu)自動(dòng)駕駛儀不僅能準(zhǔn)確傳遞制導(dǎo)指令,而且具有很好的魯棒性,能有效地抑制氣動(dòng)力浮動(dòng)、量測噪聲等干擾因素。關(guān)鍵詞模型參考變結(jié)構(gòu),變結(jié)構(gòu)控制,自動(dòng)駕駛儀導(dǎo)彈控制系統(tǒng)的任務(wù)如下第一個(gè)是穩(wěn)定彈體，使彈體具有適當(dāng)?shù)淖枘幔诙€(gè)是要正確引導(dǎo)轉(zhuǎn)移命令使舵偏轉(zhuǎn)和改變其性能最終目標(biāo)是改變速度的大小和方向，并迫使導(dǎo)彈準(zhǔn)確命中目標(biāo)。然而，在導(dǎo)彈飛行期間，彈體的模型具有一定的不確定性，因?yàn)閷?dǎo)彈的質(zhì)量，速度，和測量噪聲具有多樣性。此外，該導(dǎo)彈動(dòng)力學(xué)在本質(zhì)上是高度非線性的。經(jīng)典控制理論和適應(yīng)性控制理論適合于線性發(fā)電站不能給出可靠的設(shè)計(jì)導(dǎo)彈自動(dòng)駕駛儀?？勺兘Y(jié)構(gòu)控制系統(tǒng)理論在本質(zhì)上是一個(gè)控制理論的非線性系統(tǒng)，并且根據(jù)系統(tǒng)多樣性的現(xiàn)狀改變其結(jié)構(gòu)所以它能比常規(guī)的控制理論更有效的控制。此外可變結(jié)構(gòu)控制的滑動(dòng)模式對于干擾更加穩(wěn)定，許多研究表明，可變結(jié)構(gòu)控制方法適用于導(dǎo)彈控制系統(tǒng)的設(shè)計(jì)。模型參考適應(yīng)性控制系統(tǒng)是一個(gè)很好的控制裝置，用于參數(shù)變化緩慢的線性發(fā)電站。自從控制發(fā)電廠和參考模型直接進(jìn)行比較，適應(yīng)的速度高，控制器可以很容易地實(shí)現(xiàn)，但該模型參考適應(yīng)性控制只適合連續(xù)系統(tǒng)的模型是可以肯定的，并可能當(dāng)在有干擾，噪音和未建模動(dòng)態(tài)的時(shí)候有不穩(wěn)定的現(xiàn)象。本文為了自導(dǎo)引導(dǎo)彈結(jié)合了可變結(jié)構(gòu)控制的模型參考適應(yīng)性控制和設(shè)計(jì)MRVS的自動(dòng)駕駛儀。1模型參考變結(jié)構(gòu)系統(tǒng)設(shè)計(jì)由于ROLL穩(wěn)定的導(dǎo)彈系統(tǒng)的特性本文僅討論導(dǎo)彈的單輸入系統(tǒng)。302222212121???????SBUUBBXAAXAAPMMMM（8）將UP變?yōu)橄旅娴男问?，即MMPUKXKXKEKEKU?????24132211不等式為????????????????????????????00}{0}{00242222212121312121111122222121112111SUBKUBBSXBKXAAACASXBKXAAACASEBKEACASEBKEACAMMMMMMMMMMM（9）然后不等式8將成立，即UP會(huì)滿足變結(jié)構(gòu)控制的達(dá)成條件。如果B0，然后當(dāng)K1,K2,K3,K4,KM得到以下值，即????????????????????????????????????SGNMAXSGNMAXSGNMAXSGNMAXSGNMAX2222121242121111132212221111SBBBKSBAAAACKSBAAAACKSBACAKSBACAKMMMMMMMMMM（10）公式（9）將全部成立。為了抑制震動(dòng)，一個(gè)飽和函數(shù)將取代開環(huán)函數(shù)SGNS。2一些尋的導(dǎo)彈自動(dòng)駕駛儀設(shè)計(jì)一般來說，彈體是弱阻尼，所以螺距角速率的反饋通常被用來增加阻尼反饋循環(huán)也可以使從引導(dǎo)命令的傳輸系數(shù)的對過載的變化越小越好。本文中使用的內(nèi)部循環(huán)作為發(fā)電站設(shè)計(jì)MRVS的自動(dòng)駕駛儀。彈體的傳遞函數(shù)通常被表示為其中N是過載，也就是彈體的輸出，U為引導(dǎo)命令的電廠輸入。為了使用MRVS，電廠的傳遞函數(shù)被首先改變?yōu)闋顟B(tài)空間模型。導(dǎo)彈本身的傳遞函數(shù)通常表示為

簡介：中文中文3560字畢業(yè)設(shè)計(jì)（論文）外文文獻(xiàn)翻譯畢業(yè)設(shè)計(jì)（論文）題目翻譯題目翻譯題目關(guān)于關(guān)于一種新型一種新型6自由度組合并聯(lián)機(jī)械臂自由度組合并聯(lián)機(jī)械臂的研究研究學(xué)院自動(dòng)化學(xué)院自動(dòng)化學(xué)院專業(yè)自動(dòng)化自動(dòng)化姓名班級學(xué)號指導(dǎo)教師指導(dǎo)教師圖一機(jī)械臂模型如果球關(guān)節(jié)被三個(gè)相交的單元旋量代替，那會(huì)有五個(gè)與3RRS型機(jī)械臂的每個(gè)臂聯(lián)系的旋量。因此存在一個(gè)特別的旋量與所有的關(guān)節(jié)旋量相反，它代表了一個(gè)力應(yīng)用于空間關(guān)節(jié)中心的一個(gè)點(diǎn)和平行于轉(zhuǎn)動(dòng)關(guān)節(jié)的軸。然后，然后,就會(huì)有三個(gè)約束力作用于移動(dòng)平臺。通常來說，這三力旋量是異面和線性獨(dú)立的。所以可能的運(yùn)動(dòng)是順著正常固定的平臺的平移和關(guān)于某根線的空間二維旋轉(zhuǎn)，這種于東可以是三力旋量在同一時(shí)間相交。平面的3RRR型機(jī)械臂有三個(gè)自由度，包括平面二維的平移和一維旋轉(zhuǎn)。由于兩組合機(jī)械臂分別有不同的自由度，因此本文中所考慮的機(jī)械臂都擁有六個(gè)自由度。三、逆運(yùn)動(dòng)學(xué)三、逆運(yùn)動(dòng)學(xué)在圖二中給出了運(yùn)動(dòng)學(xué)的圖解示意圖。機(jī)械臂的所有關(guān)節(jié)都在圖中有所表示。這里有六個(gè)活動(dòng)的可旋轉(zhuǎn)的關(guān)節(jié)變量，表示為ΘI和ΗI，這里I1,2,3。移動(dòng)的坐標(biāo)系{M}是在三角形P1P2P3的中心，坐標(biāo)系{O}是在三角形C1C2C3的中心，而且基坐標(biāo)系{O}被固定在地面上且原點(diǎn)同一樣{O}在初始條件狀態(tài)下，ΦI和ΖI是被動(dòng)輔助關(guān)節(jié)角，可以被用來計(jì)算機(jī)仿真計(jì)算或者用于速度和動(dòng)力學(xué)計(jì)算。如圖所示，鏈接的長度用1，L，A和B表示。

簡介：MECHANICALCHARACTERISTICSOFBAMBOOTADASHISHIOYA1,AANDTOSHIKATSUASAHINA1,B1DEPARTMENTOFMECHANICALENGINEERING,COLLEGEOFINDUSTRIALTECHNOLOGY,NIHONUNIVERSITY121IZUMICHO,NARASHINO,CHIBA2758575,JAPANATSHIOYAGAKUSHIKAIJP,BASAHINATOSHIKATSUNIHONUACJPKEYWORDSBAMBOO,FRACTURETOUGHNESS,ELASTICMODULUS,ATTENUATION,DAMPINGCOEFFICIENT,INVERTEDTORSIONPENDULUM,WATERCONCENTRATIONABSTRACTFRACTURETOUGHNESS,STRESSSTRAINRELATIONANDTHEDAMPINGCHARACTERISTICSOFBAMBOOAREINVESTIGATEDTHEFRACTURETOUGHNESSOFBAMBOOINTEARINGALONGTHELONGITUDINALDIRECTIONISMEASUREDBYTHEUSEOFNEWLYDEVISEDAPPARATUSINWHICHTHECRACKOPENINGDISPLACEMENTISCONTROLLEDINACONSTANTVELOCITYANDAQUASISTEADYEXTENSIONOFTHECRACKISMAINTAINEDTHESTRESSSTRAINRELATIONOFBAMBOOISEXAMINEDINAREVERSIBLEELASTICRANGEUSINGACONVENTIONALTENSILETESTINTHELONGITUDINALDIRECTIONREPEATEDTENSILELOADINGTESTSSHOWTHATTHESTRESSSTRAINRELATIONHASASTRONGNONLINEARHYSTERESISANDTHATITCONVERSESTOASTEADYLOOPTHEDAMPINGOFBAMBOOISMEASUREDBYTHEUSEOFINVERTEDTORSIONPENDULUMAPPARATUSTHESPECIMENISTAKENSOTHATDAMPINGOFTWISTINGLONGITUDINALBARISMEASUREDTHEDAMPINGCOEFFICIENTOFBAMBOOISMUCHLARGERTHANTHATOFMETALSTHEMECHANICALPROPERTIESOFBAMBOOAREEXAMINEDINTERMSOFWATERCONCENTRATIONANDFIBERDENSITYINTHEBAMBOOINTRODUCTIONBAMBOOISONEOFCANDIDATEBIOMATERIALSFORSTRUCTURALUSETHESTRENGTHOFTHEBAMBOOINTHELONGITUDINALDIRECTIONFIBERDIRECTIONISHIGHERTHANTHATOFMOSTOTHERWOODMATERIALSWITHITSLIGHTNESSANDSTRENGTH,THEBAMBOOHASLARGERSPECIFICSTRENGTHSTRENGTHPERWEIGHTTHANMOSTMETALLICMATERIALSHOWEVER,THEREHAVEBEENFEWRESEARCHESONMECHANICALPROPERTIESOTHERTHANTHEELASTICCONSTANTSANDTHEFRACTURESTRENGTHOFLONGITUDINALDIRECTIONORTHEBENDINGDIRECTIONINTHISSTUDY,MECHANICALPROPERTIESOFBAMBOOAREEXTENSIVELYEXAMINEDUSINGTHREETYPESOFEXPERIMENTSFIRST,CONVENTIONALTENSILETESTISCONDUCTEDFORASTRAIGHTSPECIMENOFBAMBOOLOADINGANDUNLOADINGAREREPEATEDWITHCHANGINGTHEVELOCITYTOOBTAINTHEHYSTERESISCURVETHESECONDTYPEOFTESTISAQUASISTEADYTEARINGALONGTHEFIBERDIRECTIONTOOBTAINTHEFRACTURETOUGHNESSTHETHIRDISAFREEOSCILLATIONTESTINPURETORSIONOBTAININGTHEDAMPINGCHARACTERISTICOFBAMBOOEXPERIMENTMATERIALTHEMATERIALUSEDINTHEEXPERIMENTOFTHISSTUDYISMAOBAMBOOORMOSOBAMBOOACADEMICNAMEPHYLLOSTACHYSEDULIS,MOSTWIDELYSPREADINEASTASIASINCEBAMBOOISABIOMATERIAL,ITSCHARACTERISTICSDIFFERFROMSPECIMENTOSPECIMENINTHISEXPERIMENTALSTUDY,THEPOSITIONATTHEORIGINALMATERIALFROMWHICHTHESPECIMENISTAKENISEXAMINEDITISFOUNDINTHEFOLLOWINGEXPERIMENTSTHATTHEDIFFERENCEOFCHARACTERISTICISSMALLAMONGDATAOFTHESPECIMENSTAKENFROMDIFFERENTHEIGHTPOSITIONSFROMTHEEARTHANDTHEDIFFERENTFACINGDIRECTIONNORTH,SOUTH,EASTANDWESTIFTHESPECIMENISTAKENFROMTHESAMEBAMBOOHOWEVER,ITISFOUNDTHATTHESPECIMENRADIALPOSITIONANDWATERCONTENTHAVESOMEEFFECTONTHEMECHANICALCHARACTERISTICSTHEBAMBOOISAKINDOFCOMPOSITEMATERIALWITHCELLULARFIBERSANDMATRIXTHEFIBERDENSITYOFOUTERSIDEISRICHERTHANTHATOFINNERSIDEFIG1THEWATERCONCENTRATIONINTHESPECIMENISCONTROLLEDBYAGINGFORSEVERALDAYSTOWEEKSKEYENGINEERINGMATERIALSVOLS5255262013PP609612ONLINEAVAILABLESINCE2012/NOV/12ATWWWSCIENTIFICNET?2013TRANSTECHPUBLICATIONS,SWITZERLANDDOI104028/WWWSCIENTIFICNET/KEM525526609ALLRIGHTSRESERVEDNOPARTOFCONTENTSOFTHISPAPERMAYBEREPRODUCEDORTRANSMITTEDINANYFORMORBYANYMEANSWITHOUTTHEWRITTENPERMISSIONOFTTP,WWWTTPNETWHERELISTHECRACKEXTENSIONLENGTHANDEIISTHEBENDINGRIGIDITYOFTHECRACKEDPARTOFBEAMTHEFRACTURETOUGHNESSICKISCALCULATEDBYTHECANTILEVERBEAMTHEORYASBILPEGK22C2IC1????2EXAMPLEOFTHEOBSERVEDLOADDISPLACEMENTISSHOWNINFIG4THECRACKLENGTHLISOBSERVEDBYAVIDEOCAMERATHEOBTAINEDFRACTURETOUGHNESSICKISALSOEXHIBITEDINFIG4FIG3FRACTURETOUGHNESSSPECIMENFIG4LOADTIMERELATIONWITHFRACTURETOUGHNESSDAMPINGTESTSTHEINVERTEDTORSIONPENDULUMAPPARATUSUSEDINTHEEXPERIMENTISSHOWNINFIG5ANEXAMPLEOFATTENUATIONWAVEINFREEOSCILLATIONINTHEEXPERIMENTISSHOWNINFIG6ASSUMINGLINEARSMALLRANGEATTENUATION,THEAMPLITUDEAINAFREEOSCILLATIONISEXPRESSEDAS,????FTFTAA??2COSEXP0??,3WHERE0AISTHEINITIALAMPLITUDEAT0?T,FISTHEFREQUENCYAND?ISTHEDAMPINGCOEFFICIENTPERUNITWAVELENGTHTIMETHEPEAKPROFILEAMPLITUDEISFITTEDTOLOGARITHMICCURVE,ANDTHEDAMPINGCOEFFICIENT?ISOBTAINEDBYTHELOGARITHMICDECAYTHEEXPERIMENTWASCONDUCTEDINTHEFREQUENCYRANGEFROM013TO076HZTHEOBTAINEDDAMPINGCOEFFICIENTPERUNITWAVELENGTHISALMOSTUNCHANGEDINTHISRANGE,CONFIRMINGTHATTHEDAMPINGISPROPORTIONALTOTHESTRAINVELOCITY0501001500040020002004TIME，T，SECANGLEOFTWIST，Θ，RADFIG5INVERTEDTORSIONPENDULUMAPPARATUSFIG6ATTENUATIONCURVEINTORSIONOSCILLATIONTHESPECIMENSARETAKENFROMSEVERALRADIALPOSITIONSINTHESAMEBAMBOOBAR,INORDERTOEXAMINETHEEFFECTOFFIBERDENSITYTHEOBTAINEDDAMPINGCOEFFICIENTOFBAMBOOFROMDIFFERENTRADIUSISSHOWNINTERMSOFFIBERDENSITYINFIG7ITISFOUNDTHATTHEDAMPINGINCREASESASTHEFIBERDENSITYKEYENGINEERINGMATERIALSVOLS525526611

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CATETHATTHESILANECOUPLINGAGENTISADHEREDTOTHESURFACEOFSILICAITISPOSSIBLETHATTHE–OHGROUPSOFNANOSIO2SURFACEREACTSWITHSILANOLGROUPSOFAPSGENERATEDBYHYDROLYSISTOFORMMODIFIEDNANOSIO2WITHORGANICCOMPOUNDSONTHESURFACEINCOMPARISONWITHAMS,SINSHOWSTHECHARACTERISTICBANDSOFPA66AT1640,1545CM?1AMIDEBANDSAND2940,2865CM?1C–HBANDSESPECIALLY,THEAPPEARANCEOFN–HCHARACTERISTICBANDAT3310CM?1HYDROGENBONDSFURTHERINDICATESTHATTHEREISACONSIDERABLEAMOUNTOFPA66CHAINSADHEREDONAMSSURFACE7OWINGTOSINTREATEDBYSIXEXTRACTIONCYCLES,THUS,ITISREASONABLETOCONCLUDETHATPA66CHAINSHAVEBEENCHEMICALLYGRAFTEDTOTHEAMSSURFACETOEXAMINETHEINTERACTIONBETWEENPA66ANDAMSFROMANOTHERANGLE,WEUSEDXPSTOCHARACTERIZETHESURFACEGROUPINTERACTIONFIG3SHOWSTHESI2PSPECTRUMOFAMSANDSIN,C1SANDO1SSPECTRUMOFNEATPA66,AMSANDSINSINCETHEREAREALARGENUMBEROFCH2GROUPSINTHEPA66/AMSSYSTEM,THEBINDINGENERGYOFC1S2848EVISUSEDASTHEREFERENCEINFIG3A,THESI2PPEAKOFAMSAT1029EVISASSIGNEDTOSI2PINSIALKYLFROMTHEMODIFIER,WHICHISLOWERTHANTHATOFSIO21035EVASTHEALKYLGROUPSNH2CH23–GRAFTEDTOSILICASURFACEARESTRONGELECTRONDONORGROUPS,THECONJOINTSILICAATOMSBECOMEELECTRONRICHANDRESULTINASHIFTOFTHEPEAKOFSI2PTOWARDSLOWBINDINGENERGYDIRECTIONTHESI2PSPECTRUMOFSINISQUITEDIFFERENTFROMTHATOFAMS,WHICHCONSISTSOFTWOPEAKSAT1035AND1029EVTHEAPPEARANCEOFSIO2PEAKINDICATESTHATONLYAPARTOFMODIFIERSISGRAFTEDTOSILICASURFACEBYCHEMICALBONDING,BUTANOTHERPARTOFMODIFIERSPERHAPSENWRAPSSILICANANOPARTICLESBYPHYSICALABSORPTIONITISMAINREASONTHATTHEPEAKPROFILEOFSIO2DOESNOTOCCURINTHESI2PSPECTRUMOFAMSAFTERAMSARECOMPOUNDEDWITHPA66MATRIXANDEXTRACTEDBYFORMICACID,THEMODIFIERSATTACHEDTOTHESURFACEOFSILICANANOPARTICLESBYPHYSICALABSORPTIONAREREMOVEDBECAUSEOFSTRONGERINTERACTIONWITHPA66CHAINSSOTHEINTENSITYOFSIO2PEAKINCREASESANDTHEPEAKPROFILEFIG1TGACURVESOFAMS,PA66ANDPRODUCTSOFSIXEXTRACTIONTREATMENTSFIG2FTIRSPECTRAOFPA66ANDSILICAAPA66,BSINANDCAMSXXUETAL/APPLIEDSURFACESCIENCE25420071456–14621458

簡介：中文中文3125字畢業(yè)設(shè)計(jì)（論文）外文文獻(xiàn)翻譯畢業(yè)設(shè)計(jì)（論文）題目翻譯題目翻譯題目一種關(guān)于平臺型機(jī)械臂正運(yùn)動(dòng)學(xué)問題完整通用一種關(guān)于平臺型機(jī)械臂正運(yùn)動(dòng)學(xué)問題完整通用的解決的解決方法方法學(xué)院自動(dòng)化學(xué)院自動(dòng)化學(xué)院專業(yè)自動(dòng)化自動(dòng)化姓名班級學(xué)號指導(dǎo)教師指導(dǎo)教師少數(shù)被動(dòng)關(guān)節(jié)變量,因此該方法的計(jì)算效率及其實(shí)現(xiàn)較為簡單。二、位置正運(yùn)動(dòng)學(xué)二、位置正運(yùn)動(dòng)學(xué)讓我們首先考慮一個(gè)如圖1所示的6自由度STEWART平臺。以移動(dòng)平臺的三個(gè)非線性點(diǎn)為考慮,分別為PII1,3。三個(gè)點(diǎn)的坐標(biāo)表示的基礎(chǔ)參考系{0XY–2}可以表示為圖1一個(gè)通用6自由度開始平臺圖2局部和基礎(chǔ)坐標(biāo)系統(tǒng)常數(shù)向量固定到基礎(chǔ)平臺,,可以表示為B是從O點(diǎn)到點(diǎn)（見圖2）的距離；可以表示為B作為可伸長鏈接的長度，單位向量表示關(guān)節(jié)的方向，是關(guān)于局部坐標(biāo)系{}的方向向量，矩陣OI?Z?YI?ZI表示關(guān)于基礎(chǔ)結(jié)構(gòu)的局部結(jié)構(gòu)。為了方便起見，選擇局部坐標(biāo)系，這樣它的軸XI與相連，它的軸與基礎(chǔ)結(jié)構(gòu)的Z軸平行。因此旋轉(zhuǎn)矩陣可以表示為ZIR

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