www.fasfz.com

*Փ*

ѵ71ƪ

**늄Bmʽ|COӋՓcԇ**

dՓȫՈc朽

ע⣺ՓڡϺͨWW20033715861ϰl

ʹՈעՓĳ̎

x

(ϺͨW CеčWԺϺ 200030)

**ժҪ**|Ԅ|SoC˻PI}ڷ|sȹhAһNq朽Y늄Bmʽ|C˽Yģ䏗ɉo܇݆oWģәCƌMƵ|C˾ҺƵďɉob|ϿٰbͰȫջڌҶԇԓCִMˬFԇYܸЧɿͿbHб|ȫL

**PI~**CԄ|Һ

**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

ѵ72ƪ

**|C˚≺cԇ**

dՓȫՈc朽

ע⣺ՓڡϺͨWW200337(1):5457ϰl

ʹՈעՓĳ̎

Ҧ

(ϺͨW CеčWԺϺ 200030)

**ժҪ**ᘌ׃^rӵ|һNq朽YĚʽ|C˽YģԓC˚c߿՚≺pʧՓģәCƌM˹̘әCϺִϳɹMˬFԇ͌C˚wpʧcʩx߶ϵyĚ܃AбȵȳǾ׃C½rٶ^rԺб|ϰȫЧ

**PI~**әC|pʧб

**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

ѵ73ƪ

Matrix
Expression of the Orthogonal Wavelet (Packets) Transform

dӢZՓȫՈc朽

ע⣺ՓڡChinese J. Chem. Eng.200210(6)701705ϰl

ʹՈעՓĳ̎

EISCI
ѽ䛱ģ

DU Hongbin (żt),
TENG Hu () and YAO Pingjing (Ҧƽ)

(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

ѵ74ƪ

**һǾϵymWj
** dՓȫՈc朽

ע⣺ՓڡcQߡ2005,20(4):455-458l

ʹՈעՓĳ̎

żt1,ѦƠN2,ۻQ1

(1ϺͨWԄӻϵϺ200030;2 ӺWӋCϢ̌WԺ)

**ժ Ҫ: ** ᘌһзǷ亯ǽYܸɔ_δ֪ķǾϵyһNµmWjƷǇ_ϵyͼϵyĸһ㻯ı_BacksteppingOӋ˼ĻAC]h̖İȫKһн,Һܺõ̎˿ƷͿ殐}ͨ^C˷Ч

**PI~:** Ǿ,m,Wj,Nussbaum

ЈD̖TP273 īIRaA

**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.

ѵ75ƪ

**INTERACTION
OF VISCOUS WAKES WITH A FREE SURFACE**

dӢՓȫՈc朽

ע⣺ՓApplied Mathematics and Mechanics(English Edition, Vol 25, No 6, Jun
2004pp647655)ϰl

ʹՈעՓĳ̎

SCI ѽ䛱ģ

LU Dong-qiang (R|)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

ѵ76ƪ

**On
Sampling for Surfaces Reconstruction**

dӢZՓȫՈc朽

Yong-chun Zhang(),
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.

ѵ77ƪ

**Sɢycʷ**

dՓȫՈc朽

ע⣺ՓڡЇDDΌW 2003, 8(12):13791388ϰl

ʹՈעՓĳ̎

_wi

(|ϴWԄӻо, Ͼ210096)

**ժҪ**SɢycʷCA GDˆCAD̵ȷʮ֏Vđ. ĻSɢycʷֵăɷNҪƽͶӰֱʷַ,
Nõ㷨^Ԕ, ͬrʷ㷨нFĔYԔĽB. ʷֲõăʄtQʷֽY, ˱ӑՓˎNõʷփʄt,
eNʄtM^Ԕķ^. ҪӑՓ㷨sԼĿǰʷֵҪо, ָڌH̑Ќsɘӵõɢyc,
Ҫõ혺ͱεʷ, Ҫµʷ֜ʄt㷨.

**PI~**D̎SɢycʷYʄt

**Surface Triangulations
Based on 3D Arbitrary Point-sets
**

Yong-chun Zhang(), 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

ѵ78ƪ

**̓M^ʽQеđ**

dՓȫՈc朽

ע⣺Փڡ|ϴWW(ȻƌW) 2003, 33(4):522525ϰl

ʹՈעՓĳ̎

ǡܡʯ

(BWо,B116023)

**ժҪ**]Ч,^ʽQӷ,̓M,̓MԄӋ˅͵ĻP헺ͼ֮gĻP,ǿپ_ģãѣ㷨.mɻ^ʽ,Ӌ|ֵ푑,ӿgЧ^ʽQӰҎԔӑՓ.

**PI~**̓M;^ʽ;Q;gЧ;

**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

ѵ79ƪ

**ӼвͨӾӽ^ʽOӋ**

dՓȫՈc朽

ע⣺Փڡ·20038¡8():8587ϰl

ʹՈעՓĳ̎

,ʯ,S,

(BWоBС116024)

**ժҪ**ӼвͨӾӽ֘Ŀ珽MϞ69m+162m+69m,Ŀǰ҇珽Ļ^ʽ,BԓĿwOӋ˼wYOӋ??br>
**PI~**^ʽ;;ӄ;䓽

ѵ80ƪ

**^ʽY**

dՓȫՈc朽

ע⣺ՓڡIIWW2003,35(5):625-627l

ʹՈעՓĳ̎

EIѽ䛱ģ

,ʯ,,S

(BWо,|B 116024)

**ժ Ҫ: ** о^ʽĽYԼc^ʽĲe.ͨ^Ӌ㌍,^ ^ʽYW,о买ʸ׃ră׃Ҏ,տs׃Ӱ푵Ҏ.Сȵ^ʽv,Sƫ,Yc^ʽĲeǺܴ,ֵ10%ԃ.Ⱥͻտs׃Ӱ푱^@.cˮƽӄͲ]տs׃Ӱ푵ӋY^,ֵ20%.ՓmСȵ^ʽOӋӋ.

**PI~:** ;^ʽ;^ʽ;Y

**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 bridges 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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