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һ һ    ڶ       ڰ ھʮ11 ǰһ


(ϺͨW CеčWԺϺ 200030)


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


(ϺͨW CеčWԺϺ 200030)


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


Matrix Expression of the Orthogonal Wavelet (Packets) Transform
ע⣺ՓڡChinese J. Chem. Eng.200210(6)701705ϰl

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


(1ϺͨWԄӻϵϺ200030;2 ӺWӋCϢ̌WԺ)

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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.


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

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


On Sampling for Surfaces Reconstruction

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.


ע⣺ՓڡЇDDΌW 2003, 8(12):13791388ϰl

(|ϴWԄӻо, Ͼ210096)

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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.
3D arbitrary point-sets, Surface triangulations, Data structures, Optimal criteria


ע⣺Փڡ|ϴWW(ȻƌW) 2003, 33(4):522525ϰl



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




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(BWо,|B 116024)

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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

һ һ    ڶ       ڰ ھʮ11 ǰһ


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