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附件： 1. 原文； 2. 译文
2013年03月
附件一：
A Rapidly Deployable Manipulator System
Christiaan J.J. Paredis, H. Benjamin Brown, Pradeep K. Khosla
Abstract:
A rapidly deployable manipulator system combines the flexibility of reconfigurable modular hardware with modular programming tools, allowing the user to rapidly create a manipulator which is custom-tailored for a given task. This article describes two main aspects of such a system, namely, the Reconfigurable Modular Manipulator System (RMMS)hardware and the corresponding control software.
1 Introduction
Robot manipulators can be easily reprogrammed to perform different tasks, yet the range of tasks that can be performed by a manipulator is limited by mechanicalstructure.Forexample, a manipulator well-suited for precise movement across the top of a table would probably no be capable of lifting heavy objects in the vertical direction. Therefore, to perform a given task,one needs to choose a manipulator with an appropriate mechanical structure.
We propose the concept of a rapidly deployable manipulator system to address the above mentioned shortcomings of fixed configuration manipulators. As is illustrated in Figure 1, a rapidly deployable manipulator system consists of software and hardware that allow the user to rapidly build and program a manipulator which is customtailored for a given task.
The central building block of a rapidly deployable system is a Reconfigurable Modular Manipulator System (RMMS). The RMMS utilizes a stock of interchangeable link and joint modules of various sizes and performance specifications. One such module is shown in Figure 2. By combining these general purpose modules, a wide range of special purpose manipulators can be assembled. Recently, there has been considerable interest in the idea of modular manipulators [2, 4, 5, 7, 9, 10, 14], for research applications as well as for industrial applications. However, most of these systems lack the property of reconfigurability, which is key to the concept of rapidly deployable systems. The RMMS is particularly easy to
reconfigure thanks to its integrated quick-coupling connectors described in Section 3.
Effective use of the RMMS requires, Task Based Design software. This software takes as input descriptions of the task and of the available manipulator modules; it generates as output a modular assembly configuration optimally suited to perform the given task. Several different approaches have been used successfully to solve simpli-fied instances of this complicated problem.
A third important building block of a rapidly deployable manipulator system is a framework for the generation of control software. To reduce the complexity of softwaregeneration for real-time sensor-based control systems, a software paradigm called software assembly has been proposed in the Advanced Manipulators Laboratory at CMU.This paradigm combines the concept of reusable and reconfigurable software components, as is supported by the Chimera real-time operating system [15], with a graphical user interface and a visual programming language, implemented in Onika
A lthough the software assembly paradigm provides thesoftware infrastructure for rapidly programming manipulator systems, it does not solve the programming problem itself. Explicit programming of sensor-based manipulator systems is cumbersome due to the extensive amount of detail which must be specified for the robot to perform the task. The software synthesis problem for sensor-based robots can be simplified dramatically, by providing robust robotic skills, that is, encapsulated strategies for accomplishing common tasks in the robots task domain [11]. Such robotic skills can then be used at the task level planning stage without having to consider any of the low-level details
As an example of the use of a rapidly deployable system,consider a manipulator in a nuclear environment where it must inspect material and space for radioactive contamination, or assemble and repair equipment. In such an environment, widely varied kinematic (e.g., workspace) and dynamic (e.g., speed, payload) performance is required, and these requirements may not be known a priori. Instead of preparing a large set of different manipulators to accomplish these tasks—an expensive solution—one can use a rapidly deployable manipulator system. Consider the following scenario: as soon as a specific task is identified, the task based design software determinesthe task. This optimal configuration is thenassembled from the RMMS modules by a human or, in the future, possibly by another
manipulator. The resulting manipulator is rapidly programmed by using the software assembly paradigm and our library of robotic skills. Finally,the manipulator is deployed to perform its task.
Although such a scenario is still futuristic, the development of the reconfigurable modular manipulator system, described in this paper, is a major step forward towards our goal of a rapidly deployable manipulator system.
Our approach could form the basis for the next generation of autonomous manipulators, in which the traditional notion of sensor-based autonomy is extended to configuration-based autonomy. Indeed, although a deployed system can have all the sensory and planning information it needs, it may still not be able to accomplish its task because the task is beyond the system’s physical capabilities. A rapidly deployable system, on the other hand, could adapt its physical capabilities based on task specifications and, with advanced sensing, control, and planning strategies, accomplish the task autonomously.
2 Design of self-contained hardware modules
In most industrial manipulators, the controller is a separate unit housing the sensor interfaces, power amplifiers, and control processors for all the joints of the manipulator.A large number of wires is necessary to connect this control unit with the sensors, actuators and brakes located in each of the joints of the manipulator. The large number of electrical connections and the non-extensible nature of such a system layout make it infeasible for modular manipulators. The solution we propose is to distribute the control hardware to each individual module of the manipulator. These modules then become self-contained units which include sensors, an actuator, a brake, a transmission, a sensor interface, a motor amplifier, and a communication interface, as is illustrated in Figure 3. As a result, only six wires are required
for power distribution and data communication.
2.1 Mechanical design
The goal of the RMMS project is to have a wide variety of hardware modules available. So far, we have built four kinds of modules: the manipulator base, a link module, three pivot joint modules (one of which is shown in Figure 2), and one rotate joint module. The base module and the link module have no degrees-of-freedom; the joint modules have one
degree-of-freedom each. The mechanical design of the joint modules compactly fits a
DC-motor, a fail-safe brake, a tachometer, a harmonic drive and a resolver.
The pivot and rotate joint modules use different outside housings to provide the right-angle or in-line configuration respectively, but are identical internally. Figure 4 shows in cross-section the internal structure of a pivot joint. Each joint module includes a DC torque motor and 100:1 harmonic-drive speed reducer, and is rated at a maximum speed of 1.5rad/s and maximum torque of 270Nm. Each module has a mass of approximately 10.7kg. A single, compact, X-type bearing connects the two joint halves and provides the needed overturning rigidity. A hollow motor shaft passes through all the rotary components, and provides a
channel for passage of cabling with minimal flexing.
2.2 Electronic design
The custom-designed on-board electronics are also designed according to the principle of modularity. Each RMMS module contains a motherboard which provides the basic functionality and onto which daughtercards can be stacked to add module specific functionality.
The motherboard consists of a Siemens 80C166 microcontroller, 64K of ROM, 64K of RAM, an SMC COM20020 universal local area network controller with an RS-485 driver, and an RS-232 driver. The function of the motherboard is to establish communication with the host interface via an RS-485 bus and to perform the lowlevel control of the module, as is explained in more detail in Section 4. The RS-232 serial bus driver allows for simple diagnostics and software prototyping.
A stacking connector permits the addition of an indefinite number of daughtercards with various functions, such as sensor interfaces, motor controllers, RAM expansion etc. In our current implementation, only modules with actuators include a daughtercard. This card contains a 16 bit resolver to digital converter, a 12 bit A/D converter to interface with the tachometer, and a 12 bit D/A converter to control the motor amplifier; we have used an ofthe-shelf motor amplifier (Galil Motion Control model SSA-8/80) to drive the DC-motor. For modules with more than one degree-of-freedom, for instance a wrist module, more than one such daughtercard can be stacked onto the same motherboard.
3 Integrated quick-coupling connectors
To make a modular manipulator be reconfigurable, it is necessary that the modules can be easily connected with each other. We have developed a quick-coupling mechanism with which a secure mechanical connection between modules can be achieved by simply turning a ring handtight; no tools are required. As shown in Figure 5, keyed flanges provide precise registration of the two modules. Turning of the locking collar on the male end produces two distinct motions: first the fingers of the locking ring rotate (with the collar) about 22.5 degrees and capture the fingers on the flanges; second, the collar rotates relative to the locking ring, while a cam mechanism forces the fingers inward to securely grip the mating flanges. A ball- transfer mechanism between the collar and locking ring automatically produces this sequence of motions.
At the same time the mechanical connection is made,pneumatic and electronic connections are also established. Inside the locking ring is a modular connector that has 30 male electrical pins plus a pneumatic coupler in the middle. These correspond to matching female components on the mating connector. Sets of pins are wired in parallel to carry the 72V-25A power for motors and brakes, and 48V–6A power for the electronics. Additional pins carry signals for two RS-485 serial communication busses and four video busses. A plastic guide collar plus six alignment pins prevent damage to the connector pins and assure proper alignment. The plastic block holding the female pins can rotate in the housing to accommodate the eight different possible connection orientations (8@45 degrees). The relative orientation is automatically registered by means of an infrared LED in the female connector and eight photodetectors in the male connector.
4 ARMbus communication system
Each of the modules of the RMMS communicates with a VME-based host interface over a local area network called the ARMbus; each module is a node of the network. The communication is done in a serial fashion over an RS-485 bus which runs through the length of the manipulator. We use the ARCNET protocol [1] implemented on a dedicated IC (SMC COM20020). ARCNET is a deterministic token-passing network scheme which avoids network collisions and guarantees each node its time to access the network. Blocks of
information called packets may be sent from any node on the network to any one of the other nodes, or to all nodes simultaneously (broadcast). Each node may send one packet each time it gets the token. The maximum network throughput is 5Mb/s.
The first node of the network resides on the host interface card, as is depicted in Figure 6. In addition to a VME address decoder, this card contains essentially the same hardware one can find on a module motherboard. The communication between the VME side of the card and the ARCNET side occurs through dual-port RAM.
There are two kinds of data passed over the local area network. During the manipulator initialization phase, the modules connect to the network one by one, starting at the base and ending at the end-effector. On joining the network, each module sends a data-packet to the host interface containing its serial number and its relative orientation with respect to the previous module. This information allows us to automatically determine the current manipulator configuration.
During the operation phase, the host interface communicates with each of the nodes at 400Hz. The data that is exchanged depends on the control mode—centralized or distributed. In centralized control mode, the torques for all the joints are computed on the VME-based real-time processing unit (RTPU), assembled into a data-packet by the microcontroller on the host interface card and broadcast over the ARMbus to all the nodes of the network. Each node extracts its torque value from the packet and replies by sending a data-packet containing the resolver and tachometer readings. In distributed control mode, on the other hand, the host computer broadcasts the desired joint values and feed-forward torques. Locally, in each module, the control loop can then be closed at a frequency much higher than 400Hz. The modules still send sensor readings back to the host interface to be used in the computation of the subsequent feed-forward torque.
5 Modular and reconfigurable control software
The control software for the RMMS has been developed using the Chimera real-time operating system, which supports reconfigurable and reusable software components [15]. The software components used to control the RMMS are listed in Table 1. The trjjline, dls, and grav_comp components require the knowledge of certain configuration dependent parameters
of the RMMS, such as the number of degrees-of-freedom, the Denavit-Hartenberg parameters etc. During the initialization phase, the RMMS interface establishes contact with each of the hardware modules to determine automatically which modules are being used and in which order and orientation they have been assembled. For each module, a data file with a parametric model is read. By combining this information for all the modules, kinematic and dynamic models of the entire manipulator are built.
After the initialization, the rmms software component operates in a distributed control mode in which the microcontrollers of each of the RMMS modules perform PID control locally at 1900Hz. The communication between the modules and the host interface is at 400Hz, which can differ from the cycle frequency of the rmms software component. Since we use a triple buffer mechanism [16] for the communication through the dual-port RAM on the ARMbus host interface, no synchronization or handshaking is necessary.
Because closed form inverse kinematics do not exist for all possible RMMS configurations, we use a damped least-squares kinematic controller to do the inverse kinematics computation numerically..
6 Seamless integration of simulation
To assist the user in evaluating whether an RMMS con- figuration can successfully complete a given task, we have built a simulator. The simulator is based on the TeleGrip robot simulation software from Deneb Inc., and runs on an SGI Crimson which is connected with the real-time processing unit through a Bit3 VME-to-VME adaptor, as is shown in Figure 6.
A graphical user interface allows the user to assemble simulated RMMS configurations very much like assembling the real hardware. Completed configurations can be tested and programmed using the TeleGrip functions for robot devices. The configurations can also be interfaced with the Chimera real-time softwarerunning on the same RTPUs used to control the actual hardware. As a result, it is possible to evaluate not only the movements of the manipulator but also the realtime CPU usage and load balancing. Figure 7 shows an RMMS simulation compared with the actual task execution.
7 Summary
We have developed a Reconfigurable Modular Manipulator System which currently consists of six hardware modules, with a total of four degrees-of-freedom. These modules can be assembled in a large number of different configurations to tailor the kinematic and dynamic properties of the manipulator to the task at hand. The control software for the RMMS automatically adapts to the assembly configuration by building kinematic and dynamic models of the manipulator; this is totally transparent to the user. To assist the user in evaluating whether a manipulator configuration is well suited for a given task, we have also built a simulator.
Acknowledgment
This research was funded in part by DOE under grant DE-F902-89ER14042, by Sandia National Laboratories under contract AL-3020, by the Department of Electrical and Computer Engineering, and by The Robotics Institute, Carnegie Mellon University.
The authors would also like to thank Randy Casciola, Mark DeLouis, Eric Hoffman, and Jim Moody for their valuable contributions to the design of the RMMS system.
附件二：
可迅速布置的机械手系统
作者：Christiaan J.J. Paredis, H. Benjamin Brown, Pradeep K. Khosla
摘要：
一个迅速可部署的机械手系统，可以使再组合的标准化的硬件的灵活性用标准化的编程工具结合，允许用户迅速建立为一项规定的任务来通常地控制机械手。这篇文章描述这样的一个系统的两个主要方面，即，再组合的标准化的机械手系统(RMMS)硬件和相应控制软件。
1 介绍
机器人操纵装置可能容易被程序重调执行不同的任务，然而一个机械手可以执行的任务的范围已经被它的机械结构限制。例如，一个很适合准确的运动的机械手在一张桌子上部或许将不能朝着垂直的方向举起重物。因此，执行规定的任务，需要有一个合适的机械结构来选择机械手。
我们提议一个迅速可部署的机械手系统的概念来处理固定构造的机械手的上述的缺点。一迅速可部署机械手系统由迅速建造的软件和硬件组成，是适合一规定任务的一个机械手。
一个迅速可部署的系统的中心的组成部分是一个再组合的标准化的机械手系统(RMMS)。 RMMS利用一可交换的连接的和各种尺寸和性能的共同模件。通过结合这些多功能的模件，大范围专用机械手可以被收集。最近，有相当多的对机械手标准化的想法的兴趣。但是，对于研究应用以及为工业应用来说，大多数这些系统缺乏的必要的能力，这是迅速可部署的体制的概念的关键。
有效的使用RMMS需要基于任务的设计软件。这软件认为是任务和可得到的操纵者模件的输入描述；作为一标准化会议构造最佳适合执行规定任务的业务的产量产生。几种不同的方法已经被成功使用解决这个错综复杂的问题的。
一个迅速可部署的机械手系统的第 3 个重要的组成部分是控制软件的代的一种框架。为实时基于传感器的控制系统降低软件生成的复杂性，一个软件范例叫软件为会议已经在CMU先进的操纵者实验室里被提出。这个范例结合可重复使用和再组合的软件成分的概念，象妄想实时操作系统支持的那样,用一个图形用户界面和可视程序设计语
言而实施.
虽然软件会议范例提供迅速编程操纵者系统的软件基础设施，但是它不解决编程问题。基于传感器的机械手系统的明确编程由于必须被为机器人指定执行任务的广大数量的细节是麻烦的。基于传感器的机器人的软件综合问题可以被简化，通过提供坚固的机器人技能，即，为在机器人任务域完成普通任务封装策略. 这样机器人技能能在而不需要考虑任何低级的细节的任务步计划阶段使用。
作为使用一个迅速可部署的系统的例子，在一种核环境里，在那里它必须检查材料和放射性污染的空间，或者集合和修理设备考虑一个操纵者。在这样的一种环境里，广泛改变的动态的(例如，工作区)和动态的(例如，速度，净载重量)性能被要求，并且这些要求可能不被知道priori。不得不准备大套要完成这几次任务的不同操纵者一昂贵解决办法一使用迅速可部署操纵者系统能。考虑下列脚本：一项具体的任务一被鉴定，基于任务的设计软件就使最佳的标准化的会议构造下决心进行任务。人们然后从RMMS 模件装配这个最佳的构造或者，将来，也许到另一个操纵者。导致的操纵者被迅速通过使用软件装配范例和我们的机器人技能的信息库编程序。最后，操纵者被有效地使用执行它的任务。虽然这样的脚本仍然是未来的，再组合的标准化的操纵者系统的发展，在这篇文章里描述，是向我们的一个迅速可部署的机械手系统的目标的一个向前的主要的台阶。
我们的方法能为自治机械手的下一代形成基础，其中基于传感器的自治权的传统的观念被给予基于构造的自治权。的确，虽然一个部署的系统能有它需要的全部感觉并且计划的信息，它可能仍然不能完成它的任务，因为任务是在系统的物理能力以外。一个迅速可部署的系统，另一方面，能改编它的基于任务说明的物理能力和带有先进的感觉，控制，以及计划策略，自动完成任务。
2硬件模块的2种设计
在通常工业机械手里，那些控制器单独接在那些传感器接口，功率放大器，并且因机械手全部关节那些机械手而控制处理器。许多电线连接这个控制单位和传感器，位于机械手的每个关节的作动器和刹车是必要的。大量电气装线和这样的一次系统平面布置的非可扩展性，为标准化的机械手使它不能实行。我们提出的这个解决办法是将控制硬件分配给操纵者的每个个别的模件。包括传感器的这些模件然后成为整装组件，作
动器，一个刹车，一次输送，一个传感器接口，一个电动机放大器和一个通信接口。
2.1机械设计
RMMS 工程的目标是有可提供的多种硬件模块。迄今，我们已经建造4 种模件：操纵者基础，一连接模块，枢共同模件(一在身材显示)，并且一旋转共同模件。底部模件和连接模块没有自由度；共同模件各自有一自由度。共同模件的机械设计紧密适合一台直流电动机，一个有自动防故障设备的刹车，一台转速表，谐波运动。
那些枢和旋转共同模件在外部使用提供那些直角不同或者成队构造分别，但是相同内部，在典型地方显示一共同的枢的内部结构。每个共同模件包括一台直流力矩电动机和100：1的谐波驾驶速度减压器，并且被在1.5rad /s 和270纳米的最高转矩的最高速度下。不是每个模件都有块大约10.7公斤一单个，小型，耐压的X 类型提供需要的刚性连结并且相连在一起。一根空的电动机轴通过全部旋转的零部件，并且为最小的屈曲电信号的传送提供一条通道。
2.2 电子设计
通俗设计的舱中的电子也被根据的原则设计。每个RMMS 模件包含主板，提供基本的功能性和可以被堆积增加模件具体的功能性。
主板由西门子80C 166组成， 64 K ROM，RAM，一SMC COM20020的64 K 有一台RS-485 驱动器和一台RS-232 驱动器的普遍的局部地区网络控制器。主板的功能是通过一种RS-485公共系统建立与主接口的联系和进行程序控制模件，象在第4 部分被更详细解释的那样。RS-232 连续的公共汽车司机考虑到单纯的诊断和软件原型法。
一个堆积的连接器有各种各样的功能允许模糊的数量的增加，例如传感器接口，电动机控制器，RAM 扩大器等等，在我们的当今的实施里，只是有作动器的模件包括daughtercard。这张卡片到数字化的变换器包含一16位resolver，要与转速表和一台12 位D/A变换器接口控制电动机放大器的一台12 位模数转换器；我们已经使用一个ofthe 架子电动机放大器(Galil运动控制模型SSA 8/80)驱动直流电动机。对有超过一自由度，例如一个腕模件的模件来说，不止一这样的daughtercard可以被堆积到相同的主板上。
3 综合连合的连接器
为了使一个标准化的机械手再组合，模件可能容易被彼此连结是必要的。我们已经发展一个迅速连合的机制，在模件之间的一个安全的机械连接可以通过仅仅转动一枚
handtight被取得；没有工具被要求。调整凸缘提供两个模件的准确的连接。锁住的手腕的转动在末端上产生两种不同的动作：首先，锁住的手指大约22.5 程度和捕获轮流(与手腕一起)手指在凸缘上运动；其次，那些手腕相对于锁住的手指，而凸轮机制强迫那些内在的手指在可靠紧握轮子的凸缘运动。在领和锁住的手指之间的转动机构自动生产这个运动顺序。
同时机械连接被做成为装满和电子的连接。在每锁住的指里面有30电别针以上一装满电子偶合器在中间的一标准化连接器是。这些符合匹配铺席子的连接器上的凹形零部件。别针被电报告知在方面与平行那些72 V－25A去电动机和刹车和去那些电子的权力48 V－6A的权力。
4 ARMbus 通信系统
RMMS的每个模件在一个称为ARMbus的局域网上方与一个基于VME的主接口联系；每个模件都是一个网络的节点。通讯被在机械手的长度的一辆RS-485公共汽车上方用连续方式做。我们使用ARCNET 协议 [1]在一奉献的IC(SMC COM20020)上实现。ARCNET 是避免网络冲突并且在访问网络的它的时间保证每个节点的一个决定性的权标传递网络计划。称为包的信息的块可能被在网络上从任何节点送给其它节点中的任何一个，或者对全部节点同时(广播)。每当它得到标志的时候，每个节点可以送一包。
网络的第一个节点保存在主接口卡，象被用图6 描绘的那样。除一VME 地址译码器之外，这卡片包含基本上相同的硬件一能在模件主板上发现。在这张卡上的VME和ARCNET之间的联系边是通过双口RAM 发生的。有两种数据通过局域网。在机械手预置阶段期间，模件一个接一个连接网络，在基础启动并且结束最后effector。关于参加网络，每模件寄一数据包给包含它的顺序号和它的与以前的舱有关的有关的认识新环境的主机接口。这信息允许我们自动确定当今的机械手构造。在运行阶段，主接口以400赫兹与每个节点联系。被交换的数据取决于控制模式集中或者被分配。用集中的控制模式，全部关节的力矩被在基于VME的实时工艺设备(RTPU)上计算，进一数据包以microcontroller 集合在主接口卡上和越过ARMbus随着的全部网络的节点。每个节点从包中抽出它的力矩价值并且通过使数据包包含resolver 和转速表读数回答。用分配的控制模式，另一方面，主机播送被期望的共同价值和前馈力矩。当地，在每个模件里，控制环然后能被在比400赫兹高得多的频率关闭模件仍然把传感器读数回寄给主联接于被在随后的前馈力矩的计算内使用。
5 标准化和再组合的控制软件
控制软件给RMMS 发展使用妄想实时操作系统，支持再组合和可重复使用的软件成分 [15].用来控制RMMS的软件成分被列举。主题组成部分需要一定构造RMMS的依靠的参数知识，在预置阶段期间， RMMS接口建立与每个硬件模块的关系自动确定哪个模件正被使用，并且他们的命令和定向收集。对每个模件来说，一个数据提交给一个参数模型被读。通过结合这全部模件的信息，整个操纵者的动态和动态的模型被建造。在预置之后， rmms 软件成分在一内经营分配的在哪个每RMMS 模件的执行PID的控制模式控制当地在1900赫兹。在模件和主机接口之间的联系以400赫兹，这能不同于rmms 软件成分的循环频率。自从我们使用一个三倍的缓冲区机制 [16] 对于通讯来说通过双口RAM在ARMbus 主接口上，没有同步或者握手是必要的。因为关闭形式倒转的运动学不为全部可能的RMMS 构造存在，我们用一个最小平方动态的控制做倒转的运动学计算。
6 综合模拟
为了帮助用户评价是否一RMMS 记诵外形能成功完成一项规定的任务，我们已经建造一个模拟器。模拟器基于来自Deneb股份有限公司的TeleGrip 机器人模拟软件，在哪个是与有关系实时工艺设备通过一Bit3 VME对VME的改编者，象被在图6 显示的那样的一SGI深红色上运行。一个图形用户界面允许用户集合模拟的RMMS 构造太喜欢集合真正的硬件。完成构造可以测试并且编程序使用TeleGrip对机器人设备起作用。构造也能被与涉及相同的RTPUs的实时软件用来控制实际硬件的妄想接口。因此，评价不但操纵者的运动是可能的，而且实时的CPU 用法和负载平衡。与实际任务实行相比较，显示一次RMMS 模拟。
7 结束语
我们已经发展目前由6 个硬件模块组成，带有共4 自由度的一个再组合的标准化的机械手系统。这些模件可以在许多不同的构造里装配。把机械手的静态和动态的特性调整到任务。RMMS的控制软件通过建造机械手的动态和动态的模型自动适应会议构造；这对用户全部透明。为了帮助用户评价是否一个机械手构造很适合一项规定的任务，我们也已经建造一个模拟器了，
外文出处：《Manufacturing Engineering and Technology—Machining》
附件1：外文原文
Manipulator
Robot developed in recent decades as high-tech automated production equipment. Industrial robot is an i mportant branch of industrial robots. It features can be programmed to perform tasks in a variety of expecta tions, in both structure and performance advantages of their own people and machines, in particular, reflect s the people's intelligence and adaptability. The accuracy of robot operations and a variety of environments the ability to complete the work in the field of national economy and there are broad prospects for develop ment. With the development of industrial automation, there has been CNC machining center, it is in reducin g labor intensity, while greatly improved labor productivity. However, the upper and lower common in CN C machining processes material, usually still use manual or traditional relay-controlled semi-automatic devi ce. The former time-consuming and labor intensive, inefficient; the latter due to design complexity, require more relays, wiring complexity, vulnerability to body vibration interference, while the existence of poor reli ability, fault more maintenance problems and other issues. Programmable Logic Controller PLC-controlled robot control system for materials up and down movement is simple, circuit design is reasonable, with a str ong anti-jamming capability, ensuring the system's reliability, reduced maintenance rate, and improve work efficiency. Robot technology related to mechanics, mechanics, electrical hydraulic technology, automatic c ontrol technology, sensor technology and computer technology and other fields of science, is a cross-discipl inary integrated technology.
First, an overview of industrial manipulator
Robot is a kind of positioning control can be automated and can be re-programmed to change in multi-fu nctional machine, which has multiple degrees of freedom can be used to carry an object in order to complet e the work in different environments. Low wages in China, plastic products industry, although still a labor-i ntensive, mechanical hand use has become increasingly popular. Electronics and automotive industries that Europe and the United States multinational companies very early in their factories in China, the introductio n of automated production. But now the changes are those found in industrial-intensive South China, East China's coastal areas, local plastic processing plants have also emerged in mechanical watches began to bec ome increasingly interested in, because they have to face a high turnover rate of workers, as well as for the workers to pay work-related injuries fee challenges.
With the rapid development of China's industrial production, especially the reform and opening up after t he rapid increase in the degree of automation to achieve the workpiece handling, steering, transmission or o peration of brazing, spray gun, wrenches and other tools for processing and assembly operations since, whi
ch has more and more attracted our attention. Robot is to imitate the manual part of the action, according to a given program, track and requirements for automatic capture, handling or operation of the automatic mec hanical devices.
In real life, you will find this a problem. In the machine shop, the processing of parts loading time is not annoying, and labor productivity is not high, the cost of production major, and sometimes man-made incide nts will occur, resulting in processing were injured. Think about what could replace it with the processing ti me of a tour as long as there are a few people, and can operate 24 hours saturated human right? The answer is yes, but the robot can come to replace it.
Production of mechanical hand can increase the automation level of production and labor productivity; c an reduce labor intensity, ensuring product quality, to achieve safe production; particularly in the high-temp erature, high pressure, low temperature, low pressure, dust, explosive, toxic and radioactive gases such as p oor environment can replace the normal working people. Here I would like to think of designing a robot to be used in actual production.
Why would a robot designed to provide a pneumatic power: pneumatic robot refers to the compressed air as power source-driven robot. With pressure-driven and other energy-driven comparison have the followin g advantages: 1. Air inexhaustible, used later discharged into the atmosphere, does not require recycling an d disposal, do not pollute the environment. (Concept of environmental protection) 2. Air stick is small, the pipeline pressure loss is small (typically less than asphalt gas path pressure drop of one-thousandth), to facil itate long-distance transport. 3. Compressed air of the working pressure is low (usually 4 to 8 kg / per squar e centimeter), and therefore moving the material components and manufacturing accuracy requirements can be lowered. 4. With the hydraulic transmission, compared to its faster action and reaction, which is one of t he advantages pneumatic outstanding. 5. The air cleaner media, it will not degenerate, not easy to plug the p ipeline. But there are also places where it fly in the ointment: 1. As the compressibility of air, resulting in p oor aerodynamic stability of the work, resulting in the implementing agencies as the precision of the velocit y and not easily controlled. 2. As the use of low atmospheric pressure, the output power can not be too large ; in order to increase the output power is bound to the structure of the entire pneumatic system size increase d.
With pneumatic drive and compare with other energy sources drive has the following advantages:
Air inexhaustible, used later discharged into the atmosphere, without recycling and disposal, do not pollu te the environment. Accidental or a small amount of leakage would not be a serious impact on production. Viscosity of air is small, the pipeline pressure loss also is very small, easy long-distance transport.
The lower working pressure of compressed air, pneumatic components and therefore the material and ma nufacturing accuracy requirements can be lowered. In general, reciprocating thrust in 1 to 2 tons pneumatic
economy is better.
Compared with the hydraulic transmission, and its faster action and reaction, which is one of the outstan ding merits of pneumatic.
Clean air medium, it will not degenerate, not easy to plug the pipeline. It can be safely used in flammable , explosive and the dust big occasions. Also easy to realize automatic overload protection.
Second, the composition, mechanical hand
Robot in the form of a variety of forms, some relatively simple, some more complicated, but the basic for m is the same as the composition of the , Usually by the implementing agencies, transmission systems, cont rol systems and auxiliary devices composed.
1.Implementing agencies
Manipulator executing agency by the hands, wrists, arms, pillars. Hands are crawling institutions, is used to clamp and release the workpiece, and similar to human fingers, to complete the staffing of similar action s. Wrist and fingers and the arm connecting the components can be up and down, left, and rotary movement . A simple mechanical hand can not wrist. Pillars used to support the arm can also be made mobile as neede
d.
2. Transmission
The actuator to be achieved by the transmission system. Sub-transmission system commonly used manip ulator mechanical transmission, hydraulic transmission, pneumatic and electric power transmission and oth er drive several forms.
3. Control System
Manipulator control system's main role is to control the robot according to certain procedures, direction, position, speed of action, a simple mechanical hand is generally not set up a dedicated control system, usin g only trip switches, relays, control valves and circuits can be achieved dynamic drive system control, so th at implementing agencies according to the requirements of action. Action will have to use complex progra mmable robot controller, the micro-computer control.
Three, mechanical hand classification and characteristics
Robots are generally divided into three categories: the first is the general machinery does not require ma nual hand. It is an independent not affiliated with a particular host device. It can be programmed according to the needs of the task to complete the operation of the provisions. It is characterized with ordinary mecha nical performance, also has general machinery, memory, intelligence ternary machinery. The second catego ry is the need to manually do it, called the operation of aircraft. It originated in the atom, military industry, f irst through the operation of machines to complete a particular job, and later developed to operate using rad io signals to carry out detecting machines such as the Moon. Used in industrial manipulator also fall into thi
s category. The third category is dedicated manipulator, the main subsidiary of the automatic machines or a utomatic lines, to solve the machine up and down the workpiece material and delivery. This mechanical han d in foreign countries known as the "Mechanical Hand", which is the host of services, from the host-driven; exception of a few outside the working procedures are generally fixed, and therefore special.
Main features:
First, mechanical hand (the upper and lower material robot, assembly robot, handling robot, stacking rob ot, help robot, vacuum handling machines, vacuum suction crane, labor-saving spreader, pneumatic balance r, etc.).
Second, cantilever cranes (cantilever crane, electric chain hoist crane, air balance the hanging, etc.) Third, rail-type transport system (hanging rail, light rail, single girder cranes, double-beam crane) Four, industrial machinery, application of hand
Manipulator in the mechanization and automation of the production process developed a new type of dev ice. In recent years, as electronic technology, especially computer extensive use of robot development and p roduction of high-tech fields has become a rapidly developed a new technology, which further promoted th e development of robot, allowing robot to better achieved with the combination of mechanization and auto mation.
Although the robot is not as flexible as staff, but it has to the continuous duplication of work and labor, I do not know fatigue, not afraid of danger, the power snatch weight characteristics when compared with ma nual large, therefore, mechanical hand has been of great importance to many sectors, and increasingly has b een applied widely, for example:
(1) Machining the workpiece loading and unloading, especially in the automatic lathe, combination mach ine tool use is more common.
(2) In the assembly operations are widely used in the electronics industry, it can be used to assemble pri nted circuit boards, in the machinery industry It can be used to assemble parts and components.
(3) The working conditions may be poor, monotonous, repetitive easy to sub-fatigue working environme nt to replace human labor.
(4) May be in dangerous situations, such as military goods handling, dangerous goods and hazardous ma terials removal and so on..
(5) Universe and ocean development.
(6), military engineering and biomedical research and testing.
Help mechanical hands: also known as the balancer, balance suspended, labor-saving spreader, manual Tran sfer machine is a kind of weightlessness of manual load system, a novel, time-saving technology for materi al handling operations booster equipment, belonging to kinds of non-standard design of series products. Cu
stomer application needs, creating customized cases. Manual operation of a simulation of the automatic ma chinery, it can be a fixed program draws ﹑ handling objects or perform household tools to accomplish cert ain specific actions. Application of robot can replace the people engaged in monotonous ﹑ repetitive or he avy manual labor, the mechanization and automation of production, instead of people in hazardous environ ments manual operation, improving working conditions and ensure personal safety. The late 20th century, 4 0, the United States atomic energy experiments, the first use of radioactive material handling robot, human robot in a safe room to manipulate various operations and experimentation. 50 years later, manipulator and gradually extended to industrial production sector, for the temperatures, polluted areas, and loading and unl oading to take place the work piece material, but also as an auxiliary device in automatic machine tools, ma chine tools, automatic production lines and processing center applications, the completion of the upper and lower material, or From the library take place knife knife and so on according to fixed procedures for the re placement operation. Robot body mainly by the hand and sports institutions. Agencies with the use of hand s and operation of objects of different occasions, often there are clamping ﹑ support and adsorption type of care. Movement organs are generally hydraulic pneumatic ﹑﹑ electrical device drivers. Manipulator can be achieved independently retractable ﹑ rotation and lifting movements, generally 2 to 3 degrees of freedo m. Robots are widely used in metallurgical industry, machinery manufacture, light industry and atomic ener gy sectors.
Can mimic some of the staff and arm motor function, a fixd procedure for the capture, handling objects o r operating tools, automatic operation device. It can replace human labor in order to achieve the production of heavy mechanization and automation that can operate in hazardous environments to protect the personal safety, which is widely used in machinery manufacturing, metallurgy, electronics, light industry and nuclear power sectors. Mechanical hand tools or other equipment commonly used for additional devices, such as th e automatic machines or automatic production line handling and transmission of the workpiece, the replace ment of cutting tools in machining centers, etc. generally do not have a separate control device. Some opera ting devices require direct manipulation by humans; such as the atomic energy sector performs household h azardous materials used in the master-slave manipulator is also often referred to as mechanical hand. Manipulator mainly by hand and sports institutions. Task of hand is holding the workpiece (or tool) com ponents, according to grasping objects by shape, size, weight, material and operational requirements of a va riety of structural forms, such as clamp type, type and adsorption-based care such as holding. Sports organi zations, so that the completion of a variety of hand rotation (swing), mobile or compound movements to ac hieve the required action, to change the location of objects by grasping and posture.
Robot is the automated production of a kind used in the process of crawling and moving piece features a utomatic device, which is mechanized and automated production process developed a new type of device. I
n recent years, as electronic technology, especially computer extensive use of robot development and produ ction of high-tech fields has become a rapidly developed a new technology, which further promoted the dev elopment of robot, allowing robot to better achieved with the combination of mechanization and automatio n. Robot can replace humans completed the risk of duplication of boring work, to reduce human labor inten sity and improve labor productivity. Manipulator has been applied more and more widely, in the machinery industry, it can be used for parts assembly, work piece handling, loading and unloading, particularly in the a utomation of CNC machine tools, modular machine tools more commonly used. At present, the robot has d eveloped into a FMS flexible manufacturing systems and flexible manufacturing cell in an important comp onent of the FMC. The machine tool equipment and machinery in hand together constitute a flexible manuf acturing system or a flexible manufacturing cell, it was adapted to small and medium volume production, y ou can save a huge amount of the work piece conveyor device, compact, and adaptable. When the work pie ce changes, flexible production system is very easy to change will help enterprises to continuously update t he marketable variety, improve product quality, and better adapt to market competition. At present, China's industrial robot technology and its engineering application level and comparable to foreign countries there i s a certain distance, application and industrialization of the size of the low level of robot research and devel opment of a direct impact on raising the level of automation in China, from the economy, technical consider ations are very necessary. Therefore, the study of mechanical hand design is very meaningful.
附件1：外文资料翻译译文
机械手
机械手是近几十年发展起来的一种高科技自动化生产设备。工业机械手是工业机器人的一个重要分支。它的特点是可通过编程来完成各种预期的作业任务，在构造和性能上兼有人和机器各自的优点，尤其体现了人的智能和适应性。机械手作业的准确性和各
外文出处： 《Exploiting Software How to Break Code》By Greg Hoglund, Gary McGraw Publisher : Addison Wesley Pub Date : February 17, 2004 ISBN : 0-201-78695-8 译文标题： JDBC接口技术 译文： JDBC是一种可用于执行SQL语句的JavaAPI（ApplicationProgrammingInterface应用程序设计接口）。它由一些Java语言编写的类和界面组成。JDBC为数据库应用开发人员、数据库前台工具开发人员提供了一种标准的应用程序设计接口，使开发人员可以用纯Java语言编写完整的数据库应用程序。 一、ODBC到JDBC的发展历程 说到JDBC，很容易让人联想到另一个十分熟悉的字眼“ODBC”。它们之间有没有联系呢？如果有，那么它们之间又是怎样的关系呢？ ODBC是OpenDatabaseConnectivity的英文简写。它是一种用来在相关或不相关的数据库管理系统（DBMS）中存取数据的，用C语言实现的，标准应用程序数据接口。通过ODBCAPI，应用程序可以存取保存在多种不同数据库管理系统（DBMS）中的数据，而不论每个DBMS使用了何种数据存储格式和编程接口。 1．ODBC的结构模型 ODBC的结构包括四个主要部分：应用程序接口、驱动器管理器、数据库驱动器和数据源。应用程序接口：屏蔽不同的ODBC数据库驱动器之间函数调用的差别，为用户提供统一的SQL编程接口。 驱动器管理器：为应用程序装载数据库驱动器。 数据库驱动器：实现ODBC的函数调用，提供对特定数据源的SQL请求。如果需要，数据库驱动器将修改应用程序的请求，使得请求符合相关的DBMS所支持的文法。 数据源：由用户想要存取的数据以及与它相关的操作系统、DBMS和用于访问DBMS的网络平台组成。 虽然ODBC驱动器管理器的主要目的是加载数据库驱动器，以便ODBC函数调用，但是数据库驱动器本身也执行ODBC函数调用，并与数据库相互配合。因此当应用系统发出调用与数据源进行连接时，数据库驱动器能管理通信协议。当建立起与数据源的连接时，数据库驱动器便能处理应用系统向DBMS发出的请求，对分析或发自数据源的设计进行必要的翻译，并将结果返回给应用系统。 2．JDBC的诞生 自从Java语言于1995年5月正式公布以来，Java风靡全球。出现大量的用java语言编写的程序，其中也包括数据库应用程序。由于没有一个Java语言的API，编程人员不得不在Java程序中加入C语言的ODBC函数调用。这就使很多Java的优秀特性无法充分发挥，比如平台无关性、面向对象特性等。随着越来越多的编程人员对Java语言的日益喜爱，越来越多的公司在Java程序开发上投入的精力日益增加，对java语言接口的访问数据库的API 的要求越来越强烈。也由于ODBC的有其不足之处，比如它并不容易使用，没有面向对象的特性等等，SUN公司决定开发一Java语言为接口的数据库应用程序开发接口。在JDK1．x 版本中，JDBC只是一个可选部件，到了JDK1．1公布时，SQL类包（也就是JDBCAPI）
毕业设计（论文）外文文献翻译 文献、资料中文题目：软件开发概念和设计方法文献、资料英文题目： 文献、资料来源： 文献、资料发表（出版）日期： 院（部）： 专业： 班级： 姓名： 学号： 指导教师： 翻译日期： 2017.02.14
外文资料原文 Software Development Concepts and Design Methodologies During the 1960s, ma inframes and higher level programming languages were applied to man y problems including human resource s yste ms,reservation s yste ms, and manufacturing s yste ms. Computers and software were seen as the cure all for man y bu siness issues were some times applied blindly. S yste ms sometimes failed to solve the problem for which the y were designed for man y reasons including: ?Inability to sufficiently understand complex problems ?Not sufficiently taking into account end-u ser needs, the organizational environ ment, and performance tradeoffs ?Inability to accurately estimate development time and operational costs ?Lack of framework for consistent and regular customer communications At this time, the concept of structured programming, top-down design, stepwise refinement，and modularity e merged. Structured programming is still the most dominant approach to software engineering and is still evo lving. These failures led to the concept of "software engineering" based upon the idea that an engineering-like discipl ine could be applied to software design and develop ment. Software design is a process where the software designer applies techniques and principles to produce a conceptual model that de scribes and defines a solution to a problem. In the beginning, this des ign process has not been well structured and the model does not alwa ys accurately represent the problem of software development. However,design methodologies have been evolving to accommo date changes in technolog y coupled with our increased understanding of development processes. Whereas early desig n methods addressed specific aspects of the
外文翻译 专业机械设计制造及其自动化学生姓名刘链柱 班级机制111 学号1110101102 指导教师葛友华
外文资料名称： Design and performance evaluation of vacuum cleaners using cyclone technology 外文资料出处：Korean J. Chem. Eng., 23(6), (用外文写) 925-930 (2006) 附件： 1.外文资料翻译译文 2.外文原文
应用旋风技术真空吸尘器的设计和性能介绍 吉尔泰金，洪城铱昌，宰瑾李， 刘链柱译 摘要：旋风型分离器技术用于真空吸尘器 - 轴向进流旋风和切向进气道流旋风有效地收集粉尘和降低压力降已被实验研究。优化设计等因素作为集尘效率，压降，并切成尺寸被粒度对应于分级收集的50％的效率进行了研究。颗粒切成大小降低入口面积，体直径，减小涡取景器直径的旋风。切向入口的双流量气旋具有良好的性能考虑的350毫米汞柱的低压降和为1.5μm的质量中位直径在1米3的流量的截止尺寸。一使用切向入口的双流量旋风吸尘器示出了势是一种有效的方法，用于收集在家庭中产生的粉尘。 摘要及关键词：吸尘器; 粉尘; 旋风分离器 引言 我们这个时代的很大一部分都花在了房子，工作场所，或其他建筑，因此，室内空间应该是既舒适情绪和卫生。但室内空气中含有超过室外空气因气密性的二次污染物，毒物，食品气味。这是通过使用产生在建筑中的新材料和设备。真空吸尘器为代表的家电去除有害物质从地板到地毯所用的商用真空吸尘器房子由纸过滤，预过滤器和排气过滤器通过洁净的空气排放到大气中。虽然真空吸尘器是方便在使用中，吸入压力下降说唱空转成比例地清洗的时间，以及纸过滤器也应定期更换，由于压力下降，气味和细菌通过纸过滤器内的残留粉尘。 图1示出了大气气溶胶的粒度分布通常是双峰形，在粗颗粒（>2.0微米）模式为主要的外部来源，如风吹尘，海盐喷雾，火山，从工厂直接排放和车辆废气排放，以及那些在细颗粒模式包括燃烧或光化学反应。表1显示模式，典型的大气航空的直径和质量浓度溶胶被许多研究者测量。精细模式在0.18?0.36 在5.7到25微米尺寸范围微米尺寸范围。质量浓度为2?205微克，可直接在大气气溶胶和 3.85至36.3μg/m3柴油气溶胶。
I / 11 本科毕业设计外文翻译 <2018届） 论文题目基于WEB 的J2EE 的信息系统的方法研究 作者姓名[单击此处输入姓名] 指导教师[单击此处输入姓名] 学科(专业 > 所在学院计算机科学与技术学院 提交日期[时间 ]
基于WEB的J2EE的信息系统的方法研究 摘要：本文介绍基于工程的Java开发框架背后的概念，并介绍它如何用于IT 工程开发。因为有许多相同设计和开发工作在不同的方式下重复，而且并不总是符合最佳实践，所以许多开发框架建立了。我们已经定义了共同关注的问题和应用模式，代表有效解决办法的工具。开发框架提供：<1）从用户界面到数据集成的应用程序开发堆栈；<2）一个架构，基本环境及他们的相关技术，这些技术用来使用其他一些框架。架构定义了一个开发方法，其目的是协助客户开发工程。 关键词：J2EE 框架WEB开发 一、引言 软件工具包用来进行复杂的空间动态系统的非线性分析越来越多地使用基于Web的网络平台，以实现他们的用户界面，科学分析，分布仿真结果和科学家之间的信息交流。对于许多应用系统基于Web访问的非线性分析模拟软件成为一个重要组成部分。网络硬件和软件方面的密集技术变革[1]提供了比过去更多的自由选择机会[2]。因此，WEB平台的合理选择和发展对整个地区的非线性分析及其众多的应用程序具有越来越重要的意义。现阶段的WEB发展的特点是出现了大量的开源框架。框架将Web开发提到一个更高的水平，使基本功能的重复使用成为可能和从而提高了开发的生产力。 在某些情况下，开源框架没有提供常见问题的一个解决方案。出于这个原因，开发在开源框架的基础上建立自己的工程发展框架。本文旨在描述是一个基于Java的框架，该框架利用了开源框架并有助于开发基于Web的应用。通过分析现有的开源框架，本文提出了新的架构，基本环境及他们用来提高和利用其他一些框架的相关技术。架构定义了自己开发方法，其目的是协助客户开发和事例工程。 应用程序设计应该关注在工程中的重复利用。即使有独特的功能要求，也
本科生毕业设计（论文）外文科技文献译文 译文题目(外文题目)学院(系)Socket网络编程的设计与实现A Design and Implementation of Active Network Socket Programming 机械与能源工程学院 专学业 号 机械设计制造及其自动化 071895 学生姓名李杰林 日期2012年5月27日指导教师签名日期
摘要：编程节点和活跃网络的概念将可编程性引入到通信网络中，并且代码和数据可以在发送过程中进行修改。最近，多个研究小组已经设计和实现了自己的设计平台。每个设计都有其自己的优点和缺点，但是在不同平台之间都存在着互操作性问题。因此，我们引入一个类似网络socket编程的概念。我们建立一组针对应用程序进行编程的简单接口，这组被称为活跃网络Socket编程（ANSP）的接口，将在所有执行环境下工作。因此，ANSP 提供一个类似于“一次性编写，无限制运行”的开放编程模型，它可以工作在所有的可执行环境下。它解决了活跃网络中的异构性，当应用程序需要访问异构网络内的所有地区，在临界点部署特殊服务或监视整个网络的性能时显得相当重要。我们的方案是在现有的环境中，所有应用程序可以很容易地安装上一个薄薄的透明层而不是引入一个新的平台。 关键词：活跃网络；应用程序编程接口；活跃网络socket编程
1 导言 1990年，为了在互联网上引入新的网络协议，克拉克和藤农豪斯[1]提出了一种新的设 计框架。自公布这一标志性文件，活跃网络设计框架[2，3，10]已经慢慢在20世纪90 年代末成形。活跃网络允许程序代码和数据可以同时在互联网上提供积极的网络范式，此外，他们可以在传送到目的地的过程中得到执行和修改。ABone作为一个全球性的骨干网络，开 始进行活跃网络实验。除执行平台的不成熟，商业上活跃网络在互联网上的部署也成为主要障碍。例如，一个供应商可能不乐意让网络路由器运行一些可能影响其预期路由性能的未知程序，。因此，作为替代提出了允许活跃网络在互联网上运作的概念，如欧洲研究课题组提出的应用层活跃网络（ALAN）项目[4]。 在ALAN项目中，活跃服务器系统位于网络的不同地址，并且这些应用程序都可以运行在活跃系统的网络应用层上。另一个潜在的方法是网络服务提供商提供更优质的活跃网络服务类。这个服务类应该提供最优质的服务质量（QOS），并允许路由器对计算机的访问。通过这种方法，网络服务提供商可以创建一个新的收入来源。 对活跃网络的研究已取得稳步进展。由于活跃网络在互联网上推出了可编程性，相应 地应建立供应用程序工作的可执行平台。这些操作系统平台执行环境（EES），其中一些已 被创建，例如，活跃信号协议（ASP）[12]和活跃网络传输系统（ANTS）[11]。因此，不 同的应用程序可以实现对活跃网络概念的测试。 在这些EES 环境下，已经开展了一系列验证活跃网络概念的实验，例如，移动网络[5]，网页代理[6]，多播路由器[7]。活跃网络引进了很多在网络上兼有灵活性和可扩展性的方案。几个研究小组已经提出了各种可通过路由器进行网络计算的可执行环境。他们的成果和现有基础设施的潜在好处正在被评估[8，9]。不幸的是，他们很少关心互操作性问题，活跃网络由多个执行环境组成，例如，在ABone 中存在三个EES，专为一个EES编写的应用程序不能在其他平台上运行。这就出现了一种资源划分为不同运行环境的问题。此外，总是有一些关键的网络应用需要跨环境运行，如信息收集和关键点部署监测网络的服务。 在本文中，被称为活跃网络Socket编程（ANSP）的框架模型，可以在所有EES下运行。它提供了以下主要目标： ??通过单一编程接口编写应用程序。 由于ANSP提供的编程接口，使得EES的设计与ANSP 独立。这使得未来执行环境的发展和提高更加透明。
Optimum blank design of an automobile sub-frame Jong-Yop Kim a ,Naksoo Kim a,*,Man-Sung Huh b a Department of Mechanical Engineering,Sogang University,Shinsu-dong 1,Mapo-ku,Seoul 121-742,South Korea b Hwa-shin Corporation,Young-chun,Kyung-buk,770-140,South Korea Received 17July 1998 Abstract A roll-back method is proposed to predict the optimum initial blank shape in the sheet metal forming process.The method takes the difference between the ?nal deformed shape and the target contour shape into account.Based on the method,a computer program composed of a blank design module,an FE-analysis program and a mesh generation module is developed.The roll-back method is applied to the drawing of a square cup with the ˉange of uniform size around its periphery,to con?rm its validity.Good agreement is recognized between the numerical results and the published results for initial blank shape and thickness strain distribution.The optimum blank shapes for two parts of an automobile sub-frame are designed.Both the thickness distribution and the level of punch load are improved with the designed blank.Also,the method is applied to design the weld line in a tailor-welded blank.It is concluded that the roll-back method is an effective and convenient method for an optimum blank shape design.#2000Elsevier Science S.A.All rights reserved. Keywords:Blank design;Sheet metal forming;Finite element method;Roll-back method
毕业设计（论文） 外文翻译 题目西安市水源工程中的 水电站设计 专业水利水电工程 班级 学生 指导教师 2016年
研究钢弧形闸门的动态稳定性 牛志国 河海大学水利水电工程学院，中国南京，邮编210098 nzg_197901@https://www.doczj.com/doc/2920157.html,，niuzhiguo@https://www.doczj.com/doc/2920157.html, 李同春 河海大学水利水电工程学院，中国南京，邮编210098 ltchhu@https://www.doczj.com/doc/2920157.html, 摘要 由于钢弧形闸门的结构特征和弹力，调查对参数共振的弧形闸门的臂一直是研究领域的热点话题弧形弧形闸门的动力稳定性。在这个论文中，简化空间框架作为分析模型，根据弹性体薄壁结构的扰动方程和梁单元模型和薄壁结构的梁单元模型，动态不稳定区域的弧形闸门可以通过有限元的方法，应用有限元的方法计算动态不稳定性的主要区域的弧形弧形闸门工作。此外，结合物理和数值模型，对识别新方法的参数共振钢弧形闸门提出了调查，本文不仅是重要的改进弧形闸门的参数振动的计算方法，但也为进一步研究弧形弧形闸门结构的动态稳定性打下了坚实的基础。 简介 低举升力，没有门槽，好流型，和操作方便等优点，使钢弧形闸门已经广泛应用于水工建筑物。弧形闸门的结构特点是液压完全作用于弧形闸门，通过门叶和主大梁，所以弧形闸门臂是主要的组件确保弧形闸门安全操作。如果周期性轴向载荷作用于手臂，手臂的不稳定是在一定条件下可能发生。调查指出:在弧形闸门的20次事故中，除了极特殊的破坏情况下，弧形闸门的破坏的原因是弧形闸门臂的不稳定;此外，明显的动态作用下发生破坏。例如:张山闸，位于中国的江苏省，包括36个弧形闸门。当一个弧形闸门打开放水时，门被破坏了，而其他弧形闸门则关闭，受到静态静水压力仍然是一样的，很明显，一个动态的加载是造成的弧形闸门破坏一个主要因素。因此弧形闸门臂的动态不稳定是造成弧形闸门(特别是低水头的弧形闸门)破坏的主要原是毫无疑问。
Section 3 Design philosophy, design method and earth pressures 3.1 Design philosophy 3.1.1 General The design of earth retaining structures requires consideration of the interaction between the ground and the structure. It requires the performance of two sets of calculations: 1）a set of equilibrium calculations to determine the overall proportions and the geometry of the structure necessary to achieve equilibrium under the relevant earth pressures and forces; 2）structural design calculations to determine the size and properties of thestructural sections necessary to resist the bending moments and shear forces determined from the equilibrium calculations. Both sets of calculations are carried out for specific design situations (see 3.2.2) in accordance with the principles of limit state design. The selected design situations should be sufficiently Severe and varied so as to encompass all reasonable conditions which can be foreseen during the period of construction and the life of the retaining wall. 3.1.2 Limit state design This code of practice adopts the philosophy of limit state design. This philosophy does not impose upon the designer any special requirements as to the manner in which the safety and stability of the retaining wall may be achieved, whether by overall factors of safety, or partial factors of safety, or by other measures. Limit states (see 1.3.13) are classified into: a) ultimate limit states (see 3.1.3); b) serviceability limit states (see 3.1.4). Typical ultimate limit states are depicted in figure 3. Rupture states which are reached before collapse occurs are, for simplicity, also classified and
编号： 毕业设计(论文)外文翻译 （原文） 院（系）：应用科技学院 专业：机械设计制造及其自动化 学生姓名：邓瑜 学号：0501120501 指导教师单位：应用科技学院 姓名：黄小能 职称： 2009年 5 月20 日
The Injection Molding The Introduction of Molds The mold is at the core of a plastic manufacturing process because its cavity gives a part its shape. This makes the mold at least as critical-and many cases more so-for the quality of the end product as, for example, the plasticiting unit or other components of the processing equipment. Mold Material Depending on the processing parameters for the various processing methods as well as the length of the production run, the number of finished products to be produced, molds for plastics processing must satisfy a great variety of requirements. It is therefore not surprising that molds can be made from a very broad spectrum of materials, including-from a technical standpoint-such exotic materials as paper matched and plaster. However, because most processes require high pressures, often combined with high temperatures, metals still represent by far the most important material group, with steel being the predominant metal. It is interesting in this regard that, in many cases, the selection of the mold material is not only a question of material properties and an optimum price-to-performance ratio but also that the methods used to produce the mold, and thus the entire design, can be influenced. A typical example can be seen in the choice between cast metal molds, with their very different cooling systems, compared to machined molds. In addition, the production technique can also have an effect; for instance, it is often reported that, for the sake of simplicity, a prototype mold is frequently machined from solid stock with the aid of the latest technology such as computer-aided (CAD) and computer-integrated manufacturing (CIM). In contrast to the previously used methods based on the use of patterns, the use of CAD and CAM often represents the more economical solution today, not only because this production capability is available pin-house but also because with any other technique an order would have to be placed with an outside supplier. Overall, although high-grade materials are often used, as a rule standard materials are used in mold making. New, state-of-the art (high-performance) materials, such as ceramics, for instance, are almost completely absent. This may be related to the fact that their desirable characteristics, such as constant properties up to very high temperatures, are not required on molds, whereas their negative characteristics, e. g. low tensile strength and poor thermal conductivity, have a clearly related to ceramics, such as sintered material, is found in mild making only to a limited degree. This refers less to the modern materials and components
毕业设计外文资料翻译 题目POLISHING OF CERAMIC TILES 抛光瓷砖 学院材料科学与工程 专业复合材料与工程 班级 学生 学号 指导教师 二〇一二年三月二十八日
MATERIALS AND MANUFACTURING PROCESSES, 17(3), 401–413 (2002) POLISHING OF CERAMIC TILES C. Y. Wang,* X. Wei, and H. Yuan Institute of Manufacturing Technology, Guangdong University ofTechnology, Guangzhou 510090, P.R. China ABSTRACT Grinding and polishing are important steps in the production of decorative vitreous ceramic tiles. Different combinations of finishing wheels and polishing wheels are tested to optimize their selection. The results show that the surface glossiness depends not only on the surface quality before machining, but also on the characteristics of the ceramic tiles as well as the performance of grinding and polishing wheels. The performance of the polishing wheel is the key for a good final surface quality. The surface glossiness after finishing must be above 208 in order to get higher polishing quality because finishing will limit the maximum surface glossiness by polishing. The optimized combination of grinding and polishing wheels for all the steps will achieve shorter machining times and better surface quality. No obvious relationships are found between the hardness of ceramic tiles and surface quality or the wear of grinding wheels; therefore, the hardness of the ceramic tile cannot be used for evaluating its machinability. Key Words: Ceramic tiles; Grinding wheel; Polishing wheel
附件1：外文资料翻译译文 包装对食品发展的影响 一个消费者对某个产品的第一印象来说包装是至关重要的，包括沟通的可取性，可接受性，健康饮食形象等。食品能够提供广泛的产品和包装组合，传达自己加工的形象感知给消费者，例如新鲜包装/准备，冷藏，冷冻，超高温无菌，消毒（灭菌），烘干产品。 食物的最重要的质量属性之一，是它的味道，其影响人类的感官知觉，即味觉和嗅觉。味道可以很大程度作退化的处理和/或扩展存储。其他质量属性，也可能受到影响，包括颜色，质地和营养成分。食品质量不仅取决于原材料，添加剂，加工和包装的方法，而且其预期的货架寿命（保质期）过程中遇到的分布和储存条件的质量。越来越多的竞争当中，食品生产商，零售商和供应商；和质量审核供应商有显着提高食品质量以及急剧增加包装食品的选择。这些改进也得益于严格的冷藏链中的温度控制和越来越挑剔的消费者。 保质期的一个定义是：在食品加工和包装组合下，在食品的容器和条件，在销售点分布在特定系统的时间能保持令人满意的食味品质。保质期，可以用来作为一个新鲜的概念，促进营销的工具。延期或保质期长的产品，还提供产品的使用时间，方便以及减少浪费食物的风险，消费者和/或零售商。包装产品的质量和保质期的主题是在第3章中详细讨论。 包装为消费者提供有关产品的重要信息，在许多情况下，使用的包装和/或产品，包括事实信息如重量，体积，配料，制造商的细节，营养价值，烹饪和开放的指示，除了法律准则的最小尺寸的文字和数字，有定义的各类产品。消费者寻求更详细的产品信息，同时，许多标签已经成为多语种。标签的可读性是为视障人士的问题，这很可能成为一个对越来越多的老年人口越来越重要的问题。 食物的选择和包装创新的一个主要驱动力是为了方便消费者的需求。这里有许多方便的现代包装所提供的属性，这些措施包括易于接入和开放，处置和处理，产品的知名度，再密封性能，微波加热性，延长保质期等。在英国和其他发达经济体显示出生率下降和快速增长的一个相对富裕的老人人口趋势，伴随着更加苛
毕业设计（论文） 外文文献翻译 题目：A new constructing auxiliary function method for global optimization 学院： 专业名称： 学号： 学生姓名： 指导教师： 2014年2月14日
一个新的辅助函数的构造方法的全局优化 Jiang-She Zhang，Yong-Jun Wang https://www.doczj.com/doc/2920157.html,/10.1016/j.mcm.2007.08.007 非线性函数优化问题中具有许多局部极小，在他们的搜索空间中的应用，如工程设计，分子生物学是广泛的，和神经网络训练．虽然现有的传统的方法，如最速下降方法，牛顿法，拟牛顿方法，信赖域方法，共轭梯度法，收敛迅速，可以找到解决方案，为高精度的连续可微函数，这在很大程度上依赖于初始点和最终的全局解的质量很难保证．在全局优化中存在的困难阻碍了许多学科的进一步发展．因此，全局优化通常成为一个具有挑战性的计算任务的研究． 一般来说，设计一个全局优化算法是由两个原因造成的困难：一是如何确定所得到的最小是全球性的（当时全球最小的是事先不知道），和其他的是，如何从中获得一个更好的最小跳．对第一个问题，一个停止规则称为贝叶斯终止条件已被报道．许多最近提出的算法的目标是在处理第二个问题．一般来说，这些方法可以被类?主要分两大类，即：（一）确定的方法，及（ii）的随机方法．随机的方法是基于生物或统计物理学，它跳到当地的最低使用基于概率的方法．这些方法包括遗传算法（GA），模拟退火法（SA）和粒子群优化算法（PSO）．虽然这些方法有其用途，它们往往收敛速度慢和寻找更高精度的解决方案是耗费时间．他们更容易实现和解决组合优化问题．然而，确定性方法如填充函数法，盾构法，等，收敛迅速，具有较高的精度，通常可以找到一个解决方案．这些方法往往依赖于修改目标函数的函数“少”或“低”局部极小，比原来的目标函数，并设计算法来减少该?ED功能逃离局部极小更好的发现． 引用确定性算法中，扩散方程法，有效能量的方法，和积分变换方法近似的原始目标函数的粗结构由一组平滑函数的极小的“少”．这些方法通过修改目标函数的原始目标函数的积分．这样的集成是实现太贵，和辅助功能的最终解决必须追溯到
（ 本科毕业设计外文文献翻译 学校代码： 10128 学 号： 题 目：Shear wall structural design of high-level framework 学生姓名： 学 院：土木工程学院 系 别：建筑工程系 专 业：土木工程专业（建筑工程方向） 班 级：土木08-（5）班 指导教师： (副教授)
Shear wall structural design of high-level framework Wu Jicheng Abstract: In this paper the basic concepts of manpower from the frame shear wall structure, analysis of the structural design of the content of the frame shear wall, including the seismic wall shear span ratio design, and a concrete structure in the most commonly used frame shear wall structure the design of points to note. Keywords: concrete; frame shear wall structure; high-rise buildings The wall is a modern high-rise buildings is an important building content, the size of the frame shear wall must comply with building regulations. The principle is that the larger size but the thickness must be smaller geometric features should be presented to the plate, the force is close to cylindrical. The wall shear wall structure is a flat component. Its exposure to the force along the plane level of the role of shear and moment, must also take into account the vertical pressure. Operate under the combined action of bending moments and axial force and shear force by the cantilever deep beam under the action of the force level to look into the bottom mounted on the basis of. Shear wall is divided into a whole wall and the associated shear wall in the actual project, a whole wall for example, such as general housing construction in the gable or fish bone structure film walls and small openings wall. Coupled Shear walls are connected by the coupling beam shear wall. But because the