A new kind of omni-directional robot
GMDSS新统考英语题库3
GMDSS新统考英语题库3GMDSS通信英语阅读考卷31. In INMARSAT-B “Priority 0” means ____ communication.A. routineB. distressC. urgencyD. safety2. The GMDSS was adopted by amendments in ____ to the SOLAS convention 1974.A. 1992B. 1988C. 1999D. 19793. The INMARSAT safety NET Service covers____A. A3B. A2+A3C. A1+A2+A3D.A1+A2+A3+A44. Each NA VTEX message ends with an end of message function ____A. NNNNB. KKKKC. ZCZCD. NCNC5. Which of the following belongs to High Frequency band? ____A.415~4000KHZB. 4~27.5 MHZC. 156~174 MHZD. 300~3400 HZ6. The NCS of INMARSAT-C system in POR is____A. GOONHILL YB. SENTOSAC. SOUTHBURYD.YAMAGUCHI7. Please choose the Inmarsat-C NCS ID of the AOR-W ____A. 044B.001C.211D.1448. Where is the distress alerting made by MES in the INMARSAT system passed to? ____A. MCCB. RCCC. LESD. NCS9. What kind of transmission mode will be used in VHF telephone voice communication? ____A. J3EB. G2BC. F1BD. G3E10. Communication using fax of Inmarsat-F, the country code of China is ____A. 868B. 11C. 86D. 8511.Which service does not EGC have? ____A. N/WB. MSIC. SafetyNETD. FAX12. The main contents of PSC for Inmarsat-C is____A. log of informationB. the setting of printerC. PV testD. the function of ship reporting13. What does ITU stand for?A. International Telephone UnionB. International Telecommunication UnionC. International Telecommunication UnitD. International Telex Unit14. IMN is an ____ for an SES.A. International Mobile NumberB. INMARSAT Maritime NumberC. INMARSAT Mobile NumberD. International Maritime Number15. ____ are also distress traffic.A. signals for locatingB. safety servicesC. light signalsD. VHF16. When a ship sinks, a ____ satellite EPIRB is ____ activated.A. stationary/automaticallyB. float free/manuallyC. vertical/automaticallyD. float free/automatically17. The NA VTEX receiver can be mounted ____A. on the bridgeB. in the coast stationC. oil the forecastleD. on starboard side18. The ground segment of Inmarsat consist of ____A. Land Earth StationsB. Network Co-ordination StationsC. Network Operations CentreD. A.B.C19. What shall be transmitted to avoid all ships in a large sea area being alerted?____A. area callB. distress callC. urgency callD. DSC call20. The SART can ____ .A. permanently install in the survival craftB. operate in a float-free positionC. be incorporated into a float-free S-EPIRBD. all are right21. ____ will form the basis for distress alerting and safety calling.A. GMDSSB. EGCC. MSID. DSC22. Which 2 digit code is maritime assistance offered by LES as specified in the Radio Regulations under GMDSS?____A. 32B.38C.39D.3323. The concept of MSI has been developed to bring together the various sources of this vital information into a combinednews broadcast suitable for all ships in all ____A. major area of the globeB. principal waters of the globeC. minor waters or narrow watersD. some special waters of the globe24. Which institution monitor and control the communications traffic of the LES within the ocean region? ____A. RCCB. NCSC. NOCD. MCC25. When a vessel in distress making On-scene communications, which one of the following radio equipments can be used____A. VHFB. MF/HF radio equipmentC. Inmarsat MESD. all of above26. Where does the RCC of the China locate in? ____A. BeijingB. ShanghaiC. DalianD. Tianjin27. Which mode of communications is possible through an Inmarsat –F MES? ____A. SITORB. telexC. telephoneD. DSC28. Which of the following is not a DSC calling content? ____A. ACK BQB. ACK RQC. EOSD.ARQ29. How many frequencies designated for DSC international distress and safety frequencies on HF band? ____A. 4B. 5C. 6D. 730. W hich definition’s meaning is the “FAX using phase modulation”? ____A. G3EB. F3EC.G2BD.F3C31. Which of the following is NOT included in urgency DSC calling? ____A. identification of calling shipB. category of priority: urgencyC. identification of called shipD. the urgency signal PANPAN32. Which type of the following services is excluded from Inmarsat-F services? ____A. telephoneB. high speed data transmissionC. telexD. E-mail33. The PIN becomes blocked if the PIN code is entered incorrectly several times when operating capsat-F77 MES.The maximum of input is____A. 4B. 5C. 6D.334. The command “KKKK” is used to ____A. clear connection with land subscriberB. clear connection with Maritime Radio StationC. clear connection with mobile subscriberD. for breaking radio connection35. Which command is used for a radio medical connection with coast station? ____A. MSG+B. TEST+C. SOS+D. MED+36. Distress messages of the DSC are automatically broadcast to____A. all stationsB. coast stationsC. ship stations nearbyD. group of specified stations37. The VHF CH06 is used for____A. intership and ship-aircraft communicationB. distress & safety communicationsC. ship-shore and ship-ship communicationsD. all of above38. The MMSI number 041211111 is ____A. a ship station’s MMSI numberB. a shore station’s MMSI numberC. group of ships’ MMSI numberD. a land user’s fax number39. What is the frequency range for Medium Frequency? ____A. 30 to 300khzB. 300 to 3000khzC. 1000 to 10000khzD. 10 to 30mhz40. Which modes could be selected to receive vessel traffic lists from high seas shore stations? ____A. AM and VHF-FMB. SSB and FECC. ARQ and FECD. VHF-FM and SSB41. At mid-day, what would be the best choice in attempting to communication with a shore station 50 miles distant?A.VHFB. 22 MHZ bandC. 16 MHZ bandD. MF42. What does the term “ARQ” mean? ____A. Automation Repeat RequestB. Automatic Repeat RequestC. Automation Request RepeatD. Automatic Request Repeat43. What are the characters that are transmitted to terminatea direct telex connection in NBDP operation? ____A. “…..”B. KKKKC. END+D. EOM44. Which of the following is true of ARQ mode? ____A. This is an interactive modeB. Each character is repeated three timesC. each character is transmitted twiceD. This mode is generally used to broadcast messages45. Which of the following ID number is used for BEIJING LES telephone access code in AOR-E? ____A. 118B. 868C. 311D. 21146. How many total frequencies are available for DSC distress alerting? ___A. oneB. twoC. fiveD. seven47. You send a HF-DSC alert on 8414.5khz. What frequency do you use for the telex transmission? ____A. 8376.5khzB. 8291.0khzC. 8401.5khzD. 8201.0khz48. What is the MID? ____A. Mobile Identification NumberB. Maritime identification DigitsC. Marine Indemnity DirectoryD. Mobile Interference Digits49. The priority of all navigational warnings and meteorological forecasts is ____A. safety priorityB. urgent priorityC. distress priorityD. ship business priority50. What is the drum speed of a station if the Index of Co-operation is 576? ____A. 90B. 60C. 240D. 12051. What is the positioning accuracy of the EPIRB in the COSPAS/SARSAT? ____A. 1 to 2 nmB. 2 to 3 nmC. 5 nmD. 10 nm52. Complying with IMO requirements, the detection range between a SART and a search RADAR is ____A. 8.0 nmB. 2.5 nmC. 2.0 nmD. 5.0 nm53. Which piece of required GMDSS equipment is the primary source of transmitting locating signals?A. Radio Direction FinderB. An EPIRB transmitting on 406MHZC. Survival Craft TransceiverD. A SART transmitting on 406MHZ54. For COSPAS-SARSAT system, ____ transmit distress alert and location information to appropriate rescue authorities all over the world.A. Polar orbiting satellitesB. Ground receiving stationsC. MCCD. ROC55. Which type of Inmarsat MES terminals use omni-directional antenna? ____A. Inmarsat-AB. Inmarsat-BC. Inmarsat-CD. Inmarst-F56. Port State Control (PSC) is the inspection of ____ in national ports.A. national shipsB. foreign shipsC. cargo shipsD. passenger ships57. What system provides accurate vessel position information to the GMDSS equipment? ____A. GPSB. COSPAS-SARSATC. InmarsatD. NBDP58. When testing with coast station using DSC in PSC checking, the priority of the calling is? ____A. distressB. urgencyC. safetyD. routine59. The General Operator’s Certificate valid for ____A. three yearsB. four yearsC. five yearsD. six years60. The log of the ship radio valid for ____A. half a yearB. one yearC. two yearsD. three years61. Both the satellite communication and terrestrial communication will____A. not be used in the GMDSSB. be used only for general communicationC. be replaced by MorseD. be used in the GMDSS62. If we want to communicate with Guangzhou station by RT, we find out the channel of the station in the ADMIRALTY LIST OF RADIO SIGNALS____A. V olume 1B. Volume 2C. V olume 3D. V olume 563. Which terminal is used to alert to ships by distress vessel? ____A. EPIRBC. MESD. DSC64. Which of the following frequencies is used for intership MF DSC call ? ____A. 2182KHZB. 2187.5KHZC. 2177KHZD. 2414.5KHZ65. Which frequencies can not be used for ship-aircraft communication? ____A. CH06B. 3023KHZC. 2182KHZD.5680KHZ66. The transition period in implementation of the new GMDSS system is ____ years.A. 6B. 7C. 8D. 967. Which of the following frequencies and modes is allocated for distress alerting in GMDSS? ____A. 406MHZ to via EPIRBB. 1626.5~1645.5MHZ via InmarsatC. Channel 70 DSC plus six MF/HF DSC frequenciesD. All of the above68. Which service is a more cost-effective solution for applications where there is no need for constant transmission of data in both directions? ____B.MPDSC. ISDLD. CDMA69. ZCZC HD36090710UTC MAY 2008OVERBOARDUNMANNED FISHING VESSEL HOUSHOU MARU（2 TONS，ONE CREW）W AS SIGHTEDIN POSITION 32-57.5N 129-28.5EAT 080701UTCTHE CREW SEEMS TO HA VE FALLEN OVERBOARD SHIPS IN THE VICINITY ARE REQUESTEDTO KEEP A SHARP LOOKOUT AND REPORTANY INFORMATION TO MSA JAPANNNNN(1) What does this message talk about?A. FishingB. OverboardC. ReportD. Lookout(2) What does MSA concern in this passage?A. A Japanese fishing vesselB. An organization takes charge of SARC. A shore radio stationD. None of above(3) What is transmitter indicator character in this message?A. DB. EC. HD. N(4) When was this message broadcast?A. 2010.9.7B. 2009.7.10C. 2008.7.1D. 2008.5.970. The 64 kbit/s data service supports applications between ISDN terminals using ISDN protocols such as V.120 or X.75. it will support any 64kbit/s data stream and is the service used for implementing ISDN applications such as video conferencing, LAN routing, file transfer, broadcast- quality audio transmission and secure telephone.The service is accessed primarily through the RJ-45 connector on the Mobile Satellite Unit. Multiple ISDN devices (up to eight) can be attached to the MSU.A point-to-point protocol (PPP) modem data service, suitable for file transfer, e-mail or internet access, may also be available via an RS-232 interface, USB port or infrared port.With Inmarsat Mobile ISDN, the customer uses a dedicated line or channel between the mobile equipment and the satellite. This channel provides up to 64kbit/s of bandwidth. Users are charged by the length of time this dedicated channel is allocated. Because of the global growth of ISDN, a whole arrange of telecommunications applications that were once the domain of large corporations have now become cost-effectively available to even the smallest of businesses. Dial-up networking using ISDN enables any number of Local Area Networks (LANs) to be quickly and easily linked. Other services available through the Mobile ISDN are video conferencing and broadcast-quality audio.An ISDN call typically takes less than five seconds to connect, which is something to take into account when the call is over a satellite communications system. With the introduction of the Inmarsat Mobile ISDN service, there is no longer any reason why people working in remote locations should not enjoy the sophisticated IT solutions that are t aken for granted in today’s office.(1) What does MSU mean? _____A. Maritime safety UnitB. Mobile Satellite UnionC. Mobile Satellite UnitD. Marine Security Union(2) Users are charged by _____ for the Inmarsat mobile ISDN 64kbps service?A. the length of time the dedicated channel is allocated.B. the number of characters being sent.C. either the duration or the number of letters sent.D. this passage does not tell us.(3) What kind of services is available through the Mobile ISDN? ____A. video conferencing and secure telephonyB. broadcast quality audioC. file transfer and LAN routingD. all of the above(4) The channel between the mobile equipment and the satellite for mobile ISDN provides up to of bandwidth? ____A. 4.8kbpsB. 9.6kbpsC. 64kbpsD. 128kbps71. For ships equipped with an Inmarsat SES, sending a distress alert is both simple and certain. It only involves pressing a special distress button or using an abbreviated dialing code. This automatically gives priority access to the system and establishes contact with a CES via the Inmarsat satellite.The SES operator can choose the most suitable CES for the communication service required, as long as the CES is within the same ocean region as the SES. The shore Inmarsat user does not have the flexibility and is limited to using the CES through which his local PTT administration has a routing agreement for a particular ocean region.(1) It is quite _____ for SES operator to send a distress alert.A. difficult and stableB. easy and expensiveC. easy and reliableD. possible and compulsory(2) Any ships with SES can ____ and ___ through the Inmarsat satellites when sending a distress alert.A. establish contact with the system/contact with RCCB. enter the system gradually/contact a coast stationC. enter the system manually/contact with any CESD. have absolute priority to enter the system/contact a CES(3) The SES operator cannot set up communication througha CES, _____ it’s within the same ocean region as the SES.A. onceB. ifC. unlessD. when(4) Which of the following acronyms has the different meaning for the sa me letter of “S”? _____A. CESB. SESC. NCSD. MSI72. Ships receiving a DSC distress alert from another ship should normally not acknowledge the distress alert by DSC since acknowledgement of a DSC distress alert by use of DSC is normally made by coast stations only.If a ship station continues to receive a DSC distress alert on an MF or VHF channel, a DSC acknowledgement should be transmitted to terminate the call only after consulting with a RCC or a coast station and being directed to do so.Ships receiving a DSC distress alert from another ship also defer the acknowledgement of the distress alert by radiotelephony for a short interval, if the ship is within an area covered by one or more coast stations, in order to give the coast station time to acknowledge the DSC distress alert first.(1) Any ship should____ after receiving a DSC distress alert from another ship.A. acknowledge the distress alert by DSC immediatelyB. not acknowledge the distress alert by DSC immediatelyC. acknowledge the distress alert on MF or VHF channelD. terminate the call(2) Ships receiving a DSC distress alert may ____ after getting permission from RCC.A. transmit the callB. receive the callC. stop the callD. continue to receive the call(3) Ships receiving a DSC distress alert should makeacknowledgement _____.A. immediatelyB. as soon as possibleC. after a short timeD. as late as possible(4) What’s the main idea of the passage?_____A. DSC distress alert transmissionB. DSC distress alert receptionC. Acknowledgement of a DSC distress alertD. DSC distress alert control。
移动操作机器人及其共享控制力反馈遥操作研究(可编辑)
移动操作机器人及其共享控制力反馈遥操作研究博士学位论文移动操作机器人及其共享控制的力反馈遥操作研究RESEARCH ON MOBILE MANIPULATOR AND ITSFORCE FEEDBACK TELEOPERATION BASED ONSHARED CONTROL MODE于振中哈尔滨工业大学2010年 11月国内图书分类号:TP242.2学校代码:10213国际图书分类号:681.5 密级:公开工学博士学位论文移动操作机器人及其共享控制的力反馈遥操作研究博士研究生 :于振中导师 :蔡鹤皋院士副导师 :赵杰教授申请学位 :工学博士学科 :机械电子工程所在单位 :机电工程学院答辩日期 : 2010 年 11 月授予学位单位 :哈尔滨工业大学Classified Index: TP242.2U.D.C: 681.5Dissertation for the Doctoral Degree in EngineeringRESEARCH ON MOBILE MANIPULATOR AND ITSFORCE FEEDBACK TELEOPERATION BASED ONSHARED CONTROL MODEYu ZhenzhongCandidate:Supervisor: Academician Cai HegaoVice-Supervisor: Prof. Zhao Jie Academic Degree Applied for: Doctor of EngineeringSpeciality: Mechantronics EngineeringUnit: School of Mechatronics EngineeringDate of Defense: Nov, 2010University: Harbin Institute of Technology摘要摘要移动操作机器人相比于固定操作机器人具有更大的操作空间和更强的操作灵活性,成为机器人领域研究的热点方向之一。
新型L频段高增益全向天线
设计了一种 L 频段高增益全向天线， 该天线由双面辐射微带阵列组成， 通过平行双线电磁耦合的方式有效展
出的天线进行仿真设计及优化， 并制作原型样机进行对比测试。结果表明， 该型微带阵列天线在工作频段范围内满足电压 40ʎ～43ʎ之间， H 面不圆度在 1dB 内， 满足通信系统指标要求， 同时该天线具有结构简单、 易于工程实现的特点。 关键词 全向天线； 平行双线； 蛇形慢波 TN 958 中图分类号 DOI： 10. 3969/j. issn. 1672-9730. 2017. 05. 014
designed in this paper. By electromagnetically coupling of the parallel wire ， this micro-strip array antennas broaden the bandwidth of frequency changes. The design method this micro-strip array antenna is presented and produced，the presented antenna is simulated and a prototype is optimized for comparision testing. The results show that the measured bandwidth vswr is less than 1.5 the needs of microwave communication system. In addition， the proposed antenna has an advantage of easy fabrication. Key Words Class Number omni-directional antenna， parallel wire， serpentine slow-wave TN 958 and the bandwidth is 12％ with return loss less than -10dB. The antenna gain is larger than 4dB in the operation frequency band
一种用于参加大学生竞赛的码垛搬运起重机器人
一种用于参加大学生竞赛的码垛搬运起重机器人陈润林1郭蓉2翟俊杰1何启华1姜超1张悦1（1.沈阳工业大学机械工程学院辽宁沈阳110870；2.沈阳工业大学电气工程学院辽宁沈阳110870）摘要：本文介绍一种用于参加第六届中国大学生起重机创意大赛的机器人。
机器人基于机器视觉，采用激光传感器进行定位，对固定取物区具有特定颜色及形状标识的牛奶箱进行识别。
通过自主有序的控制方式，采用全自动控制模式，将物品从取物区按通行规则搬运到堆码区，一次可搬运并堆码6个相同的牛奶箱，提高了搬运和堆码的效率。
机器人采用3个全向轮，可实现向各个方向的运动，采用双平行四边形结构的机械臂保证机械爪的轴线始终垂直于地面，提高了抓取的稳定性。
关键词：码垛搬运机器人机器视觉激光定位全向轮中图分类号：TP242文献标识码：A文章编号：1674-098X(2022)03(b)-0139-04 A Palletizing Lifting Robot for Participating in College Students'CompetitionCHEN Runlin1GUO Rong2ZHAI Junjie1HE Qihua1JIANG Chao1ZHANG Yue1(1.School of Mechanical Engineering,Shenyang University of Technology,Shenyang,Liaoning Province,110870China;2.School of Electrical Engineering,Shenyang University of Technology,Shenyang,Liaoning Province,110870China)Abstract:In this paper,it introduces a robot used to participate in the6th China College Student Crane Creative Competition.Based on machine vision,the robot uses laser sensor for positioning to identify the milk boxes with specific color and shape identification in the fixed pick-up area.Through independent and orderly control mode and full-automatic control mode,the articles are transported from the pick-up area to the stacking area according to the traffic rules,and six identical milk boxes can be transported and stacked at one time,which improves the efficiency of handling and stacking.The robot adopts three omni-directional wheels,which can move in all directions.The mechanical arm with double parallelogram structure ensures that the axis of the mechanical claw is always perpendicular to the ground and improves the stability of grasping.Key Words:Palletizing robot;Machine vision;Laser positioning;Omni-directional wheel2021年3月，中国高等教育学会高校竞赛评估与管理体系研究工作组发布了2020全国普通高校大学生竞赛排行榜。
机器学习论文
机器学习论文以下是一些热门的机器学习论文的例子：1. "A Few-shot Learning Approach for Object Recognition on Omni-directional Images" - 提出了一种在全方位图像上进行对象识别的少量样本学习方法。
2. "Generative Adversarial Networks" - 引入了生成对抗网络（GAN）的概念，用于生成高质量的图像、音乐等。
3. "Deep Residual Learning for Image Recognition" - 提出了一个深度残差学习模型，大大提升了图像识别任务的性能。
4. "Attention Is All You Need" - 提出了一个完全基于注意力机制的神经网络模型，用于自然语言处理任务。
5. "Unsupervised Representation Learning with Deep Convolutional Generative Adversarial Networks" - 使用深度卷积生成对抗网络（DCGAN）来进行无监督的特征学习。
6. "DeepFace: Closing the Gap to Human-Level Performance in Face Verification" - 提出了一个基于深度学习的方法，将面部验证的性能提升到接近人类水平。
7. "Neural Machine Translation by Jointly Learning to Align and Translate" - 使用神经网络模型来进行机器翻译，并通过联合学习对齐和翻译来改进结果。
8. "Spatial Transformer Networks" - 引入了一个空间变换网络，可以在神经网络中自动学习对输入进行几何变换。
英语导游考试资料10年
I. Tourist Resort Explanation1 The Sun Yat-Sen Memorial HallSun Yat-Sen was the forerunner of the Chinese bourgeois democratic revolution. He was born on November 12, 1866 in a farmer’s family in the Cuiheng Village in Xiangshan County (the present -day Zhonghan City ) in Guangdong Province. At the age of 12, he went to Honolulu, where his elder brother sent him to a missionary school. Later, he came back to Hong Kong to study in a college of Western medicine and, after graduation, practiced medicine in Guangzhou and Macao. So, ever since he was a child, he had been influenced by the Western ideas of Christianity and democracy and this had helped him make up his mind to cure the ills of the old feudal China and turn it into a democratic and strong nation. At first, he had illusions about the Qing government and hoped to save this moribund regime trough reforms. But, China’s defeats by foreign invaders and the corruption and incompetence of the Qing government intensified his patriotic indignation. He decided that the Qing court was rotten to the core and must be overthrown and replaced by a democratic republic.So, in 1894, together with some twenty Chinese shop-keeper and farm-owners in Honolulu, he established the first Chinese bourgeois revolutionary organization-the Society for the Revival of China (the Xing Zhong Hui ). In the following spring, he returned to Hong Kong and staged the first armed uprising against the Qing Dynasty in Guangzhou; but it ended in failure. Then, in 1905, he went to Japa n, where he founded China’s first political party called party called “China Revolutionary League” (the To ng Meng Hui), which later developed into the Nationalist Party (the Guomintang). Since then he had made successive attempts to topple the Qing regime and finally succeeded in the Wuchang Uprising that broke out in October 1911. The Qing regime was overthrown and he was elected the provisional president of the interim government of the Republic of China in Nanjing. This political power, however, was soon taken over by the warlords. Then in 1920, Sun Yat-Sen came back to Guangzhou to set up a new government called the South Revolutionary Government. In 1921, he proclaimed his extraordinary presidency in Guangzhou. In 1925, he died of illness in Beijing and was buried later in Nanjing.Sun Yat-Sen had devoted all his life to the cause of the Chinese democratic revolution, and the 1911 revolution he led had put an end to the feudal monarchy that had existed in China for several thousand of years. To commemorate his great contributions to the Chinese revolution, people of Guangzhou had this memorial hall built in 1929-1931, at the original site of the former presidential house of the South Revolutionary Government, which was burned down in 1922 by a rebel warlord, Chen Jiongming by name.The Sun Yat-Sen Memorial Hall is an octagonal palace-like reinforced concrete structure, 58 meters high with a floor space of 12 thousand square meters. It looks like a traditional Chinese palace in appearance but was constructed with modern architectural technique. In front of the hall stands a bronze statue of Sun Yat-Sen, which is 5.5meters high and weighs 3.9 tons. Up on the facade below one of the eaves is written Sun Yat-Sen’s motto, meaning “China Belongs to the Peop le” in English (or literarily “Let Public Spiritedness Rule under the Sky”). Inside the building is a conference hall with a seating capacity of 3,238 people. And, thanks to the ingenious designing of the architect, the acoustics of the hall are excellent and there is no pillar to obstruct the spectator’s view because the eight pillars sustaining the four long-spanned steel trusses supporting the huge domed roof are hidden in the walls. Today, the Sun Yat-Sen Memorial Hall is still one the main places for mass meetings or theatrical performances in Guangzhou.At the back of the hall, there is a 2-storied building on each side. In the backyard are planted over 70 species of trees and flowers. Among them a kapok tree is already over 300 hundred years old and the two magnolia trees on both sides of the garden are over 70 years old. These two magnolia trees are the oldest magnolia trees in Guangzhou and have grown up to 90 centimeters in diameter, each giving a shade of over 200 square meters.The magnificent Sun Yat-Sen Memorial Hall was designed by a young Chinese architect, by the name of Lu Yan-zhi, who was born in Tianjin, graduated from the Qinghua University in Beijing and later studied architecture in the Cornell University in the USA. He died of long cancer in 1929, at the age of 36, before the hall was built.2 Kaiping Diaolou and Li YuanSightseeing SitesGeneral Introduction__ Architectural style of Diaolou __ Diaolou Clusters in Zili Village __Yinglonglou in Chikan Town __ Ruishilou in Xiangang Town __Denglou of the Fang’s Family in Tangkou Town __Kaiping LiyuanGeneral IntroductionLadies and gentlemen, welcome you to Kaiping.Kaiping city is located in the southwestern part of the Pearl River Delta. It is 100 km away from Guangzhou in the northeast.Kaiping is one of the renowned homes to overseas Chinese. It is famous for the multifunctional village houses with their own style. Shall I spare a few minutes to give a brief background of these constructions? Yes. OK.Chinese people, especially overseas Chinese, have long been known to have a strong homesick complex. Many of them sent their savings back home. Quite a lot returned to hometown to buy a piece of land, build their own house and get married. In the late Ming and the early Qing Dynasties, they started to build multi-storeyed, defensive houses called Diao Lou. Do you have any ideas why they made their houses in that way? Haha, here come two main reasons. One is that floods frequently struck this city as it was in a relatively low-lying place. The other is that the city used to have bad social order. Those returned overseas Chinese or those who had relatives abroad were pretty well-off. They suffered a lot from the rampant bandits or gangsters. Diaolou, or watchtower, to put it in the other way, was constructed to solve the aforementioned two problems.A combination of Chinese and exotic architectural stles is one of the features of this kind of building.Diaolou in Kaiping appeared on a large scale. The total number of buildings reached 3,300 in its peak time. Nowadays the number of registered houses is 1,833.Diaolou is well recognized. Some titles were awarded to it. One is Classic Works Representing the culture of Overseas Chinese. The second is Showcase of World’s Arc hitectural Art. Diaolou are inscribed upon the list of the National Protection Cultural Relics by the State Council of China. On June 28th, 2007, Kaiping Diaolou and Villages were inscribed on the UNESCO’s World Heritage List, and it is the first heritage from Guangdong.Architectural style of Kaiping DiaolouKaiping Diaolou enjoys its diversity in function, building materials and styles. When we talk about its function, buildings of this kind take three forms. Firstly, they are residential towers built by individual rich families and used as fortified residences. Secondly, they are communal towersbuilt by several families and used as temporary refuge. Thirdly, they are vigil towers used for time telling and neighborhood security watch. Four kinds of building materials have been used. They are mainly stone, pise, brick or concrete. As I just mentioned, Kaiping people had migrated to live in different parts of the world. Those returned overseas Chinese brought back home exotic ideas and applied them to village house building. This is reflected in the architectural styles of Diaolou. Their watchtowers not only boast ancient Greek and Roman flavors, but also blend Gothic, Islamic, baroque and rococo styles. These buildings feature the harmonious integration of varying foreign architecture patterns and the preference of the house owners.I have been talking quite a lot about the diversity of these watchtowers in terms of function, building materials and architectural style. What is their shared part, then? These buildings feature the harmonious integration of varying foreign architecture patterns and the preference of the house owners.I have been talking quite a lot about the diversity of these watchtowers in terms of function, building materials and architectural style. What is their shared part, then? Do you still remember the problems the local rich people suffered hundreds of years ago? “Yes”. “Good”; “No. No”.To fulfill its function to defend against bandits, all the watchtowers have narrow iron doors, small steel windows, and solid walls with embrasures. In some watchtowers, hornworks, locally called “swallow nests”, thrust outward on the four corners of the top floor. Those “swallow nests” exert omni-directional control over the surrounding areas. On the top floor of the watchtowers often stand observation posts, equipped with primitive firearms, electric generators, sirens, searchlights, stones, gongs and other defensive devices. From their similar looks and styles, we may say that those watchto wers were mainly used to guard against bandits’ attack.Kaiping watchtowers have played different roles in different historical periods. In the later stage of China’s War of Resistance against Japanese Aggression, some were used as military strongholds. The most famous one was South Watchtower in Tengjiao village, Chikan town. In the 1920s and 1930s, Kaiping Diaolou were served as secret sites for the Chinese Communist party to take up underground revolutionary activities. The most renowned two were Shilu and Zhongshanlou.With my long-winded introduction to Diaolou, I am now guiding you to see watchtower clusters. One thing I have to point out is that they differ quite a lot in styles, as towers of this kind were built in different periods of time.Diaolou Clusters in Zili VillageA showcase of Diaolou Clusters is in Zili Village. This village lies in Tangkou Town, about 12 kilometers from Kaiping city center. It enjoys the most exquisite, best-preserved, densely located buildings of such kind. Fifteen houses in existence in this village are all ranked as cultural relics of national importance under the protection of the state. Mingshilou, a five-storey residential house, is the fanciest. It was built in 1925, made of armored concrete. At its top stands a hexagonal observation tower, displaying a fusion of Chinese and western structural and decorative forms. On every corner of its fifth floor rises a hornwork. Local people called them “Swallow nest”. As you can see, this house has a massive body, solid iron doors and windows. It has quality designed furnishings and complete living facilities.Yinglonglou in Chikan TownThe oldest is Yinglonglou (Dragon Meeting Tower) in Chikan Town. It was built in the period of Jiajing, Ming Dynasty (1522-1566). The design and construction of this house was free fromthe exotic architectural influence.Rouishilou in Xiangang TownThe highest and most luxurious Diaolou in Xiangang Town is Ruishilou. The nine-storey tower is 25 meters in height, made of armored concrete. The indoor elegant furnishings are arranged in a traditional Chinese style. It is ranked as No. 1 tower in Kaiping.Denglou of Fang’s Family in Tangkou TownThe most typical Diaolou belongs to the Fang’s clan. It was built in 1920, made of armore d concrete. Located in an open area, this typical vigil tower was designed to watch neighborhood security. It was equipped with such defensive devices as electric generators for emergency, searchlights, and firearms.Did you notice that we are back to Tangkou Town? Anything else to see in this town? Yes, a garden called Liyuan.Kaiping LiyuanLiyuan is located in Beiyi Village, Tangkou town. This village is known as the hometown of many overseas Chinese. Completed in 1936, it is a stately home with a canal, two gardens and many other things. Liyuan takes in and displays the elements from both Chinese and western garden. The two Chinese characters “LiYuan” are there on the tall arched gate.Liyuan is divided into three areas: villa area, big garden area and small garden area. Its main constructions include a torii with the two Chinese characters “Li Yuan”, a decorated archway with the four Chinese characters “Xiu Shen Li Ben”, four kiosks on the bridges, and two ancient roman-style structures (“bird’s nest” and “vine kiosk”). Couplets and calligraphy from famous people that we see here and there create traditional Chinese cultural milieu in Liyuan.A canal was dug to bring together the aforementioned three areas. Long cloisters go along with the water. Spotted on the canal are small bridges, kiosks and pavilions. The design of the canal is the most eye-catching feature in Liyuan.Walking along the cloister with colored paintings for 100 meters, we will come to Li Yuan’s villa area. “Pan Li” and “Pan Wen” are the two most spectacular villas among the total of six.From the design of the villas, we can see the combination of Chinese and western elements. The roof of the villa follows the architectural styles of Ancient Chinese palaces while its body adopts western architectural patterns. The stairs, floors, the decorations of the walls are not the exception. Telling examples are the western-style fireplaces, droplights, Italian ceramic tiles, Chinese-style mahogany furniture, folktale frescos and gilded woodcarvings.Liyuan enjoys not only an exquisite art of architecture, but also rich traditional Chinese culture. The host of Liyuan held the philosophy of life that self-cultivation is the most important thing in one’s life. So when he placed emphas is on cultivating lofty virtues, he encouraged to have high quality leisure time.3 The Ancestral Temple in FoshanSightseeing SitesIndroduction __ The Triple Doorway Entrance __ The Front Hall __ Between the Front Hall and the Main Hall __ The Jinxiang Pond __ The Wanfu Stage __ The Huang Feihong Memorial Hall IntroductionThe Ancestral Temple, first built during the Northern Song Dynasty (1078-1085), is an ancient structure in Foshan City. The original structure was destroyed by fire during the Yuan Dynasty(1206-1368) and was rebuilt in 1372 during the Ming Dynasty. The temple was formerly called “Ancestral Hall” and was a shrine for the workers of the metal-casting industry to worship their ancestral masters. It was turned into a Daoist temple during the Ming Dynasty, because the Ming emperor believed in Daoism. Now it houses the Foshan City Museum.The temple is built in the style of the Chinese traditional architecture. Its building complex is compactly laid out with the halls interspaced by courtyards and connected with corridors. Its roofs are con structed in the traditional “Xieshan” style, that is, each roof has a horizontal ridge at the top, which is joined at both ends by four inclined but bent-up ridges, with a slope on each of the four sides. The roof structure is supported by a wooden system of brackets inserted between the tops of columns and the crossbeam. These wooden brackets are connected by mortise and tenon joints and not a single nail is used for connection.While being constructed in the national architectural style, the temple structure is unique in the way it is decorated, the way that is characteristic of Guangdong Province. Pottery sculptures, lime sculptures, brick carvings, wood carvings and other works of art can be found on the ridges, the eaves, the walls or elsewhere. These works of art are not only used for the purpose of decoration but are also depictions of various scenes from Chinese folk stories and legends. They are delicately made to be life-like and are all master pieces of ancient Chinese folk art, so the temple is known as The Palace of Oriental Folk Art.The Triple Doorway EntranceThe structure with three doorways is the main entrance to the temple and was built in 1450 during the Ming Dynasty. Up on the ridge, about 30 meters long, there are 152 pottery figurines and below the eave is a row of golden wood-carvings, depicting different Chinese folk stories. The Front HallThe Bronze Bell:This bronze bell was cast during the Ming Dynasty and weighs 900 kilos. In the old days, when the pilgrims wanted to show their piety to the North God, they would pay a sum of money to the temple keeper, who would then sound the bell to call for silence. The God, it is said, would then be aroused and get ready to receive the pious worshippers.The Iron Tripod:This iron tripod was used for burning incense and paper ingots. It was cast during the Ming Dynasty and weighs 1.5 tons. On its body are cast the names of the donators and two verses of prayers:May the state proper and the people live in peace!May the wind and rain nourish the crops!The holy table:The decorative wood-carving on the holy table, on which 126 people are carved, tells the story about a Tang Dynasty Li Yuanba taming a fierce horse. This horse is said to be extremely fierce and nobody but Li Yuanba, who was noted for his great strength, could ever get it under control. The table was made in 1899 in the later stage of the Qing Dynasty when China was subjected to invasion and humiliation by the Western colonialists, so the picture is actually an implicit illustration of the Chinese people’s struggle against foreign invaders. These men wearing tall hats and tailcoats are supposed to be the foreign aggressors. They are made either to fall on their backs or go down on their knees begging for mercy.The Camphor Wood Screen:This is a camphor wood screen on which several lions are carved and its two sides are made to look exactly the same. The lion looking after a baby-lion are carved and its two sides are made to look exactly the same. The lion looking after a baby-lion is female and the other playing an embroidered ball is male. In the Chinese mythology, the lion is always a symbol of dignity and other playing an embroidered ball is male. In the Chinese mythology, the lion is always a symbol of dignity and power. That’s why you can always see a couple of stone lions at the entrance to a temple or a house of the rich.Between the Front Hall and the Main HallThe Daoist Images:These idols, 24 in all, are the Daoist generals under the North God. They are made of papermache and are very light-each weighing less than 5 kilos. They are made to lean forward so as to show respect to the North God and look frightening to the common people.The Pavilion:This pavilion is just like a table standing on the flour-the four pillars do not strike into the ground. It has lased for over 400 years but stil remains intact!The Main HallThis hall was built in 1372 during the Ming dynasty and is oldest structure of the temple. The statue in the middle is the North God-the supreme master of the temple. According to the Daoist dogma, the North God is the deity that dominates the Northern World and commands all the aquatic beings. He is said to be able to dispel disasters of flood and fire and to lengthen people’s lives. This statue was cast in 1452 and weighs 2.5 tons. In the old days, on every March 3in the lunar calendar, people would carry the small statue at the side and these weapons to parade the streets so as to pray for a favorable weather for the crops.The Jinxiang PondThis pond, called Jinxiang Pond, was constructed in 1513.The stone turtle and serpent in the North God went on a tour, he would ride on their backs, one foot on the turtle and the other on the serpent.The Wanfu StageThis structure was a stage for performing Cantonese Opera. It was constructed in 1685 during the Ming Dynasty and is the oldest and best preserved stage in Guangdong Province. In the past on every March 3 after the parade, people would put the idol of the North God in front of the stage to watch Cantonese opera.The Huang Feihong Memorial HallHuang Feihong was a well-known and chivalrous Chinese kungfu master. He had a strong sense of justice and was always ready to challenge the bully and assist the weak and helpless. He was born in Foshan in 1856 and died in 1925 at the age of 69. His life was full of legends and reproduced in more than 100 movies. The memorial hall, in which exhibits about his life and deeds are on display, was built and open to the public in 2001 and has now become the ancestral home of his disciples in and out of China.2 TRANSLATIONS FROM C-E & E-C1 Sun Yat-Sen was the forerunner of the Chinese bourgeois democratic revolution. He was born on N ovember 12, 1866 in a farmer’s family in the Cuiheng Village in Xiangshan County (the present -day Zhonghan City) in Guangdong Province. At the age of 12, he went to Honolulu, where hiselder brother sent him to a missionary school. Later, he came back to Hong Kong to study in a college of Western medicine and, after graduation, practiced medicine in Guangzhou and Macao.2 Ever since he was a child, Sun Yat-sen had been influenced by the Western ideas of Christianity and democracy and this had helped him make up his mind to cure the ills of the old feudal China and turn it into a democratic and strong nation. At first, he had illusions about the Qing government and hoped to save this moribund regime trough reforms. But, China’s defeats by foreign invaders and the corruption and incompetence of the Qing government intensified his patriotic indignation. He decided that the Qing court was rotten to the core and must be overthrown and replaced by a democratic republic.3 In 1894 in Honolulu, Sun Yat-sen established the first Chinese bourgeois revolutionary organization-the Society for the Revival of China (the Xing Zhong Hui ). In the following spring, he returned to Hong Kong and staged the first armed uprising against the Qing Dynasty in Guangzhou; but it ended in failure.4 In 1905, Sun Yat-sen went to Japan, where he founded China’s first political party called party called “China Revolutionary League” (the To ng Meng Hui), which later developed into the Nationalist Party (the Guomintang). Since then he had made successive attempts to topple the Qing regime and finally succeeded in the Wuchang Uprising that broke out in October 1911. The Qing regime was overthrown and he was elected the provisional president of the interim government of the Republic of China5 Sun Yat-Sen had devoted all his life to the cause of the Chinese democratic revolution, and the 1911 revolution he led had put an end to the feudal monarchy that had existed in China for several thousand of years. To commemorate his great contributions to the Chinese revolution, people of Guangzhou had this memorial hall built in 1929-1931, at the original site of the former presidential house of the South Revolutionary Government, which was burned down in 1922 by a rebel warlord, Chen Jiongming by name.6 The construction of the Sun Yat-Sen Memorial Hall was completed in October 1931. It is an octagonal palace-like reinforced concrete structure, 58 meters high with a floor space of 12 thousand square meters. It looks like a traditional Chinese palace in appearance but was constructed with modern architectural technique.7 The Sun Yat-sen Memorial Hall is a conference hall with a seating capacity of 3,238 people. The acoustics of the hall are excellent and there is no pillar to obstruct the spectator’s view bec ause the eight pillars sustaining the four long-spanned steel trusses supporting the huge domed roof are hidden in the walls.8 The Sun Yat-Sen Memorial Hall was designed by a young Chinese architect, by the name of Lu Yan-zhi, who was born in Tianjin, graduated from the Qinghua University in Beijing and later studied architecture in the Cornell University in the USA. He died of long cancer in 1929, at the age of 36, before the hall was completed.9 The watchtower-like building in Kaiping is a structure incorporating the Chinese and Western architectural styles and combining the functions of a residence for the family and a watchtower to guard against bandits. The total number of buildings reached 3,300 in its peak time. Nowadays the number of registered houses is 1,833. They are listed by the Chinese State Council as one of the cultural relics protected by the state.10 The common feature of the watchtowers is that all of them have narrow iron doors, small iron windows and solid walls with embrasures, from which we can see that these watchtowers weremainly used to guard against bandits.11 The highest and most luxury watchtower in Kaiping is the Ruishilou. The nine-storey tower is 25 meters high and is built of armored concrete. Its indoor elegant furnishings are arranged in a traditional Chinese style. So, this tower is rated as No. 1 tower in Kaiping.12The Liyuan Garden is located in Beiyi Village, Tangkou town. Constructed in 1936, it was a villa garden incorporating the Chinese and Western styles. The tw o Chinese Characters “Li Yuan” up on the tall arched gate are its name.13 The Liyuan Garden is divided into three areas: villa area, big garden area and small garden area. Its main structures include the arched gate with the two Chinese characters “Li Yuan”, a decorated archway with the four Chinese characters “Xiu Shen Li Ben”(meaning roughly “Cultivating Oneself to Become a Moral Person”), four pavilions on the bridges and two ancient roman-style structure(“Bird’s Nest” and “Vine Pavilion”).14 The Ancestral Temple is an ancient structure in Foshan City. It was first built during the Northern Song Dynasty (1078-1085). It’s original structure was destroyed by fire during the Yuan Dynasty (1206-1368) and was rebuilt in 1372 during the Ming Dynasty.15 The A ncestral Temple was formerly called “Ancestral Hall” and was a shrine for the workers of the metal-casting industry to worship their ancestral masters. It was turned into a Daoist temple during the Ming Dynasty, because the Ming emperor believed in Daoism. Now it houses the Foshan City Museum.16 The Ancestral Temple is built in the style of the Chinese traditional architecture. Its building complex is compactly laid out with the halls interspaced by courtyards and connected with corridors. Its roofs are co nstructed in the traditional “Xieshan” style. The roof structure is supported by a wooden system of brackets. These wooden brackets are connected by mortise and tenon joints and not a single nail is used for connection.17 The Ancestral Temple is unique in the way it is decorated, the way that is characteristic of Guangdong Province. Pottery sculptures, lime sculptures, brick carvings, wood carvings and other works of art can be found on the ridges, the eaves, the walls or elsewhere. These works of art are not only used for the purpose of decoration but are also depictions of various scenes from Chinese folk stories and legends. They are delicately made to be life-like and are all master pieces of ancient Chinese folk art, so the temple is known as The Palace of Oriental Folk Art.18 This bronze bell was cast during the Ming Dynasty and weighs 900 kilos. In the old days, when the pilgrims wanted to show their piety to the North God, they would pay a sum of money to the temple keeper, who would then sound the bell to call for silence. The God, it is said, would then be aroused and get ready to receive the pious worshippers.19 This iron tripod was used for burning incense and paper ingots. It was cast during the Ming Dynasty and weighs 1.5 tons. On its body are cast the names of the donators and two verses of prayers:May the state proper and the people live in peace!May the wind and rain nourish the crops!20 The decorative wood-carving on the holy table tells the story about a Tang Dynasty Li Yuanba taming a fierce horse. This horse is said to be extremely fierce and nobody but Li Yuanba could ever get it under control. The table was made in 1899 in the later stage of the Qing Dynasty when China was subjected to invasion and humiliation by the Western colonialists, so the picture is actually an implicit illustration of the Chinese people’s struggle against foreign invaders. These。
全方位装配机器人的刚度误差分析
第4期2021年4月机械设计与制造Machinery Design&M anufacture287全方位装配机器人的刚度误差分析叶长龙，万缯齐，于苏洋,姜春英(沈阳航空航天大学机电工程学院，辽宁沈阳110136)摘要：为了提高工作效率并节约劳动力，设计了一种可执行装配任务的全方位装配机器人，此机器人能在实际工程中 执行一些简单的装配任务。
为提高机器人在执行装配作业任务时的装配精度，对其刚度误差进行分析。
根据机器人的结 构特点并结合旋量理论对并联机构各支链进行建模，推导出机器人的刚度模型。
通过仿真分析得出了支链长度以及载荷 对系统刚度的理论影响。
结合实验测试对刚度矩阵进行修正，得出不同姿态下系统刚度引起的误差。
详细分析误差的产 生的原因，提出了减小误差的改进方案。
关键词:装配精度;刚度分析;旋量理论;误差分析中图分类号:T H16;TP242文献标识码:A文章编号：1001-3997(2021 )04-0287_06Stiffness Error Analysis of an Omni-Directional Assembly RobotYE Chang-long, WAN Zeng-qi, YU Su-yang, JIANG Chun-ying(S c h o o l o f M e c h a t r o n i c s E n g i n e e r i n g Shenyang Ae ro spa ce U n i v e r s i t y,L i a o n i n g Shenyang110136，China)Abstract：7/i order to improve work efficiency and save labor^an omni-directional assembly robot that can perform assembly tasks is designed.The robot can perform some simple assembly tasks in actual engineering.In order to improve the assembly precision of robot in the execution of assembly tasks,the stiffness error is analyzed.A ccording to the structural characteristics of t he robot and the theory of s crew^the branches of the parallel mechanism are modeled,and the stiffness model o f the robot is derived.Through the simulation analysis ythe theoretical influence of the length of the branch and the load on the stiffness of the system is obtainedThe stiffness matrix is modified by combining experimental tests to obtain the error caused by the system stiffness under different attitudes.A detailed analysis of the causes of the error is presented jcuid an improved scheme for reducing the error is proposedKey Words： Assembly Accuracy；Stiffness Analysis；Screw Theory；Error Analysisl引言机器人以其多功能性以及良好的适应性被广泛应用于生产 实践中。
轮式移动机器人
首先，阐述了全向轮式移动机器人的结构设计特点，利用坐标变换方法建立移动机 器人的运动学和动力学模型，根据全向轮式移动机器人的运动特性选择了基于运动学模 型分层控制作为其轨迹跟踪控制的设计方案。
其次，以全向轮式移动机器人的运动学模型作为控制对象，以线速度和角速度为控 制输入，设计了几种控制器并通过仿真验证了设计方法的正确性。(1)设计了模糊控制器 对全向轮式移动机器人进行轨迹跟踪控制，实现了对期望轨迹的跟踪控制。(2)为了提高 系统的鲁棒性，设计了滑模变结构控制器，有效的克服外界不确定的干扰，并进行了相 应的仿真证明设计的有效性和可行性。(3)为了减弱滑模变结构控制器中的抖振，采用了 连续函数代替了原来的符号函数，设计了准滑模控制器，通过仿真证明其能够很好的减 弱抖振。
有些学者将遗传算法和模糊算法相结合设计出移动机器人轨迹跟踪控制器但是由于模糊控制算法的自适应能力差对移动机器人的轨迹跟踪控制效果并不理想3031滑模变结构控制法滑模变结构控制的思想是针对不同移动机器人的模型表达式设计一个适当状态空间曲面称为滑模面在此基础上利用高速的开关控制律驱动非线性系统的状态轨迹渐近地到达预先设计的滑模面并且在以后的时间状态轨迹将保持在该滑动表面上以实现期望轨迹的跟踪
最后，对本文所做的工作进行总结，并提出展望，指出有待进一步研究的方向和问 题。
关键词：移动机器人；轨迹跟踪；模糊控制；滑模控制
－II－
外贸必须英文单词
报价单词汇MODEL 型号QTY(quantity)数量PCS(pieces)个数CTNS(carton)纸箱数MEAN 平均的mean time平均时G.M.T Greenwich mean time格林尼治标准时间NWKGS(net weight kilograms)净重（公斤）GWKGS(general weight kilograms)毛重（公斤）PCS/CTNS(pieces per carton)个数/箱CBS is short for cubic meterMake a sum-up on the business transaction with your company between…time…Please countersign by return, I want to make a summary of what I have done and what I want to do. I want to summarize what I have done and what I have to do.Vocabulary of Proforma Invoice(形式发票)B/L（提单）is short for bill of lading.Consignee on B/L(收货人)，Notify party on B/L(收货人代理)Consignor,Unit priceThe PI is valid for 15 days.The seller provides 2% spare parts replace the seller’s warrantyPort of shipment: Xingang, Tianjin.Port of discharge: Montevideo, UruguayTerms of delivery (运输方式):FOB Xinggang, free on board, Tianjin.CFR, cost and freight, the buyer is obliged to insure the freight of the shipments.CIF is short for cost, insurance and freight. In addition to cost and freight of CFR, the seller is obliged to pay the insurance of the freight of goods.EXW, EX Work Baoding, (工厂交货), the seller makes the goods available at his premises. The buyer is responsible for all the charges. This might be the easiest to administer, however may not in the seller’s best interest. There is no control ove r the final destination of goods. The vehicle arriving to take delivery of the seller’s goods under EXW may not be suitable for carriage. Consignee means the person entitled to take delivery of goods.British justice works on the premise that an accused person is innocent until he's proved guilty.DAF is short for delivered at frontier, (边境交货), the term can be used when goods are transported by rail or road. The seller pays for the transportation to the named place of delivery at the frontier. The buyer arranges for the customs clearance and pays for the transportation from the frontier to his factory. The passing of frontier occurs at the frontier.Terms of payment（付费方式）Collection（托收: D/PRemittance（汇付）: T/TLetter of credit（信用证）: D/D, Time Draftdraft(远期汇票) and sight or demand, bill or draft（即期汇票）This kind of letter of credit is also short for D/D.T/T(电汇) is short for telegraphic transfer.30% T/T paid in advance, and the 70% of the balance should be paid before the shipment. D/P(付款交单) is short for Document against payment, it is divided into D/P sight （即期付款交单）and D/P after sight or date（远期付款交单）. It is an arrangement under documentary collecting in which an exporter instructs the presenting bank (提示银行), advising bank,to hand over shipping and title documents to the importer only if the importer fully pays the accompanying bill of exchange or bill.Open account(赊购)。
仿人机器人柔性腰部机构设计
倾 60o 后仰 5o 左右侧倾 30o 运动速度
0.2 弧度/秒 加速度 0.1 弧度/秒 根据上
述运动参数计算出腰部最大前倾力矩约
图 １ 轮式移动宜人机器人
450Nm 最大侧倾力矩约 200Nm
１．３ 腰部机构传动过程及结构设计
本仿人机器人腰部机构由驱动电机 差动
g1
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０ 前言
仿人机器人是当前机器人科学工作者的主要研究课题之一 仿人机器人是依据人体构成的基本 原理及运动机理开展研究的 它的研究目标是实现人类所具有的直立行走及双手操作功能 同时 具有人类运动的灵活性 自主性和适应性 人体的腰部是一个典型的超冗余度系统 它具有高度的 灵活性 柔韧性 是人体系统运动的调节中枢 为使仿人机器人具有良好的运动灵活性 仿人机器 人腰部的构成及其运动学 动力学性能起着极为重要的作用 与人类腰部一样 仿人机器人腰部应 具有调节身体重心以保持系统平衡 协调上身与下肢间的运动和隔离上身与下肢间的运动干扰等作 用
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心轴线上 上端与中间板固接 连杆 1 的下端
图 2 差动轮系封闭式传动
与输出轴 A1 连接 连杆 11 通过铰链与下板相
连 连杆 2 21 一端与中间板固接 另一端与上板铰接 2 21 两端分别连接在中间板与上板的中心
轴线上 则上板随中间板作同步的侧倾运动 从而实现腰部的侧倾运动 柔索 3 31 一端固接于上 板的中心轴线上 另一端固接于输出轴 A2 上 两者采用反向连接 即柔索 3 31 运动方向相反 这 样 由柔索 3 31 驱动上板 实现俯仰运动 上板上安装仿人机器人躯干等部件
是一个仿人机器人技术研究平台 它由正
AxeBot机器人：全方位自主移动机器人的机械设计 毕业论文外文翻译
AxeBot Robot: The Mechanical Design for an Autonomous Omni directional Mobile RobotTiago P. do Nascimento, Augusto Loureiro da Costa, Cristiane Correa Paim Post-graduation Program in Electrical EngineeringUniversidade Federal da BahiaSalvador, Bahia, Brasiltiagopn@, augusto.loureiro@ufba.br, cpaim@ufba.brAbstractThe AxeBot robot‟s mechanical design, a fully autonomous mobile robot, for the RoboCup Small Size League, is presented in this paper. The AxeBot robot uses three omnidirectional wheels for movement and is equipped by a shooting device for shooting the ball in different directions. Once the AxeBot robot is a fully autonomous mobile robot all the sensors, engines, servos, batteries, and the computer system, must be embedded on. The project can be separated in four different parts: the chassis design, the wheel design, the shooting device design and the overall assembly which makes a shell design possible to cover the whole robot. The AxeBot mechanical design brings up a new chassis concept for three wheels omnidirectional robot, also present a new shooting device, and finally present AxeBots prototype assembly.1. IntroductionThe RoboCup Initiative is an international research group whose aims are to promote the fields of Robotics and Artificial Intelligence. A standard challenge, a soccer match performed by autonomous robot teams, was proposed in 1996 [1]. Initially with three different leagues 2D: Robot Soccer Simulation league, Small Size Robot league, and Middle Size Robot league. Nowadays these leagues have been increased up to: Four-Legged League, Humanoid League, Middle Size League, RoboCup Junior Soccer, Small Size League, Soccer Simulation, Standard Robot League. Also, another challenge, the RoboCup Rescue was proposed in 1999 to show that the result from the robot soccer research could be directly applied on a real world problem like a disaster rescue made by robots. Through the integration of technology and advanced computer algorithms, the goal of RoboCup is to build a team of humanoid robots that can beat the current World Cup champions by the year 2050. The AxeBot uses three omnidirectional wheels, positioned on a circle with an angle of 120o among each wheel, to move in different directions. Three Maxxon A-22 motors are used to drive the omnidirectional wheels, one motor per wheel. These motors are controlled by two Brainstem Moto 1.0 and a cascade controller made to control the robot trajectory [2] [3]. The AxeBot also holds a shooting device to kick the ball in different directions, a Vision System with a CMUCam Plus and GP202 Infra-red sensor [4], a embedded Computer System based on StrongArm, called StarGate Kit and a IEEE 802.11 wireless network card. This work presents the mechanical project to enclose these equipments into an fully autonomous omnidirectional robot calledAxeBot. The complete AxeBot dynamics and kinematics model can be found in [5], this model was used to specify some mechanical parameter, like the wheel diameter.2. The ChassisThe chassis of the robot is the frame to which all other components can be attached, directly or indirectly. Therefore the chassis must be strong enough to carry the weight of all parts when the robot is in rest o in movement. The chassis has to withstand the forces on it, caused by the acceleration of the robot as well. Another important requirement of the chassis is that it fixes all components in a stiff way, so that there will be small relative displacements of the components within the robot, during acceleration and deceleration. This is particular important for the three driving motors, which are positioned on the ground plane with an angle of 120o between each motor. The performance of the control of the robot is dependent on a precise and stiff placement of the motors [6]. The chassis has to be strong enough also to withstand a collision of the robotagainst the wall or against another robot, with the highest possible impact velocity that can occur. Finally the chassis has to be built with the smallest amount of material. At first to reduce the costs, and to minimize the total weight of the robot. Less weight requires less power to accelerate. So with the same motors, less weight gives you more acceleration. This is of course only true, when all the power generated by the motors can be transferred, via the wheels, to the ground. In other words, the wheels must have enough traction that there will be no slip between the wheels and the ground [7].2.1. MaterialFiberglass was used to build the chassis. This choice is purely financial, because the material is not expensive (although it is strong) and there is no need to hire a professional constructor. The building of all the chassis (six in total) can be done by the team members themselves. Only the moulds have to be built by a professional. The upper and lower chassis can be made using one mould that can be adjusted to produce the different chassis.2.2. DesignThe primary goal of the design is the fixation of the motors in the desired positions. Therefore a ground plate with 3 slots for the motors is modeled. At the front side each motor can be attached to the chassis. At the rim of the ground plate an edge is attached to give the chassis more torsion stiffness. This edge can also be used for attaching other components of the robot, like the covering shell. Also there is a cutout to create space for the shooting device of the robot. In section 5 the design of this device will be discussed. However no final design will be presented and therefore we stick with this assumption that the shooting device needs these cutouts. All edges are rounded, because this will make the construction of the easier part. The final part, the lower chassis, is shown in the figure below. This part is modeled in Solid Edge. To get a stiffer and stronger chassis, a second chassis part, the upper chassis, is modeled. This is almost an exact copy of the first part, only now there are 3 cutouts that provide more space for placing the components of the robot. These cutouts also save some material and therefore weight. The both parts are This sandwich construction gives thewhole chassis more stiffness, and so the total thickness of both the chassis can probably be lower than using one chassis part.Figure 1: Lower chassisFigure 2: Upper and lower chassis attached to each other2.3. Chassis mouldTo build these parts, a mould was made. This is just a negative of the actual robot parts. In figure 3 the mould of the upper chassis. To change this mould in the mould for the lower chassis, where the ground plate does not have holes, the indicated pieces (with white stripes) and the not indicated left piece (symmetric to the most right part) should be lowered 4 mm. For the upper and lower chassis, the basis mould is exactly the same. Only piece one and two are different for the two chassis, the motor piece and the shooting system piece are the same.Figure 3: Chassis mould3. WheelsThe AxeBot robot is equipped with three wheels positioned on a circle with an angle of 120°among attached to each other as shown in the picture below.each wheel. These wheels have to enable the omnidirectionality of the AxeBot robot. This means that the wheels have to be able to let the robot make two translational movements (in x and y-direction, see figure 4) without rotating the robot around its z-axis (the axis perpendicular to the y and x-axis, that is rotation in figure 4). The wheels have also to enable a rotation of the total robot around the z-axis.Figure 4: AxeBot wheels positionsNevertheless, the wheels have to be as small and light as possible to minimize weight and moment of inertia but still remain usable and manageable. The wheels are based on an existing design of an omnidirectional wheel from the Cornell Robot 2003 [8]. Figure 5 shows an exploded view the final version of a wheel. The two shells are connected to each other by screws and hold every part on the right place. The hub is also attached to the shells by screws. The hub is mounted on the output axle of a motor by a screw to transfer the rotational output of a motor to the wheel. The rings of the rollers are in contact with the floor. A roller can rotate around its roller axle.As mentioned above, the wheel has to enable two translations (x and y, see figure 4) without rotating around its z-axis. The whole wheel ensures one translation by rotating around the output shaft of the motors while the rollers ensure the other translation. Combining these translations on a proper way a robot can move anywhere in a plane or make a rotation.3.1. RingThe ring is the only part of the wheel that is in contact with the floor. Note that a wheel can also be in contact with the floor by two rings. To obtain maximum grip (no slip) the Cornell Robot 2003 team first developed rollers without rings. The rollers had sharp edges to cut into the carpet of the football fieldfor maximum grip. This however ruined the carpet and rubber rings were added in the design to obtain maximum grip without ruining the carpet. The rings are circular with a circular profile.Figure 5: Exploded view of the wheelTherefore the rubber rings are also used for the AxeBot 2006. Rubber rings can be bought in several sizes and since they are highly elastic it wasn‟t difficult to find a ring of a right size. Since there are more than one …right sizes‟ and the geometry of the ring is that simple, no technical drawing of the ring was made.3.2. RollerThe geometry of the rollers may not restrict the rotation of the roller and should enable the placement of the rubber ring, without the ring falling off. This can be easily obtained (see drawings). The only problem is friction with their axles and with the shells.The geometry of the rollers can influence the friction with the shells and the friction with its roller axle. To minimize the possibility of wear on the contact area between the roller and the roller axle, this contact area should be as big as possible.When the torque of the motor is transferred through a roller to the ground (driving the robot), the roller that is on the ground is pressed against the shells. It will occur often that, in this situation, the desired driving direction also requires a rotation of the roller (then the summation of the two translational movements will results in the desired driving direction). The rotating roller is, in this situation, pressed against the shells which, in some cases, can result in wear of the roller and or the shells. This depends on the material of the roller, the material of the shell, the magnitude of the force which presses the surfaces on each other (in this case it is the torque of the motor) and the geometry of both contact surfaces. Only the materials and geometry can be chosen in the design process of the wheels.A small contact area results in low friction but possible wear of one of the two surfaces and though materials have to be used to avoid wear. A large contact area will not cause wear but will result in a large friction force. An optimum for the contact area and the materials has to be found. The geometry has to be machinable also. Problems that are mentioned above did not occur with the design of the rollers of the Cornell Robot 2003. Therefore the same geometry for the rollers is used for the AxeBot.The Cornell Robot 2003 team designed a wheel with 15 rollers that worked very well. Therefore also 15 rollers are used in each wheel of the AxeBot 2006.The prototypes of the wheels of the Cornell Robot 2003 first had Delrin rollers to minimize friction and weight. Delrin is a kind of plastic which is used with moving contact surfaces because of its low friction coefficients with other materials. After a few test with the prototype robot it became clear that the Delrin-rollers easily broke with a collision. Therefore the Cornell Robot 2003 was equipped with aluminum rollers. These were strong enough to withstand collisions and aluminum has a low density (compared to other metals).However, during other prototype tests of the Cornell Robot 2003 team some aluminum residue built up on the steel rollers axles. The Cornell Robot 2003 did not encounter problems due to the wearing of the aluminum rollers, but to optimize the design of the AxeBot wheels this problem was solved.To avoid wearing of the aluminum rollers other material for the axles can be used or the rollers can be made of a tougher material. After a few calculations it became clear that roller axles of Delrin (to reduce the friction) are strong enough (see the section about the axles), but it is not possible to produce thin bars of Delrin. Therefore steel axles are used, the same material as the roller axles of the Cornell Robot 2003.So to avoid wear of the rollers a more though material than aluminum has to be used for the rollers. Steel is more though and an easily obtainable and cheap material. Adisadvantage of steel compared to aluminum is its higher density. This will increase the moment of the inertia which …costs‟ more torque of the motor. The total moment of inertia of a wheel with steel rollers is 1.39×10−4kgm2 and the moment of inertia of a wheel with aluminum rollers is 1.30×10−4kgm2. Using steel rollers instead of aluminum rollers would increase the moment of inertia by 7 this increase is neglectable small and steel rollers can be used.Concerning friction, using steel rollers and steel axles is also better than using aluminum rollers and steel axles since the friction-coefficient between steel and steel is lower than that between steel and aluminum. A lubricant can also be used to even more reduce friction.3.3. Roller axleAs mentioned above, the use of Delrin for the roller axles was investigated since it would reduce the wear of the aluminum rollers. In a static situation was calculated whether Delrin axles of 2.4 mm diameter would be strong enough. This was also done in a dynamical situation (dropping the robot on the floor and landing on one roller), but without using a Finite Element Method this did not result in realistic results. When the total weight of 3.5 kg of one AxeBot 2006 would completely be on one roller axle this would result in a shear stress in the axle.In this situation the shear stress can be calculated by dividing the force on the axle (due to the weight of the AxeBot) by the area of the shear plane. The area of the shear plane is of course the area of a circle with a radius similar to the radius of the axles. Note that the weight of the AxeBot has to be divided by two since there are two shear planes in one axle.The magnitude of the shear stress would be 3.8 MPa. Delrin starts to plastically deform in due to shear at around 44 MPa. Statically, Delrin axles would be strong enough.However, this calculation was not necessary it became clear that it is not possible to produce Delrin bars of 2.5 mm (diameter). Therefore steel axles will be used (aluminum axles would result in more friction). To reduce friction, the axles were coated with a lubricant like carbon. Lubricants like carbon are easily available.The Cornell robot team 2003 documentation does not mention problems of wear of their polycarbonate shells due to their steel roller axles. As one can be read further down this section, the shells of the AxeBot wheels will be made of aluminum or polycarbonate. The coefficient of friction between aluminum (shells) and steel (axles) and between polycarbonate (shells) and steel (axles) are of equal sizes (about 0.45 [-]). Also, the geometry of the wheels of the Cornell robot and the AxeBot are almost the same. Therefore it is most likely that wearing due to friction will not be a problem with steel roller axles and polycarbonate or aluminum shells.Production the axles can easily be made out of a steel bar. Depending on the available diameters of steel bars, the diameter of the axles could be adjusted. The edges of the axles are rounded to avoid sharp corners.3.4. HubThe hub connects the wheel to the axle of the motor. A M2-bolt can be used for this purpose, the hole in the hub where this bolt will be placed is dimensioned 1.5 mm indiameter so screw thread can be made to fit in the M2-bolt. The hub is connected to the shells by three M3-screws. Corresponding holes of 2.5 mm will be made in the hub and the shells. The geometry of the hub can be changed to facilitate the production process. The hub can be made out of aluminum or polycarbonate, both light materials. To investigate the option (and price) of injection moulding the hub out of polycarbonate a sketch of a design for a mould has been made.3.5. ShellsAlmost the all geometry of the shells of the Cornell Robot 2003 is used. Only little changes in the slots for the rollers of the axles have been made to facilitate the production process of the shells. In the section about the production of the shells a different design for the slots of the axles is presented to make the production of the shells easily.The shells can be made out of aluminum or a though, light plastic like polycarbonate. The Cornell Robot had shells of polycarbonate. The best machinable material is preferred, and the one used on the AxeBot‟s shell. Wh en using a plastic that can be injection molded, molds have been designed to check the prices of injection moulding.4. Shooting DeviceThis design consists of a vertical arm (the kick arm), that can swing around an axle which is fixed to the robot. This movement will be actuated by one of the two servos, the kicking servo, that is also fixed to the robot. The other servo, the directional servo, is attached to the bottom of the kick arm (the servosocket). A pendulum-like system is formed, so a large mass is concentrated in the lower part of a rotating arm. The kicking servo has a kicking plate attached to it which can rotate and thereby makes it possible to shoot in different directions. The kicking plate can be positioned very accurately since servos are designed for these kinds of tasks. The kicking plate is also connected to the servosocket. Therefore the collision force between the ball and the kicking plate will be guided to and divided by these two connection points. There will be less bending in the kicking platethen with one connection point and smaller reaction forces will act on the connection points.Figure 6: The AxeBot shooting device5. Shell and AxeBot AssemblyThe shell is the cover of the total robot. It will be made from fiberglass as well, for the same reasons as stated in the section about the chassis. In the figure below the design of the shell is shown. There are cutouts to make room for the wheels as well as for the shooting device. The diameter of the shell is 178 mm. Because the maximum allowable diameter is 180 mm, a margin of 2 mm is created.On top of the shell a vision system will be mounted. For the sake of compactness of the robot the height should be as small as possible, with all the parts fitting in. Thismould can be built with the simple milling machine that is available.To assemble the robot the most important demand is to obtain a total centre of gravity that has the lowest possible position in the robot. This will give the robot positive driving abilities. Another demand is of course that all the parts fit in the maximum height of 150 mm.To check this, all the parts of the robot have been modeled in Solid Edge. In figure 7 an exploded view of the total robot assembly is shown.The robot consists of an upper and lower chassis. Three motors with three omnidirectional wheels are attached to it. On the bottom of the robot, the two battery packs are placed, because these parts have the largest mass. The three motor processors are attached to two general processors. Also the overall processor with the data-transfer-unit is assembled. The latter parts are assembled in a way that is most compact. With this assembly it is possible for all parts to fit in a shell with height of 100 mm.A model for the shell of the robot is designed. Also a molt to produce these parts is modeled. It is possible to produce this model by using the milling machine that is available at the university. The assembly of all the parts, except the shooting device, shows that a shell height of 100 mm is possible.Figure 7: Exploded view of the total robot assemblyFigure 8: Total robot assembly6. ConclusionThe AxeBot mechanical design, a fully autonomous mobile robot, for the RoboCup Small Size League, was presented in this paper. This mechanical design brings up a new concept of chassis for three wheels omnidirectional mobile for RoboCup F-180 league, that can be built easily and cheap. Also a new effectuator mobile robot design for RoboCup F-180 league is presented here. This new effectuator allows the mobile robot to shoot the ball in different directions, instead of just shoot a head like the othershooting devices. Finally the mechanical project presented here encloses all part, sensor, actuators, effectuator, computer systems, wheels, chassis and cover shell into the AxeBot prototype. The AxeBot robot was concept for academical proposes, using the robot soccer as a laboratory to research in Autonomous Mobile Robots, Artificial Intelligence and related areas. Looking forward, in a few months, four more AxeBots are expected to be built like the two in figure 9. These robots will form the MecaTeam F-180, and height of 100 mm is possible.will support our research in to multi-robot systems, as it can be seen in figure 9 below.Figure 9: AxeBot photo7. References[1] Kitano, H. “Robocup: The robot world cup initiative”. In: Proc. of The First International Conference on Autonomous Agent (Agents-97)). Marina del Ray, The ACM Press. 1997.[2] Franco, A. C. “Geração e controle de tra jetória de robôs móveis omni-direcionais”, Master‟s thesis, Programa de Pós-Graduação Mecatrônica, UFBA. 2007.[3] PIRES, E. J. S.; MACHADO, J. A. T.; OLIVEIRA, P. B. de M. “Robot trajectory planning using multi-objective genetic algorithm optimization”. In: DEB, K. et al. (Ed.). GECCO (1). [S.l.]: Springer, 2004. (Lecture Notes in Computer Science, v. 3102), p.615-626. ISBN 3-540-22344-4.[4] Oliveira, L. R., Costa, A. L., Schnitman, L. and Souza, J. “An architecture of sensor fusion for spatial locat ion of objects in mobile robotics”, in B. H. Spring-Verlag (ed.), Encontro Português de Inteligência Artificial, EPIA‟2005, Covilhã, 2005. pp. 462–473.[5] Nascimento, T. P., Costa, A. L., Paim, C. C. “Uma abordagem multivariável para modelagem de robôs móveis omnidirecionais”, XVI CBA - Congresso Brasileiro de Automação. 2008.[6] ANGELES, J. “Fundamentals of Robotic Mechanical Systems: Theory, Methods, and Algorithms”. 2. ed. New York: Springer-Verlag New York, Inc., 2003. [7] B. Carter, M. Good, M. Dorohoff, J. Lew, R. L. W. II, and P. Gallina, “Mechanical design and modeling of an omni-directional robocup player,” in Proceedings RoboCup 2001 International Symposium, (Athens, Ohio), pp. 1–10, 2001.[8] Anderson, G., Chang, C., Chung, D., Evansic, L., Law, H., Richardson, S., Robers, J., Sterk, K. and Yim, J. 2003 cornell robocup, mechanical group final documentation, Technical report, /. 2003.翻译：AxeBot机器人：全方位自主移动机器人的机械设计摘要:这篇文章中介绍了一个用来参与机器人世界杯小尺寸等级比赛的完全自主移动AxeBot机器人的机械设计。
万向轮方案介绍
万向轮方案引言万向轮是一种特殊的轮子设计，可以使机器人在任意方向上移动和转向。
它广泛应用于机器人领域，包括移动机器人、无人车、无人机等。
在本文档中，我们将详细介绍万向轮方案的原理、使用场景和优缺点。
1. 原理万向轮的原理基于麦克纳姆轮的设计。
麦克纳姆轮由多个斜线方向排列的小轮组成，每个小轮旋转方向相反。
这种设计使得机器人可以在任意方向上移动，因为每个小轮都可以独立地旋转。
通过控制各个小轮的转速和方向，机器人可以实现前进、后退、向左转、向右转以及旋转等动作。
2. 使用场景万向轮方案在许多机器人应用中都能发挥重要作用。
下面是一些常见的使用场景：2.1 移动机器人移动机器人是使用万向轮方案最常见的应用之一。
通过安装万向轮，移动机器人可以在狭小的空间中自由移动，而不受限于前后轮的转向。
这使得移动机器人在仓库、医院、工厂等环境中的物品搬运、清洁和巡检等任务更加高效。
2.2 无人车无人车是未来智能交通的重要组成部分，而万向轮方案对无人车的实现也起到了关键作用。
无人车通过安装万向轮，可以实现更加灵活的转向和驱动方式，提高了车辆的操控性和安全性。
2.3 无人机万向轮方案也可以应用于无人机的设计中。
传统的无人机需要多个电机和桨叶来控制飞行方向。
而采用万向轮方案，无人机可以实现更加灵活的悬停、转向和飞行动作，这对于摄影、物流、航拍等领域的应用非常有价值。
3. 优缺点万向轮方案具有许多优点，也存在一些缺点。
3.1 优点•灵活性高：万向轮可以自由转向和移动，适应不同的场景和任务需求。
•操控性好：通过控制各个小轮的转速和方向，机器人可以实现精确的运动控制。
•可扩展性强：万向轮可以与其他传感器和执行器结合，实现更多的功能拓展。
3.2 缺点•复杂性高：万向轮的设计和控制相对复杂，需要更多的工程设计和软件开发。
•直线运动效率低：与传统轮子相比，万向轮的直线行驶效率较低。
•成本较高：万向轮的制造成本较高，对于一些成本敏感的应用可能有一定限制。
江苏省淮安市2023-2024学年高一下学期期末调研测试英语试卷
江苏省淮安市2023-2024学年高一下学期期末调研测试英语试卷一、阅读理解Artennial celebrates tradition of artistic excellence at UChicagoFour innovative UChicago Arts organizations will celebrate their anniversaries (周年纪念日) during Artennial, a celebration of the tradition and future of artistic excellence at the University of Chicago.ContempoDevoted specifically to the performance of new music, Contempo — formerly known as the Contemporary Chamber Players — is one of the most successful new music groups in the nation. Now in its 60th season, Contempo bas earned a reputation for outstanding performances of music by living composers.Court TheatreStarting its 70th season, Court Theatre is devoted to creating innovative productions of classic plays. Through main stage productions, audience enrichment programs and cooperation s with UChicago, it re-examines, re-imagines and renews classic texts that raise questions that show the human experience.The Renaissance SocietyThe Renaissance Society is an independent, non-collecting museum of contemporary (当代的) art located on the campus of UChicago. Founded in 1915 to encourage a greater understanding of culture, it presents exhibitions, public programs and publications that advance the ideas and expressions of our time.The Smart MuseumCelebrating its 50th season, the Smart Museum is a perfect museum for encounters with art. As the fine arts museum of UChicago, it is home to thought-provoking (发人深省的) exhibitions and a delicate collection of ancient, modern and contemporary art from across the globe. Joining hands with scholars, it has established itself as a pioneering model of what a 21st-century academic art museum can be.1．Which arts organization has the longest history?A．Contempo.B．Court Theatre.C．The Renaissance Society.D．The Smart Museum.2．What can visitors do at the Smart Museum?A．Meet smart artists.B．Attend fine arts lessons.C．Shake hands with scholars.D．Enjoy global art of different eras. 3．Where can the text be found?A．In an art history book.B．In an artist biography.C．In a university newspaper.D．In a university introduction.A woman, who was given a virtual reality headset (虚拟现实耳机) experience for her 103rd birthday, chose a walk along a local cliff (悬崖) path—just near her care home. Joyce Penfold put on the headset and treadmill (踏车) combination which can transport people around the world or universe. She was given the opportunity with help from the University of Plymouth’s ‘Generating Older Active Lives Digitally’ program.Joyce was previously given the chance to try the ROVR, choosing to take a virtual trip to the seaside in Godrevy, Hayle. There she saw a lighthouse in the sea. She liked the technology so much the GOALD team gave her another go at her 103rd birthday party at Tresillian House. That time she chose Maker Heights, just 63 miles from her Falmouth retirement home.“Usually the only time I go out is when my daughter takes me out, and the furthest we go is just a few miles, for a coffee perhaps and a good old chat,” said Joyce.The team at the University of Plymouth is attempting to study how technology impacts on the health and well-being of older people. The headset works with an omni-directional (全方向的) treadmill, which allows the user to move in any direction—this gives users the chance to move around freely in a virtual environment as if they were actually there.“I wasn’t totally surprised because she does accept everything that’s new. I think she was over 70 when she took her first aeroplane flight, so nothing puts her off,” said Joyce’s daughter, Maria Blagden.“We’re really interested in the use of technology to support physical activity for older adults, and for us this technology has a lot of potential in that regard. As people walk on the treadmill, they get to explore the virtual worlds, and having a range of places to be explored creates a motivation (动力) to be active,” said Dr. Hannah Bradwell, Digital Health Research Fellow for UoP’s GOALD project.4．What was Joyce’s 103rd birthday gift?A．A virtual reality headset.B．A virtual trip to Maker Heights.C．A journey to Godrevy, Hayle.D．A tour to her care home on a treadmill. 5．What does the team at the University of Plymouth want to learn about?A．The physical conditions of the older people.B．The new function of a virtual reality headset.C．The ways of moving a treadmill in any direction.D．The effect of technology on the fitness of the aged.6．What is Bradwell’s attitude towards the use of technology?A．Favorable.B．Unclear.C．Indifferent.D．Doubtful. 7．What do we know about Joyce Penfold?A．She was lonely and went mad with boredom.B．She was energetic and had a liking for field trips.C．She was curious and had a sense of adventure.D．She was considerate and showed a spirit of youth.Humans aren't very good listeners. Not compared to some spiders (蜘蛛), anyway.Orb-weaver spiders don't have ears, but in 2022, researchers found the arachnids (蜘形钢动物)use their webs as external eardrums (鼓膜). The spider silk acts as a super-sensitive listening tool, capable of detecting noises from up to ten feet away, and this knowledge of spiders presents a big opportunity for humans to transform our own sound engineering, according to the research led by Ron Miles, a mechanical engineer at Binghamton University.The human experience of hearing is determined by air pressure in our ears. In response to pressure changes, our eardrums vibrate (震动) at different frequencies that send electrical signals to our brains, which distinguish the sounds. Microphones were built to imitate human eardrums, similarly vibrating in response to pressure changes. But to make the microphone more powerful and sensitive, they need to be larger-a reality that doesn't agree with the general desire for smaller and more transportable technology. "In this case, you should think about how small animals do it," says Miles.Spiderwebs are less affected by changes in air pressure. Instead, they vibrate in the airflow created by a sound wave, allowing the arachnids to "hear" by feeling that movement—and evenlocate the direction of the noise.Miles found that spider silk registered sounds between 1 hertz (赫兹)and 50 kilohertz—a much wider range than the 20 hertz to 20 kilohertz that humans can hear. By applying this sort of sound system to a microphone, man can make it quite a bit smaller without paying a price.The research presents a new point for a variety of advances in sound technology. Miles and others are working to develop new instruments, which might help teat hearing problems in babies. And spider silk-inspired sound systems may enable researchers to pick up on other sounds outside the human ear's range—such as low-frequency noises that predict the formation of tornadoes (龙卷风), which scientists can use to track the storms.8．What do we know about the spider silk?A．It functions as a listening device.B．It acts as the spider's eardrums.C．It makes changes to air pressure.D．It interprets signals from the web. 9．What does the underlined word "registered" probably mean in paragraph 5?A．Created.B．Recorded.C．Applied.D．Pronounced. 10．What does the last paragraph mainly talk about?A．The action against natural disasters.B．The inspiration for the new instruments.C．The working rule of the sound technology.D．The potential application of thetechnology.11．What is a suitable title for the text?A．Never too late for us humans to learn from natureB．Time for humankind to live in peace with the spidersC．How spider silk gives inspiration to future microphonesD．How the arachnids "hear" from long distances away without earsA large-scale analysis (分析) of nearly 1,000 scientific studies has shown just how closely human activity is tied to public health. The findings suggest environmental changes caused by human activities are making the risk of infectious (传染的) disease outbreaks all the more likely. The biodiversity (生物多样性) crisis — which has let some one million plant and animal species at risk of extinction — is a leading driver of disease spread, the researchers found.“It could mean that by changing the environment, we increase the risks of future pandemics(流行病),” said Jason Rohr, a co-author of the study and a biologist at the University of Notre Dame.The analysis studied at least one of five “global change drivers” affecting wildlife and landscapes on Earth: biodiversity change, climate change, habitat loss and change, chemical pollution and the introduction of non-native species to new areas. The researchers collected nearly 3,000 data points related to how each of these factors might impact the seriousness of infectious disease outbreaks.Their conclusions showed that four of the examined factors — climate change, chemical pollution, the introduction of non-native species to new areas and biodiversity loss — all increased the likelihood of spreading diseases, with the latter having the most significant impact. Disease and death rate were nearly nine times higher in areas of the world where human activity has reduced biodiversity, compared to the levels expected by Earth’s natural variation in biodiversity.One global change factor, however, actually reduced the likelihood of disease outbreaks: habitat loss and change. But here, context is key. Most habitat loss is linked to creating a single type of environment — urban (城市的) ecosystems — which generally have good sanitation (卫生) systems, reducing opportunities for disease outbreaks.The new work adds to past research on how human activity can cause the spread of disease. The research signals the need for public health officials to remain watchful as the effects of human-caused climate change arise.12．What do the findings reveal according to the first two paragraphs?A．Human activities do great damage to public health.B．Biodiversity crises increase the risk of disease outbreaks.C．Millions of plant and animal species are at risk of extinction.D．Human-caused environmental changes lead to species extinction.13．What is paragraph 3 mainly about?A．The process of the study.B．The result of the study.C．The meaning of data analysis.D．The impact of disease outbreaks. 14．Compared with the other four “global change drivers”, habitat loss and change _____.A．worsened the disease outbreaks B．had the most significant impactC．made urban ecosystems more delicate D．made it less likely to spread diseases15．What might be the focus of the follow-up discussion?A．The expectations held by public health officials.B．The measures to be taken by the health systems.C．The effects of human activities on climate change.D．The concerns about climate change and biodiversity loss.Whether they’re upset at you or they just need to release, it can be difficult to know how to help someone you care about when you’re not speaking face to face. 16 Thankfully, there are some effective ways to relieve a person’s anger over text.●Find out why they’re upset. It’ll be easier to calm them down if you know why they’re angry. Read their texts carefully to understand their point of view, and ask clarifying (阐明性的) questions if you’re unsure what’s made them so upset. 17 It’ll also make them feel better knowing that you’re listening to them in no hurry.● 18 Use empathetic (共情的) statements that confirm their points of view. Usually, angry people will start to cool off if someone tells them their feelings are understandable. Acknowledge (认可) the other’s feelings. Be empathetic towards them. At least tell them that you understand where they’re coming from. It will likely ease the situation.●Offer a solution. See if there’s anything that can be done to settle the situation. Ask permission first so that your loved one doesn’t feel like you’re ignoring their feelings. Then, offer a solution that applies to the situation they are upset about. If they are angry at you, don’t focus on being right or getting back at them. 19●Reread your responses before you hit “send”. 20 Avoid sending the first thought that comes to your mind, especially if you are stressed, or angered by the text they sent you. Try to remember how much you care about this person and choose your words carefully. This will help you avoid sending an angry text yourself.A．Calm them down.B．Recognize their perspectives.C．Apologize if you made a mistake.D．Dealing with an angry person over text is no easy task.E．An angry person may be especially sensitive to what you say.F．Instead, try to come to an answer that makes you both happy.G．It’ll help you rise to the situation if you know the exact reasons.二、完形填空While visually impaired (受损) runners usually use human guides, Thomas Panek became the first to complete the race supported by dogs, making history at the New York City Half Marathon. Three dogs—Westley, Waffle and Gus—each 21 him for a third of the race.Thomas told CNN that though he 22 the support of human volunteers, he missed the feeling of23 . In 2015, he established the Running Guides programme 24 dogs to support runners. When selecting his partners for the New York race, he chose siblings (兄妹) Waffle and Westley to join Gus, his full-time guide dog. “The 25 is really important. You can’t just 26 the harness (系带) and go for a run with these dogs,” Thomas explained. “You’re training with a team whatever kind of27 you are, and you want to spend time together in that training camp.”Each dog sets its own28 — Westley runs an eight-minute mile, while his sister Watle can29 the same distance in six minutes—and helps Thomas 30 obstacles (障碍物). Gus was chosen to run the final31 of the race and32 the finish line with Thomas. He 33 from his duties as a guide dog at the end of the race, which meant he would leave the track field forever. “It’s a little 34 for me because he’s always been there with me,” Thomas said.After the race, Thomas commented that guide dogs gave people like him the 35 to do whatever a sighted person does, and sometimes, even ran a little faster than them. 21．A．accompanied B．secured C．prepared D．equipped 22．A．lacked B．needed C．received D．appreciated 23．A．bravery B．victory C．independence D．encouragement 24．A．raising B．trading C．walking D．training 25．A．bond B．choice C．impression D．understanding 26．A．measure up B．tidy up C．pick up D．make up 27．A．athlete B．camper C．coach D．judge28．A．limit B．rate C．period D．distance 29．A．keep B．reach C．cover D．shorten 30．A．avoid B．locate C．overcome D．remove 31．A．arm B．leg C．stick D．step32．A．hug B．grab C．cross D．approach 33．A．escaped B．retired C．graduated D．suffered 34．A．lucky B．pleasant C．inspirational D．emotional 35．A．light B．freedom C．patience D．courage三、语法填空阅读下面短文,在空白处填入1个适当的单词或括号内单词的正确形式。
用英语简绍一篇新型机器人的作文
用英语简绍一篇新型机器人的作文全文共3篇示例，供读者参考篇1Title: Introduction of a New Generation RobotIn recent years, there have been significant advancements in the field of robotics, leading to the development of a new generation of robots that are more intelligent, versatile, and capable than ever before. One such robot is the XYZ-2000, a cutting-edge machine that is revolutionizing the way we think about automation.The XYZ-2000 is a humanoid robot with a sleek, futuristic design that is both visually appealing and highly functional. Standing at six feet tall and weighing 200 pounds, this robot is equipped with state-of-the-art sensors and processors that enable it to navigate its environment with ease. Its flexible limbs and articulated joints allow it to perform a wide range of movements, from simple tasks like pouring a drink to complex actions like assembling a piece of furniture.One of the key features of the XYZ-2000 is its artificial intelligence system, which enables it to learn from its interactionswith the world and adapt to new situations on the fly. This advanced AI allows the robot to understand and respond to natural language commands, making it easy to communicate with and control. Additionally, the XYZ-2000 is capable of recognizing faces, objects, and gestures, allowing it to interact with humans in a more intuitive and natural way.In terms of functionality, the XYZ-2000 is designed to be a multi-purpose robot that can be used in a variety of industries and applications. Whether it's assisting with household chores, performing complex manufacturing tasks, or providing companionship and support to individuals in need, this robot is capable of handling a wide range of tasks with precision and efficiency.Overall, the XYZ-2000 represents the cutting edge of robotics technology and is poised to revolutionize the way we live and work in the future. With its advanced capabilities, intuitive interface, and versatile functionality, this new generation robot is truly a game-changer in the world of automation.篇2In recent years, the development of robotics has made significant strides, leading to the creation of innovative new types of robots that are revolutionizing industries and changing the way we live and work. One such groundbreaking robot is the X-57, an advanced humanoid robot designed to perform a wide range of tasks with precision and efficiency.The X-57 is equipped with state-of-the-art artificial intelligence technology, allowing it to learn and adapt to new environments and tasks quickly. Its advanced sensors and cameras enable it to navigate complex environments, avoid obstacles, and interact safely with humans. With a sleek and futuristic design, the X-57 is not only functional but also aesthetically pleasing, making it a versatile and appealing option for both commercial and personal use.One of the key features of the X-57 is its ability to work collaboratively with humans. Its friendly demeanor and intuitive interface make it easy for users to communicate and interact with the robot, while its advanced algorithm allows it to anticipate and respond to human needs and preferences. Whether assisting with tasks in the workplace, providing companionship to elderly individuals, or serving as a personalassistant in the home, the X-57 is designed to enhance human productivity and quality of life.Furthermore, the X-57 is equipped with a variety of tools and attachments that enable it to perform a wide range of tasks, from household chores to industrial automation. Its dexterous hands and gripping mechanisms allow it to pick up and manipulate objects of different shapes and sizes, while its powerful processors and motors give it the strength and speed to carry out tasks with precision and efficiency. Whether it's helping to assemble products in a factory, tending to crops in a field, or providing medical assistance in a hospital, the X-57 is a versatile and reliable partner that can adapt to a variety of tasks and environments.In conclusion, the X-57 is a revolutionary new robot that is poised to transform the way we live and work. With its advanced technology, collaborative capabilities, and versatile functionality, the X-57 is a promising example of the potential of robotics to enhance human society and drive innovation in the future. As we continue to explore the possibilities of new technologies and push the boundaries of what robots can achieve, the X-57 serves as a compelling example of the exciting possibilities that lie ahead in the field of robotics.篇3Introducing a New Generation Robot: The OmniBotIn recent years, advancements in artificial intelligence and robotics have led to the development of a new generation of robots that are capable of performing a wide range of complex tasks. One such robot is the OmniBot, a versatile and adaptive machine that is revolutionizing the way we interact with technology.The OmniBot is a humanoid robot with advanced sensors and articulation that allow it to move fluidly and interact with its environment in a natural and intuitive way. Equipped with state-of-the-art artificial intelligence software, the OmniBot is capable of learning from its experiences and adapting to new situations on the fly.One of the most impressive features of the OmniBot is its ability to communicate effectively with humans. Using a combination of speech recognition and natural language processing, the OmniBot can understand and respond to a wide range of verbal commands and questions, making it a valuable assistant in a variety of settings.The OmniBot is also equipped with a range of tools and accessories that allow it to perform a wide variety of tasks. From household chores to industrial applications, the OmniBot is capable of handling a diverse array of responsibilities with speed and precision.Overall, the OmniBot represents a significant advancement in the field of robotics, offering a level of flexibility and adaptability that was previously unheard of. As the technology continues to improve, we can expect to see even more impressive feats from robots like the OmniBot in the near future.。
机器人底座旋转结构的设计
机器人底座旋转结构的设计机器人底座的旋转结构是机器人系统中至关重要的组成部分。
它决定了机器人在工作区域内的灵活性和精准度。
本文将详细介绍机器人底座旋转结构的设计要点以及所使用的技术。
1. 引言随着工业自动化的快速发展，机器人的应用越来越广泛。
机器人底座的旋转结构是机器人系统中至关重要的部分，它可以实现机器人在工作区域内的360度无死角旋转，从而增强机器人的灵活性和工作能力。
合理的底座旋转结构设计可以提高机器人的定位精度和工作效率。
2. 设计要求机器人底座旋转结构的设计要求如下：•高稳定性：底座结构需要具有良好的稳定性，能够承受机器人的重量和外部环境的干扰，确保机器人运动时的平稳性和精准度。
•高承载能力：底座结构需要能够承受机器人的重量和负载，确保机器人在运行过程中不会发生倾倒或扭曲现象。
•高精度：底座结构需要具备高精度的运动控制功能，能够实现机器人的精确定位和姿态调整。
3. 结构设计机器人底座旋转结构的设计通常由以下几个部分组成：3.1 底座轴承底座轴承是机器人底座旋转结构中最关键的组件之一。
它起到承载和支撑旋转部分的重量和负载的作用。
常见的底座轴承有滚珠轴承、滚子轴承和滑动轴承等。
选择合适的轴承类型和规格，能够提高机器人的旋转精度和运动稳定性。
3.2 驱动结构机器人底座的驱动结构负责实现底座的旋转运动。
常见的驱动结构包括直流电机驱动和步进电机驱动等。
直流电机驱动具有速度较快、扭矩大的优势，适合用于大型机器人底座；步进电机驱动则具有精确度高、控制性能好的特点，适合用于需求精准定位的小型机器人底座。
3.3 控制系统机器人底座旋转结构的控制系统是实现旋转运动的关键组成部分。
通过建立旋转机构与控制系统之间的连接，可以实现对底座旋转角度、速度和加速度等参数的精确控制。
常用的控制系统有PID控制器、伺服控制器和PLC控制器等。
4. 技术应用机器人底座旋转结构的设计运用了众多先进的技术，如：4.1 3D打印技术3D打印技术可以实现对机器人底座旋转结构的快速原型制造和个性化定制。
omni 捡单词 -回复
omni 捡单词-回复什么是“omni”？Omni是一个英文单词，源于拉丁语“omnis”，意思是“所有的”或“全面的”。
它经常被用来描述某物或某人具有全方位、全面的特点或能力。
在不同的领域中，omni有着不同的含义和应用。
本文将深入探讨omni 在不同领域中的应用和意义。
先从omni在技术领域中的应用开始。
在科技界，omni经常用来形容一种全方位感应或接收的能力。
例如，omnidirectional microphone（全向麦克风）指的是可以从各个方向接收声音的麦克风。
这种麦克风非常常见，因为它们能够提供更广泛的声音接收范围，使记录音频变得更加方便。
此外，在机器人学领域，omni也扮演着重要的角色。
Omni-directional robot（全向机器人）是一种可以自由移动并在任何方向上操作的机器人。
这些机器人通常装备有多个轮子或驱动装置，使它们在水平和垂直方向上都能自由移动，并且具有更大的机动性和灵活性。
在市场营销领域，omni是一个被广泛应用的术语。
Omni-channel（全渠道）是指企业通过多个渠道，如线上商店、实体店、手机应用等，与客户进行互动和交易。
通过omni-channel战略，企业可以在不同渠道上提供一致的品牌体验，帮助消费者在不同渠道上获得无缝的购物体验。
除了技术和市场营销，omni还在其他领域中发挥着重要的作用。
在医疗领域，omniscient（全知全能）指的是一种医疗系统或设备，可以在医生的指导下提供全方位的诊断和治疗。
这种设备通常利用人工智能和大数据分析，可以为医生提供更全面和准确的医学知识和建议。
此外，在教育领域，omnibus（综合读本）是一种集成各种学科和知识的教材。
它旨在提供一种全面和综合的教育方法，使学生能够全面了解各种学科和知识领域。
总之，omni作为一个形容词，具有全面和全方位的含义。
它的应用范围广泛，涵盖了技术、市场营销、医疗和教育等多个领域。
无论在哪个领域，omni都被用来形容某物或某人具有全方位、全面的特点或能力。
TACAN塔康
TACAN塔康By Jayone‘Edrasom’Guo在早期，空中导航要想确定飞机位置，就要使用两个或两个以上的地面导航台，并且定位精度很低，这样的定位技术没有太大的实用价值。
于是，在二十世纪中期，为了实现精确空中定位导航，由美国费得拉尔电信试验室根据美空军、海军的建议，研制了塔康系统。
塔康的原名为TACAN，是Tactical Air Navigation System-战术空中导航系统的缩写，它是一种近距无线电导航系统。
欲了解TACAN，我们先从民用的DME开始讲起。
DME（Distance Measure Equipment）应用发射-反射原理的雷达称作一次雷达（Primary Radar），如对空搜索雷达、战斗机的火控雷达。
而所有应用询问-应答原理的无线电设备都被称作为二次雷达系统（Secondary Radar System），如IFF、空管雷达等。
DME也是一种二次雷达系统，主要作用是向飞行员提供飞机到地面DME台站的斜距。
为了认识DME的工作原理之前，我们先来了解下二次雷达。
二次雷达（Secondary Radar）0我们都知道，一次雷达都是通过接收被照射物体的反射信号，得出物体的相关信息的，例如军用搜索雷达。
在这种关系中，被照射物体的反射性能要求是越低越好，这样才能避免被过早发现，从而增加其生存力。
而二次雷达却是通过被照射物体的直接回应来获得相关信息，相比一次雷达的被动，它就是一种积极合作的系统，所以二次雷达需要一个能过相互合作的目标才能实现，例如军用得IFF（敌我识别）系统，这种相互合作的关系在军事领域是绝对机密的，然而DME却很公开，不然也就没有下文了。
在此文当中，飞机上的DME设备相当于一部询问机，而地面DME台站相当于一部应答机。
二次雷达的主要优点如下：1）设备体积小、所需功率低。
它只要求对方都能接收到相互发射的信号即可。
2）脉冲序列可以被编码。
这样他们相互传输的信号就可以加载其他信息，例如，空中管制雷达就可以获得飞机的气压高度、航向等信息。