This paper presents a new control strategy for track-flipper robot autonomous climbing stairs within indoor environment. Different from remote control operation, autonomous obstacle crossing of robot requires more complex motion planning, including feasibility analysis, attitude optimization and stability control. In order to analyze the obstacle-crossing capability of the robot, the kinematics modeling of the track-flipper robot is carried out, including the maximum height of climbing a single step and the capability to climb the stairs. On this basis, the motion planning of the robot for individual steps and stairs of different heights had been completed. Experiments on the robot's self-climbing steps and stairs were also carried out, which verified the feasibility and rationality of the robot's obstacle-crossing capability, obstacle-crossing stability and motion planning.
The technical characteristics of direct current dynamo commutator manufachuring for naval ships are introduced detaily in this paper,and the testing operation of commutator.Surface run_out 0.01mm,no spark in the operation.
it’s a tendency for cost accounting and managerial accounting to mix together, and the theoretical structure of the post mixture modern cost managerial accounting is the basis for building modern cost managerial accounting theory. When constructing modern cost managerial accounting theories, we should take such issues into consideration as social environment, horizontal management, strategy accounting, organization accounting, and change of information demand, etc. So as to make modern cost managerial accounting theory structure consistent from beginning to end, and to make it with logic, compatible, successive and up to the times. Elements in theoretical structure include fundamental, normal and behavior ones..
Sufficient competition is an formative foundation of competitive prices. In our country, because of the state-owned commercial banks'variation about risk evaluation, their monoply position and their pursuing for group interest, the interest rate marketing probably lead to the whole rise of the interest rate; The demand for founds is lack of elasticity because of the inherent behavior of the state-owned enterprises. The interest rate marketing which is based on that will bring great negative effect to domestic economy, so the conclusion is the marketing of the micro*Mmain body should take priority of the interest rate marketing, or at least keep its pace with the latter.
In this paper we used WAVEWATCH Ⅲ wave model in the East China Sea to set up a proper numerical wave model. We implemented wind field from single NCEP (National Centers for Environmental Prediction) , and combined NCEP and QSCAT wind field in computational domain to simulate wind wave field for two time ranges in East China Sea. The observation spots were distributed in Bohai Sea and the East China Sea, and the WAVEWAICH Ⅲ gave out corresponding output between two points. The results showed that the wave height from the blended field agreed quite well with the obseruations, and also an agreement was shown between the results from NCEP simulation in corresponding time range of 1998 and the measurements of the year. This study indicates that it is,var practical to set up a proper numerical wave model in the East China Sea and lay a model foundation for researchers to study wave climate and coupled sea and atmosphere in the East China Sea.
Keeping pace with times put forward by Jiang zhemin has enriched and developed the Party's idology with the liberation of thought and the truth and facts. Only insisting on keeping pace with times can the Party keep her advancement, life and creativity.
Structural transient response considering satellite rocket dynamic coupling effect was computed by the direct excitation method.The acceleration time response graphs at desired positions were presented under three load conditions:the maximum dynamic pressure,before separation,after separation.The enforced motion equations of three methods were presented and the application conditions were pointed out.It showed that all these methods were satisfied the engineering applications,whereas the direct excitation method is more preferable.
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