自动计算

Numerical control lathe have following outstanding superiority than traditional lathe include:Can process out complicated parts, such as the curve coming out in traditional machine tooling, curved surface,etc;Because computer have superb operation ability is can instantaneous to calculate out each coordinate axis instantaneous amount of exercise that should move accurate, So can compound into the complicated curve or curved shttp://www.51lun-wen.cnurface ;Can realize automation that process is and flexible automation, so efficiency constant traditional lathe raises by 3-7 times;Because the computer has memory and stores ability ,Can carry out automatically according to the order that the procedure stipulates,so realize automation;Proceshttp://www.51lun-wen.cnng precision of part high, size disperse degree light, make and assemble easy, No longer need to" repair the damaged parts of a machine and supply replacements";Can realize the concentration of many processes,have many kinds of self-containment functions,such as autoalarm, controlling, automatic compensation automatically,etc;Therefore can realize that nobody guards and processes for a long time.

机床数控化改造可以加工出传统机床加工不出来的曲线、曲面等复杂的零件。数控机床比传统机床有以下突出的优越性，由于计算机可以瞬时准确地计算出每个坐标轴瞬时应该运动的运动量，因此可以复合成复杂的曲线或曲面；可以实现加工的自动化，而且是柔性自动化 http：//www.51lun-wen.cn ，从而效率可比传统机床提高3～7倍；由于计算机有记忆和存储能力，可以将输入的程序记住和存储下来，然后按程序规定的顺序自动去执行；加工零件的精度高，尺寸分散度小，使装配容易，不再需要"修配"；可实现多工序的集中，减少零件在机床间的频繁搬运；拥有自动报警、自动监控、自动补偿等多种自律功能，因而可实现长时间无人看管加工。

Numerical control lathe have following outstanding superiority than traditional lathe include:Can process out complicated parts, such as the curve coming out in traditional machine tooling, curved surface,etc;Because computer have superb operation ability is can instantaneous to calculate out each coordinate axis instantaneous amount of exercise that should move accurate, So can compound into the complicated curve or curved surface ;Can realize automation that process is and flexible automation, so efficiency constant traditional lathe raises by 3-7 times;Because the computer has memory and stores ability ,Can carry out automatically according to the order that the procedure stipulates,so realize automation;Processing precision of part high, size disperse degree light, make and assemble easy, No longer need to" repair the damaged parts of a machine and supply replacements";Can realize the concentration of many processes,have many kinds of self-containment functions,such as autoalarm, controlling, automatic compensation automatically,etc;Therefore can realize that nobody guards and processes for a long time.

机床数控化改造可以加工出传统机床加工不出来的曲线、曲面等复杂的零件。数控机床比传统机床有以下突出的优越性，由于计算机可以瞬时准确地计算出每个坐标轴瞬时应该运动的运动量，因此可以复合成复杂的曲线或曲面；可以实现加工的自动化，而且是柔性自动化，从而效率可比传统机床提高3～7倍；由于计算机有记忆和存储能力，可以将输入的程序记住和存储下来，然后按程序规定的顺序自动去执行；加工零件的精度高，尺寸分散度小，使装配容易，不再需要"修配"；可实现多工序的集中，减少零件在机床间的频繁搬运；拥有自动报警、自动监控、自动补偿等多种自律功能，因而可实现长时间无人看管加工。

The thesis can be divided into five parts as follows: First, the structural characteristics of finned-pipe evaporator are analyzed. After selecting suitable microelement controller, the heat-transfer and mass-transfer processes are analyzed for every microelement under the conditions of dryness, wetness and frostiness. Based on previous equations, some parameters of frostiness are confirmed and the frost-growing model is set up under frost condition. Some hypotheses are postulated and with the help of the equation of mass-conservation, energy-conservation and momentum-conservation, the evaporation model which fits in the dynamic simulation is built, which set a solid foundation for system simulation. Second, the starting and stopping behaviors under disturbed condition are analyzed and calculated by using the dynamic concentrative parameter model, which gives some advice to better prescribe refrigeration system and set theoretic foundation for carrying out automatic control of refrigeration system. Third, the normal running process is analyzed and calculated by means of rational matching theory, which gives some advice on how to better understand the parameter change under steady state and the affection of inlet-parameter on evaporator. Fourth, the simulation software with dynamic characteristic is designed, which can be applied to calculate thernio-parameter of cryogen, air humidity and frost thickness under different initial and boundary conditions, and to carry out dynamic simulation under conditions of dryness, wetness and frostiness, at the same time, to achieve detection and simulation at any stage from starting to stopping.

本文的主要内容如下：1对翅片管蒸发器结构特点进行分析，选取适当的微元控制体，就干、湿和霜工况下对每个微元分别进行传热传质分析，基于经验关系式确定霜的有关参数，对于霜工况下的霜生长建立模型，经适当假设，运用质量守恒、能量守恒和动量守恒方程建立适合动态仿真的蒸发器数学模型，为系统仿真奠定基础； 2对蒸发在大扰动下的开、停机过程，运用动态集中参数模型进行分析和计算，为更好地描述制冷系统运行的全过程奠定基础，同时也为制冷系统实现自动控制提供一定的理论基础； 3对蒸发器正常运行过程，运用动态分布参数和参数间定量耦合的观点来分析和计算，为更好地了解稳态工况下各点参数的变化情况及各入口参数对蒸发器动态特性的影响即蒸发器性能对各参数变化的敏感性； 4编写翅片管蒸发器动态特性仿真计算程序，可以计算不同边界条件和初始条件下的制冷剂热力参数、空气温湿度和霜厚度分布场，实现对翅片管蒸发器在干、湿和霜工况下的动态仿真。

The finite element model of metal structure of FEH escalator was built with ANSYS software. Characteristics, load calculation and load combinations of the escalator were discussed. The software can show the biggest stress and distortion, which the engineer can compare with the standard requirement. It provided a theoretical basis for escalator metal structure design and material choosing.

利用ANSYS软件建立FEH公共交通型自动扶梯金属结构有限元分析模型，针对自动扶梯的特点对载荷进行分析，将载荷和约束施加于自动扶梯模型之上，通过软件计算出最大应力和最大应变值，以此判定是否满足标准要求，为FEH公共交通型金属结构的设计提供理论基础，也为降低成本提供参考依据。

In the algorithm, there is no master site that objects address computations must go through or access to a centralized directory. All compute nodes and storage nodes calculate node address independently, the objects access and storage nodes change never require atomic updates to multiple clients. The compute nodes adapt to the change of storage nodes by client image adjustment algorithm.

该算法使得数据对象分配地址的计算不依赖于中央节点计算或者访问一个集中式目录，所有计算节点和存储节点独立地进行地址计算，并且对数据对象的访问操作或新增节点引起的系统规模变化不需要原子更新到其他计算节点，计算节点通过视图校正算法自主学习，自动适应新的系统规模。

In this paper, the theory, algorithm, and experiment of automatic object detection and tracking are studied in depth. It is firstly pointed out that the essential of Mean Shift method is a special Newton-Gaussian method. A new method named Fast Mean Shift is established to stretch the conservative step of Mean Shift method. The convergence and validity of this new method are proved in theory. And it is also proved that the convergence speed of Fast Mean Shift is faster than that of Mean Shift. The contrast experiments of searching the maximum possibility density of random of data sets in plane and 3D space are done. The results show that this new method can reduce the iterations greatly. A new object tracking method based on Fast Mean Shift is built to improve the object tracking performance, which is shown in the face tracking experiment with the tennis sequence provided by the Ohio State University, and the car tracking experiment with the car sequence provided by Kalsruhe University. The face trcking experiment with highly noised images show that the object tracking method based on Fast Mean Shift has strong anti-jamming ability. A new fast color object detection technology based on characteristic color is established, which use characteristic color distribution to compute the characteristic color vector of any area in an image quickly. With the high performance search method, the fast object detection is achieved. At last, using object tracker based on Fast Mean Shift and color object detector based on characteristic color with the Kalman filter, PID controller, searial communication and other technologies, automatic object detection and tracking system with control system is built. The availability and anti-jamming ability of this system are verified by some object detection and tracking tests in different scenes.

本文对目标自动识别与跟踪进行了理论、计算、试验三方面的深入研究，主要包括：首次指出了目标跟踪技术中常用的均值迁移方法的本质为一种特殊的高斯-牛顿方法，改进了均值迁移方法步长取值保守的弱点，建立了快速均值迁移方法，证明了该方法的收敛性、有效性以及收敛速度优于均值迁移方法；进行了平面和3维随机分布数据集的最大概率密度搜索对比试验，试验结果表明，快速均值迁移方法大大减少了迭代次数；建立了基于快速均值迁移的目标跟踪方法，利用俄亥俄州立大学提供的乒乓球序列图像和卡斯鲁厄大学的汽车序列图像，对人脸和汽车目标跟踪性能分别进行了对比试验，并进行了高噪声人脸图像目标跟踪试验，结果表明，基于快速均值迁移的目标跟踪方法有效提高了目标跟踪性能，具有很强的抗干扰能力；建立了一种新型彩色目标自动识别方法，采用特征色彩分布函数实现了对任意图像区域特征色彩矢量的快速计算，建立了高效的搜索方法，实现了彩色目标的快速识别；将基于快速均值迁移方法的目标跟踪方法、基于特征色彩的目标识别方法与卡尔曼滤波、PID控制、串行通讯等技术结合，建立了带有控制系统的快速目标自动识别与跟踪系统，并在不同场景下进行了目标自动识别与跟踪试验，验证了快速目标自动识别与跟踪系统的有效性和抗干扰能力。

The objective of this study is aimed at the implementation of parallelized numerical quadrature routines. The algorithm we choose for numerical quadrature routines is the so called "Adaptive Romberg Tree integration scheme"(abbr."ARTint") proposed by Lin et. al.[1997]. This numerical quadrature scheme can arrange the function evaluation points adaptively in accordance with characteristic of the trend of variation in integrand function values. When the accuracy of the numerical quadrature value is requested to be increased, a newer and larger set of function evaluation points must be incurred. The main advantage of ARTint method is the inclusion of all function evaluation points used in previous stages. It is this feature of ARTint method that makes it a quadratue scheme with prominent computation efficiency.

本研究在探讨数值积分程式之平行化，所使用的演算法为林聪悟与林佳慧[1997]一书所提出的「Romberg树自动布点数值积分」架构，此一数值积分方法能以适应被积函数值变化情形方式自动安排积分点来进行数值求积计算，在提高阶数以获得更高精度积分值的过程中，此一方法只须再计算新增加积分点的函数值，搭配先前已计算过的函数值的重覆运用即可获得更精确的数值积分估计值，如此将能减少升阶过程中函数求值计算的次数，有效率地完成单重积分的数值计算。

User-friendly control system;Labels automatically peel off wrinkle-free;Automatic label feed and peel offwhen label is removed;Rows of small labels can be peeled off at one time;Can be used multi-person,increasing production efficiency;suiable for interval and continuous whole roll label types;Adjustable length of label to be peeled off;Auto counter from 0 to 999999 assists in tracking production; Machine also could equipped with color ribbon printer according to clients,which is same as our HP-102II self-adhesive

电子控制系统，操作简单；全自动剥离，标签平整，不起皱纹；标签取出后自动送出第二张；小标签可数排并列，一次剥离；一机可多人使用，效率倍增；间隔或者连续之整卷式标签或条码均可适用；标签剥离长度可任意调整；本机有0-999999自动记数功能，方便计算产量；可根据客户需要，在HP-102I型上添加色带打码装置，即HP-102II型不干胶自动剥离机。

Hence, a self-balancing controller is implemented by considering the motion as well as configuration variation of the upper body (the 9-DOF mechanism). The control law utilizes the principle of computed torque method with online identification of related parameters using various sensors including an accelerometer. The incline angle is obtained by fusing a gyroscope and a tilt sensor. Under the balancing control, the forward motion of the robot is achieved by giving a desired tilt angle profile.

除此之外，本作品将此机器人装置在一具二轮式自动平衡移动平台之上，它提供了机器人灵活移动和转身的能力，但碍於此一平台本身为不稳定系统，所以必须实现一自动平衡演算法去计算底座以及上半身机器人动作行为的转动力矩，利用计算转矩法以及陀螺仪、倾斜仪和加速规去即时更新系统参数，让整个系统可以即时地保持平衡，并且利用设计角度值的概念让整个系统移动。

Finally, in order to improve the efficiency of the calculation and design, a software on finite element graphic treatment using VBA connecting Fortran program and AutoCAD 2000 is developed to make structural analysis easier than before, with which the internal forces figures (including bending moments, axial forces and shearing forces) and structural deformation figures are drawn automatically.

为提高设计计算的效率，利用VBA开发了相应的有限元图形处理软件，该软件实现了FORTRAN程序与AutoCAD的连接，利用杆系有限元程序计算得到的结果，自动绘制出内力图以及结构的变形图，图形的自动形成使得计算成果的分析工作简洁、方便。

The split between the two groups can hardly be papered over.

这两个团体间的分歧难以掩饰。

This approach not only encourages a greater number of responses, but minimizes the likelihood of stale groupthink.

这种做法不仅鼓励了更多的反应，而且减少跟风的可能性。