省部共建国重室龙雨教授团队在串并联混合柔性焊接机械臂减振多目标轨迹规划方法取得进展-特色金属材料与组合结构全寿命安全国家重点实验室

省部共建国重室龙雨教授团队在串并联混合柔性焊接机械臂减振多目标轨迹规划方法取得进展

2024年07月19日 16:29 点击：[]

2024年7月，省部共建国重室龙雨教授团队在串并联混合柔性焊接机械臂减振多目标轨迹规划方法取得进展，相关工作以"A multi-objective trajectory planning approach for vibration suppression of a series–parallel hybrid flexible welding manipulator"为题，发表在《Mechanical Systems and Signal Processing》上（中科院一区TOP期刊，IF=7.9）。

多目标减振方法的框架

串并联混合焊接机械手虽然比传统的串联机械手具有优势，但它必须在额定速度下按特定轨迹连续平稳运行。以具有复杂串并联混合结构的柔性机械臂为研究对象，提出了一种间接抑制振动的多目标方法。针对多运动副排列、多电机驱动的复杂柔性机构，建立了系统综合弹性动力学模型，并通过锤击试验方法验证了模型的有效性。为实现末端位置和姿态的同步协调规划，基于同步规划控制器和双s速度剖面插值函数对空间弧焊轨迹进行规划。在此基础上，提出了考虑行程时间、能量消耗和终端振幅波动的多目标优化模型，将轨迹规划问题转化为插值函数中的参数优化问题，并采用精英非支配排序遗传算法(NSGA-II)确定最优轨迹。由此得到的最优轨迹有效地抑制了系统的振动。最后，与经典的五次多项式轨迹规划方法相比，系统振动抑制效果显著，验证了所提方法的有效性和可行性，为进一步实现实时控制提供了理论依据。

上一条：省部共建国重室梁天权教授团队在改善无钴富锂锰基层状氧化物的电化学性能中取得进展下一条：省部共建国重室王开拓团队在制备用于高效油水分离的轻质多孔矿渣基地质聚合物高疏水性材料研究中取得进展

【关闭】

NAME	COMPONENT	DURATION
Bootstrap	Timer	8.35 ms
Routing	Timer	0.09 ms
Controller	Timer	26.46 ms
Controller Constructor	Timer	7.87 ms
Query	Database	0.31 ms
Query	Database	0.31 ms
Query	Database	0.23 ms
Query	Database	0.31 ms
Query	Database	0.27 ms

Time	Query String
0.31 ms	SELECT * FROM `dr_1_share_index` WHERE `id` = 27
0.31 ms	SELECT * FROM `dr_1_news` WHERE `id` = 27
0.23 ms	SELECT * FROM `dr_1_news_data_0` WHERE `id` = 27
0.31 ms	SELECT * FROM `dr_1_news` WHERE `catid` = 12 AND `id` < 27 ORDER BY `id` desc LIMIT 1
0.27 ms	SELECT * FROM `dr_1_news` WHERE `catid` = 12 AND `id` > 27 ORDER BY `id` asc LIMIT 1

模板	路径
show.html	/webdata/wei/template/pc/default/home/show.html
header.html	/webdata/wei/template/pc/default/home/header.html
footer.html	/webdata/wei/template/pc/default/home/footer.html

模板	提示
show.html	由于模板文件[/webdata/wei/template/pc/default/home/news/show.html]不存在，因此本页面引用主目录的模板[/webdata/wei/template/pc/default/home/show.html]
header.html	由于模板文件[/webdata/wei/template/pc/default/home/news/header.html]不存在，因此本页面引用主目录的模板[/webdata/wei/template/pc/default/home/header.html]
footer.html	由于模板文件[/webdata/wei/template/pc/default/home/news/footer.html]不存在，因此本页面引用主目录的模板[/webdata/wei/template/pc/default/home/footer.html]

id	'27'
catid	'12'
title	'广西大学校领导带队赴百色调研广西铝产业发展情况'
thumb	'25'
keywords	''
description	'3月28日，为推进省部共建特色金属材料与组合结构全寿命安全国家重点实验室建设，深入了解广西铝产业发展的现状和技术需求，广西大学副校长马少健、省部共建国家重点实验室工作组组长姚作芳带队到中铝广西分公司和吉利百矿集团有限公司调研。调研组先后参观了中铝广西分公司氧化铝生产线、赤泥堆场和华磊电解铝厂，以及吉利百矿集团有限公司田阳铝厂和铝轮毂项目生产车间，向企业生产一线工作人员和企业研究院技术人员深入了解铝'
hits	'8'
uid	'1'
author	'陈锡勇'
status	'9'
url	'/index.php?c=show&id=27'
link_id	'0'
tableid	'0'
inputip	'171.104.222.76-30869'
inputtime	'2023-07-12 11:02:08'
updatetime	'2023-07-13 12:00:50'
displayorder	'0'
content	'<p class="vsbcontent_start" style="color: rgb(0, 0, 0); margin-top: 16px; margin-bottom: 16px; padding: 0px; line-height: 21px; text-indent: 2em; font-family: "Microsoft YaHei", 微软雅黑, MicrosoftJhengHei, 华文细黑, STHeiti, MingLiu; font-size: medium;">3月28日，为推进省部共建特色金属材料与组合结构全寿命安全国家重点实验室建设，深入了解广西铝产业发展的现状和技术需求，广西大学副校长马少健、省部共建国家重点实验室工作组组长姚作芳带队到中铝广西分公司和吉利百矿集团有限公司调研。</p><p style="color: rgb(0, 0, 0); font-family: 幼圆; font-size: 14.6667px; text-align: center;"><img width="500" src="https://klmp.gxu.edu.cn/__local/C/A2/49/FFE02D20C8DCDE3FD542C11B79E_D7B82B3B_91EBA.png" vsbhref="vurl" vurl="/_vsl/CA249FFE02D20C8DCDE3FD542C11B79E/D7B82B3B/91EBA" vheight="" vwidth="500" orisrc="/__local/C/A2/49/FFE02D20C8DCDE3FD542C11B79E_D7B82B3B_91EBA.png" class="img_vsb_content"></p><p style="color: rgb(0, 0, 0); margin-top: 16px; margin-bottom: 16px; padding: 0px; line-height: 21px; text-indent: 2em; font-family: "Microsoft YaHei", 微软雅黑, MicrosoftJhengHei, 华文细黑, STHeiti, MingLiu; font-size: medium;">调研组先后参观了中铝广西分公司氧化铝生产线、赤泥堆场和华磊电解铝厂，以及吉利百矿集团有限公司田阳铝厂和铝轮毂项目生产车间，向企业生产一线工作人员和企业研究院技术人员深入了解铝产业领域的发展现状和问题。</p><p style="color: rgb(0, 0, 0); margin-top: 16px; margin-bottom: 16px; padding: 0px; line-height: 21px; text-indent: 2em; font-family: "Microsoft YaHei", 微软雅黑, MicrosoftJhengHei, 华文细黑, STHeiti, MingLiu; font-size: medium;">现场考察后，调研组分别与中铝广西分公司和吉利百矿集团有限公司领导和技术人员进行了座谈，就企业重大技术需求、省部共建国家重点实验室建设工作任务、双方战略合作等方面进行了深入交流，达成了初步合作意向，下一步将在平台共建、科技专项联合攻关、科技成果转化、科技交流合作、人才互培等方面深入开展合作。</p><p style="color: rgb(0, 0, 0); font-family: 幼圆; font-size: 14.6667px; text-align: center;"><img width="500" src="https://klmp.gxu.edu.cn/__local/D/57/44/DC0B3CDE843D419F43B32588A7D_9265A0BB_8D5DE.png" vsbhref="vurl" vurl="/_vsl/D5744DC0B3CDE843D419F43B32588A7D/9265A0BB/8D5DE" vheight="" vwidth="500" orisrc="/__local/D/57/44/DC0B3CDE843D419F43B32588A7D_9265A0BB_8D5DE.png" class="img_vsb_content"></p><p class="vsbcontent_end" style="color: rgb(0, 0, 0); margin-top: 16px; margin-bottom: 16px; padding: 0px; line-height: 21px; text-indent: 2em; font-family: "Microsoft YaHei", 微软雅黑, MicrosoftJhengHei, 华文细黑, STHeiti, MingLiu; font-size: medium;">科研院、省部共建国家重点实验室相关人员参加活动。</p>'
_inputtime	'1689130928'
_updatetime	'1689220850'
tag	''
kws	array ( )
tags	array ( )
prev_page	array ( 'id' => '23', 'catid' => '12', 'title' => '桂林理工大学来我实验室交流教育部重点实验室建设工作', 'thumb' => '33', 'keywords' => '', 'description' => '3月3日，桂林理工大学校党委常委、副校长王玫一行到我校交流推进共建教育部重点实验室工作。校党委常委、副校长马少健出席座谈会。马少健介绍了我校申建省部共建国家重点实验室的历程，并回顾了两校长期以来齐心协力共建教育部重点实验室的历史。他指出，今年教育部重点实验室评估难度会更大、要求会更高，希望两校的实验室成员在前期良好合作基础上，进一步凝练成果，完善机制，提前谋划，全力以赴做好迎评工作。王玫对广西大学', 'hits' => '1', 'uid' => '1', 'author' => '韦同科研院', 'status' => '9', 'url' => '/index.php?c=show&id=23', 'link_id' => '0', 'tableid' => '0', 'inputip' => '171.104.222.76-29179', 'inputtime' => '1689130591', 'updatetime' => '1689130591', 'displayorder' => '0', )
next_page	NULL
meta_title	'广西大学校领导带队赴百色调研广西铝产业发展情况_实验室新闻_首页_省部共建特色金属材料与组合结构全寿命安全国家重点实验室'
meta_keywords	''
meta_description	'3月28日，为推进省部共建特色金属材料与组合结构全寿命安全国家重点实验室建设，深入了解广西铝产业发展的现状和技术需求，广西大学副校长马少健、省部共建国家重点实验室工作组组长姚作芳带队到中铝广西分公司和吉利百矿集团有限公司调研。调研组先后参观了中铝广西分公司氧化铝生产线、赤泥堆场和华磊电解铝厂，以及吉利百矿集团有限公司田阳铝厂和铝轮毂项目生产车间，向企业生产一线工作人员和企业研究院技术人员深入了解铝'
cat	array ( 'id' => '12', 'tid' => '1', 'pid' => '11', 'mid' => 'news', 'pids' => '0,11', 'name' => '实验室新闻', 'dirname' => 'sysxw', 'pdirname' => 'shouye/', 'child' => 0, 'disabled' => '0', 'ismain' => 1, 'childids' => 12, 'thumb' => '', 'show' => '1', 'content' => '', 'setting' => array ( 'disabled' => '0', 'linkurl' => '', 'getchild' => '0', 'notedit' => '0', 'urlrule' => 0, 'seo' => array ( 'list_title' => '[第{page}页{join}]{catpname}{join}{SITE_NAME}', 'list_keywords' => '', 'list_description' => '', ), 'template' => array ( 'pagesize' => '20', 'mpagesize' => '20', 'page' => 'page.html', 'list' => 'list.html', 'category' => 'category.html', 'search' => 'search.html', 'show' => 'show.html', ), 'cat_field' => NULL, 'module_field' => NULL, 'html' => 0, ), 'displayorder' => '0', 'pcatpost' => 0, 'topid' => '11', 'catids' => array ( 0 => '12', ), 'is_post' => 1, 'url' => 'http://wei.vialancer.com/index.php?c=category&id=12', 'total' => '请使用count标签查询', 'field' => array ( ), )
top	array ( 'id' => '11', 'tid' => '2', 'pid' => '0', 'mid' => 'news', 'pids' => '0', 'name' => '首页', 'dirname' => 'shouye', 'pdirname' => '', 'child' => 1, 'disabled' => '0', 'ismain' => 1, 'childids' => '11,12,20,21,22,23,24,51,52,53,54,25', 'thumb' => '', 'show' => '1', 'content' => '', 'setting' => array ( 'disabled' => '0', 'linkurl' => 'http://wei.vialancer.com/', 'getchild' => '0', 'notedit' => 0, 'urlrule' => 0, 'seo' => array ( 'list_title' => '[第{page}页{join}]{catpname}{join}{SITE_NAME}', 'list_keywords' => '', 'list_description' => '', ), 'template' => array ( 'pagesize' => '20', 'mpagesize' => '20', 'page' => 'page.html', 'list' => 'list.html', 'category' => 'category.html', 'search' => 'search.html', 'show' => 'show.html', ), 'cat_field' => NULL, 'module_field' => NULL, 'html' => 0, ), 'displayorder' => '0', 'pcatpost' => 0, 'topid' => '11', 'catids' => array ( 0 => '11', 1 => '12', 2 => '20', 3 => '21', 4 => '22', 5 => '23', 6 => '24', 7 => '51', 8 => '52', 9 => '53', 10 => '54', 11 => '25', ), 'is_post' => 0, 'url' => 'http://wei.vialancer.com/', 'total' => '请使用count标签查询', 'field' => array ( ), )
pageid	1
params	array ( 'catid' => '12', )
parent	array ( 'id' => '11', 'tid' => '2', 'pid' => '0', 'mid' => 'news', 'pids' => '0', 'name' => '首页', 'dirname' => 'shouye', 'pdirname' => '', 'child' => 1, 'disabled' => '0', 'ismain' => 1, 'childids' => '11,12,20,21,22,23,24,51,52,53,54,25', 'thumb' => '', 'show' => '1', 'content' => '', 'setting' => array ( 'disabled' => '0', 'linkurl' => 'http://wei.vialancer.com/', 'getchild' => '0', 'notedit' => 0, 'urlrule' => 0, 'seo' => array ( 'list_title' => '[第{page}页{join}]{catpname}{join}{SITE_NAME}', 'list_keywords' => '', 'list_description' => '', ), 'template' => array ( 'pagesize' => '20', 'mpagesize' => '20', 'page' => 'page.html', 'list' => 'list.html', 'category' => 'category.html', 'search' => 'search.html', 'show' => 'show.html', ), 'cat_field' => NULL, 'module_field' => NULL, 'html' => 0, ), 'displayorder' => '0', 'pcatpost' => 0, 'topid' => '11', 'catids' => array ( 0 => '11', 1 => '12', 2 => '20', 3 => '21', 4 => '22', 5 => '23', 6 => '24', 7 => '51', 8 => '52', 9 => '53', 10 => '54', 11 => '25', ), 'is_post' => 0, 'url' => 'http://wei.vialancer.com/', 'total' => '请使用count标签查询', 'field' => array ( ), )
related	array ( 12 => array ( 'id' => '12', 'tid' => '1', 'pid' => '11', 'mid' => 'news', 'pids' => '0,11', 'name' => '实验室新闻', 'dirname' => 'sysxw', 'pdirname' => 'shouye/', 'child' => 0, 'disabled' => '0', 'ismain' => 1, 'childids' => 12, 'thumb' => '', 'show' => '1', 'content' => '', 'setting' => array ( 'disabled' => '0', 'linkurl' => '', 'getchild' => '0', 'notedit' => '0', 'urlrule' => 0, 'seo' => array ( 'list_title' => '[第{page}页{join}]{catpname}{join}{SITE_NAME}', 'list_keywords' => '', 'list_description' => '', ), 'template' => array ( 'pagesize' => '20', 'mpagesize' => '20', 'page' => 'page.html', 'list' => 'list.html', 'category' => 'category.html', 'search' => 'search.html', 'show' => 'show.html', ), 'cat_field' => NULL, 'module_field' => NULL, 'html' => 0, ), 'displayorder' => '0', 'pcatpost' => 0, 'topid' => '11', 'catids' => array ( 0 => '12', ), 'is_post' => 1, 'url' => 'http://wei.vialancer.com/index.php?c=category&id=12', 'total' => '请使用count标签查询', 'field' => array ( ), ), 20 => array ( 'id' => '20', 'tid' => '1', 'pid' => '11', 'mid' => 'news', 'pids' => '0,11', 'name' => '通知公告', 'dirname' => 'tzgg', 'pdirname' => 'shouye/', 'child' => 0, 'disabled' => '0', 'ismain' => 1, 'childids' => 20, 'thumb' => '', 'show' => '1', 'content' => '', 'setting' => array ( 'disabled' => '0', 'linkurl' => '', 'getchild' => '0', 'notedit' => '0', 'urlrule' => 0, 'seo' => array ( 'list_title' => '[第{page}页{join}]{catpname}{join}{SITE_NAME}', 'list_keywords' => '', 'list_description' => '', ), 'template' => array ( 'pagesize' => '20', 'mpagesize' => '20', 'page' => 'page.html', 'list' => 'list.html', 'category' => 'category.html', 'search' => 'search.html', 'show' => 'show.html', ), 'cat_field' => NULL, 'module_field' => NULL, 'html' => 0, ), 'displayorder' => '0', 'pcatpost' => 0, 'topid' => '11', 'catids' => array ( 0 => '20', ), 'is_post' => 1, 'url' => 'http://wei.vialancer.com/index.php?c=category&id=20', 'total' => '请使用count标签查询', 'field' => array ( ), ), 21 => array ( 'id' => '21', 'tid' => '1', 'pid' => '11', 'mid' => 'xsbg', 'pids' => '0,11', 'name' => '学术报告', 'dirname' => 'xueshubaogao', 'pdirname' => 'shouye/', 'child' => 0, 'disabled' => '0', 'ismain' => 1, 'childids' => 21, 'thumb' => '', 'show' => '1', 'content' => '', 'setting' => array ( 'disabled' => '0', 'linkurl' => '', 'getchild' => '0', 'notedit' => '0', 'urlrule' => 0, 'seo' => array ( 'list_title' => '[第{page}页{join}]{catpname}{join}{SITE_NAME}', 'list_keywords' => '', 'list_description' => '', ), 'template' => array ( 'pagesize' => '20', 'mpagesize' => '20', 'page' => 'page.html', 'list' => 'list.html', 'category' => 'category.html', 'search' => 'search.html', 'show' => 'show.html', ), 'cat_field' => NULL, 'module_field' => NULL, 'html' => 0, ), 'displayorder' => '0', 'pcatpost' => 0, 'topid' => '11', 'catids' => array ( 0 => '21', ), 'is_post' => 1, 'url' => 'http://wei.vialancer.com/index.php?c=category&id=21', 'total' => '请使用count标签查询', 'field' => array ( ), ), 22 => array ( 'id' => '22', 'tid' => '1', 'pid' => '11', 'mid' => 'news', 'pids' => '0,11', 'name' => '学术成果', 'dirname' => 'xscg', 'pdirname' => 'shouye/', 'child' => 0, 'disabled' => '0', 'ismain' => 1, 'childids' => 22, 'thumb' => '', 'show' => '1', 'content' => '', 'setting' => array ( 'disabled' => '0', 'linkurl' => '', 'getchild' => '0', 'notedit' => '0', 'urlrule' => 0, 'seo' => array ( 'list_title' => '[第{page}页{join}]{catpname}{join}{SITE_NAME}', 'list_keywords' => '', 'list_description' => '', ), 'template' => array ( 'pagesize' => '20', 'mpagesize' => '20', 'page' => 'page.html', 'list' => 'list.html', 'category' => 'category.html', 'search' => 'search.html', 'show' => 'show.html', ), 'cat_field' => NULL, 'module_field' => NULL, 'html' => 0, ), 'displayorder' => '0', 'pcatpost' => 0, 'topid' => '11', 'catids' => array ( 0 => '22', ), 'is_post' => 1, 'url' => 'http://wei.vialancer.com/index.php?c=category&id=22', 'total' => '请使用count标签查询', 'field' => array ( ), ), 23 => array ( 'id' => '23', 'tid' => '1', 'pid' => '11', 'mid' => 'news', 'pids' => '0,11', 'name' => '快捷通道', 'dirname' => 'kjtd', 'pdirname' => 'shouye/', 'child' => 0, 'disabled' => '0', 'ismain' => 1, 'childids' => 23, 'thumb' => '', 'show' => '1', 'content' => '', 'setting' => array ( 'disabled' => '0', 'linkurl' => '', 'getchild' => '0', 'notedit' => '0', 'urlrule' => 0, 'seo' => array ( 'list_title' => '[第{page}页{join}]{catpname}{join}{SITE_NAME}', 'list_keywords' => '', 'list_description' => '', ), 'template' => array ( 'pagesize' => '20', 'mpagesize' => '20', 'page' => 'page.html', 'list' => 'list.html', 'category' => 'category.html', 'search' => 'search.html', 'show' => 'show.html', ), 'cat_field' => NULL, 'module_field' => NULL, 'html' => 0, ), 'displayorder' => '0', 'pcatpost' => 0, 'topid' => '11', 'catids' => array ( 0 => '23', ), 'is_post' => 1, 'url' => 'http://wei.vialancer.com/index.php?c=category&id=23', 'total' => '请使用count标签查询', 'field' => array ( ), ), 24 => array ( 'id' => '24', 'tid' => '1', 'pid' => '11', 'mid' => 'news', 'pids' => '0,11', 'name' => '科研队伍', 'dirname' => 'keyanduiwu', 'pdirname' => 'shouye/', 'child' => 1, 'disabled' => '0', 'ismain' => 1, 'childids' => '24,51,52,53,54', 'thumb' => '', 'show' => '1', 'content' => '', 'setting' => array ( 'disabled' => '0', 'linkurl' => '', 'getchild' => '0', 'notedit' => '0', 'urlrule' => 0, 'seo' => array ( 'list_title' => '[第{page}页{join}]{catpname}{join}{SITE_NAME}', 'list_keywords' => '', 'list_description' => '', ), 'template' => array ( 'pagesize' => '20', 'mpagesize' => '20', 'page' => 'page.html', 'list' => 'listimg.html', 'category' => 'listimg.html', 'search' => 'search.html', 'show' => 'show.html', ), 'cat_field' => NULL, 'module_field' => NULL, 'html' => 0, ), 'displayorder' => '0', 'pcatpost' => 0, 'topid' => '11', 'catids' => array ( 0 => '24', 1 => '51', 2 => '52', 3 => '53', 4 => '54', ), 'is_post' => 0, 'url' => 'http://wei.vialancer.com/index.php?c=category&id=24', 'total' => '请使用count标签查询', 'field' => array ( ), ), 25 => array ( 'id' => '25', 'tid' => '1', 'pid' => '11', 'mid' => 'news', 'pids' => '0,11', 'name' => '研究团队', 'dirname' => 'yjtd', 'pdirname' => 'shouye/', 'child' => 0, 'disabled' => '0', 'ismain' => 1, 'childids' => 25, 'thumb' => '', 'show' => '1', 'content' => '', 'setting' => array ( 'disabled' => '0', 'linkurl' => '', 'getchild' => '0', 'notedit' => '0', 'urlrule' => 0, 'seo' => array ( 'list_title' => '[第{page}页{join}]{catpname}{join}{SITE_NAME}', 'list_keywords' => '', 'list_description' => '', ), 'template' => array ( 'pagesize' => '20', 'mpagesize' => '20', 'page' => 'page.html', 'list' => 'list.html', 'category' => 'category.html', 'search' => 'search.html', 'show' => 'show.html', ), 'cat_field' => NULL, 'module_field' => NULL, 'html' => 0, ), 'displayorder' => '0', 'pcatpost' => 0, 'topid' => '11', 'catids' => array ( 0 => '25', ), 'is_post' => 1, 'url' => 'http://wei.vialancer.com/index.php?c=category&id=25', 'total' => '请使用count标签查询', 'field' => array ( ), ), )
urlrule	'/index.php?c=show&id=27&page=[page]'
fix_html_now_url	''
my_web_url	'http://wei.vialancer.com/index.php?c=show&id=27'
get	array ( 'c' => 'show', 'id' => '27', )

省部共建国重室龙雨教授团队在串并联混合柔性焊接机械臂减振多目标轨迹规划方法取得进展

友情链接

联系我们

联系我们

Database (5 Queries across 0 Connection)

Views

运行时间：0.01ms

模板文件

引用提示

模板变量

Files ( 148 )

Routes

Events

History

View Data

Session User Data

Request ( HTTP/1.1 )

$_GET

Headers

Cookies

Response ( 200 - OK )

Headers

System Configuration

App.php	APPPATH/Config/App.php
Auto.php	FCPATH/App/Module/Config/Auto.php
Autoload.php	APPPATH/Config/Autoload.php
AutoloadConfig.php	APPPATH/System/Config/AutoloadConfig.php
Autoloader.php	APPPATH/System/Autoloader/Autoloader.php
BaseBuilder.php	APPPATH/System/Database/BaseBuilder.php
BaseCollector.php	APPPATH/System/Debug/Toolbar/Collectors/BaseCollector.php
BaseConfig.php	APPPATH/System/Config/BaseConfig.php
BaseConnection.php	APPPATH/System/Database/BaseConnection.php
BaseHandler.php	APPPATH/System/Cache/Handlers/BaseHandler.php
BaseResult.php	APPPATH/System/Database/BaseResult.php
BaseService.php	APPPATH/System/Config/BaseService.php
Builder.php	APPPATH/System/Database/MySQLi/Builder.php
Cache.php	APPPATH/Config/Cache.php
Cache.php	APPPATH/Extend/Cache.php
Cache.php	FCPATH/Fcms/Library/Cache.php
CacheFactory.php	APPPATH/System/Cache/CacheFactory.php
CacheInterface.php	APPPATH/System/Cache/CacheInterface.php
Category.php	FCPATH/App/Module/Action/Category.php
CliRenderer.php	APPPATH/System/ThirdParty/Kint/Renderer/CliRenderer.php
CodeIgniter.php	APPPATH/Extend/CodeIgniter.php
CodeIgniter.php	APPPATH/System/CodeIgniter.php
Common.php	APPPATH/System/Common.php
Config.php	APPPATH/System/Config/Config.php
Config.php	APPPATH/System/Database/Config.php
Connection.php	APPPATH/System/Database/MySQLi/Connection.php
ConnectionInterface.php	APPPATH/System/Database/ConnectionInterface.php
Constants.php	APPPATH/Config/Constants.php
Content.php	FCPATH/App/Module/Models/Content.php
Content.php	FCPATH/Fcms/Model/Content.php
ContentSecurityPolicy.php	APPPATH/Config/ContentSecurityPolicy.php
ContentSecurityPolicy.php	APPPATH/System/HTTP/ContentSecurityPolicy.php
Controller.php	APPPATH/Extend/Controller.php
Controller.php	APPPATH/System/Controller.php
Database.php	APPPATH/Config/Database.php
Database.php	APPPATH/System/Database/Database.php
Database.php	APPPATH/System/Debug/Toolbar/Collectors/Database.php
Date.php	FCPATH/Fcms/Field/Date.php
DebugToolbar.php	APPPATH/System/Filters/DebugToolbar.php
DotEnv.php	APPPATH/System/Config/DotEnv.php
Editor.php	FCPATH/Fcms/Field/Editor.php
Events.php	APPPATH/Config/Events.php
Events.php	APPPATH/System/Debug/Toolbar/Collectors/Events.php
Events.php	APPPATH/System/Events/Events.php
Exceptions.php	APPPATH/Config/Exceptions.php
Exceptions.php	APPPATH/Extend/Exceptions.php
Exceptions.php	APPPATH/System/Debug/Exceptions.php
Factories.php	APPPATH/System/Config/Factories.php
Factory.php	APPPATH/System/Config/Factory.php
Field.php	FCPATH/Fcms/Library/Field.php
File.php	FCPATH/Fcms/Field/File.php
FileHandler.php	APPPATH/System/Cache/Handlers/FileHandler.php
FileLocator.php	APPPATH/System/Autoloader/FileLocator.php
Files.php	APPPATH/System/Debug/Toolbar/Collectors/Files.php
FilterInterface.php	APPPATH/System/Filters/FilterInterface.php
Filters.php	APPPATH/Config/Filters.php
Filters.php	APPPATH/System/Filters/Filters.php
Header.php	APPPATH/System/HTTP/Header.php
Helper.php	FCPATH/Fcms/Core/Helper.php
Hook.php	APPPATH/Extend/Hook.php
Hooks.php	FCPATH/App/Module/Config/Hooks.php
Hooks.php	FCPATH/Fcms/Core/Hooks.php
IncomingRequest.php	APPPATH/System/HTTP/IncomingRequest.php
Init.php	APPPATH/Init.php
Init.php	FCPATH/Fcms/Init.php
Input.php	FCPATH/Fcms/Library/Input.php
Kint.php	APPPATH/Config/Kint.php
Kint.php	APPPATH/System/ThirdParty/Kint/Kint.php
Lang.php	FCPATH/Fcms/Library/Lang.php
Logger.php	APPPATH/Config/Logger.php
Logger.php	APPPATH/System/Log/Logger.php
LoggerInterface.php	APPPATH/System/ThirdParty/PSR/Log/LoggerInterface.php
Logs.php	APPPATH/System/Debug/Toolbar/Collectors/Logs.php
Member.php	FCPATH/Fcms/Model/Member.php
Message.php	APPPATH/System/HTTP/Message.php
MessageInterface.php	APPPATH/System/HTTP/MessageInterface.php
MessageTrait.php	APPPATH/System/HTTP/MessageTrait.php
Model.php	APPPATH/Extend/Model.php
Model.php	FCPATH/Fcms/Core/Model.php
Module.php	FCPATH/App/Module/Extends/Home/Module.php
Modules.php	APPPATH/Config/Modules.php
Modules.php	APPPATH/System/Modules/Modules.php
Paths.php	APPPATH/Config/Paths.php
Phpcmf.php	FCPATH/Fcms/Core/Phpcmf.php
Query.php	APPPATH/System/Database/Query.php
QueryInterface.php	APPPATH/System/Database/QueryInterface.php
Related.php	FCPATH/App/Module/Action/Related.php
Renderer.php	APPPATH/System/ThirdParty/Kint/Renderer/Renderer.php
RendererInterface.php	APPPATH/System/View/RendererInterface.php
Request.php	APPPATH/Extend/Request.php
Request.php	APPPATH/System/HTTP/Request.php
RequestInterface.php	APPPATH/System/HTTP/RequestInterface.php
RequestTrait.php	APPPATH/System/HTTP/RequestTrait.php
Response.php	APPPATH/System/HTTP/Response.php
ResponseInterface.php	APPPATH/System/HTTP/ResponseInterface.php
ResponseTrait.php	APPPATH/System/API/ResponseTrait.php
ResponseTrait.php	APPPATH/System/HTTP/ResponseTrait.php
Result.php	APPPATH/System/Database/MySQLi/Result.php
ResultInterface.php	APPPATH/System/Database/ResultInterface.php
RichRenderer.php	APPPATH/System/ThirdParty/Kint/Renderer/RichRenderer.php
RouteCollection.php	APPPATH/System/Router/RouteCollection.php
RouteCollectionInterface.php	APPPATH/System/Router/RouteCollectionInterface.php
Router.php	APPPATH/System/Router/Router.php
Router.php	FCPATH/Fcms/Library/Router.php
RouterInterface.php	APPPATH/System/Router/RouterInterface.php
Routes.php	APPPATH/Config/Routes.php
Routes.php	APPPATH/Extend/Routes.php
Routes.php	APPPATH/System/Config/Routes.php
Routes.php	APPPATH/System/Debug/Toolbar/Collectors/Routes.php
Security.php	FCPATH/Fcms/Library/Security.php
Seo.php	FCPATH/Fcms/Library/Seo.php
Service.php	FCPATH/Fcms/Core/Service.php
Services.php	APPPATH/Config/Services.php
Services.php	APPPATH/System/Config/Services.php
Show.php	FCPATH/Fcms/Control/Show.php
Text.php	FCPATH/Fcms/Field/Text.php
TextRenderer.php	APPPATH/System/ThirdParty/Kint/Renderer/TextRenderer.php
Textarea.php	FCPATH/Fcms/Field/Textarea.php
Timer.php	APPPATH/System/Debug/Timer.php
Timers.php	APPPATH/System/Debug/Toolbar/Collectors/Timers.php
Toolbar.php	APPPATH/Config/Toolbar.php
Toolbar.php	APPPATH/System/Debug/Toolbar.php
URI.php	APPPATH/System/HTTP/URI.php
UserAgent.php	APPPATH/System/HTTP/UserAgent.php
UserAgents.php	APPPATH/Config/UserAgents.php
Utils.php	APPPATH/System/ThirdParty/Kint/Utils.php
Version.php	FCPATH/My/Config/Version.php
View.php	APPPATH/Config/View.php
View.php	APPPATH/Extend/View.php
View.php	APPPATH/System/Config/View.php
View.php	APPPATH/System/View/View.php
View.php	FCPATH/Fcms/Core/View.php
Views.php	APPPATH/System/Debug/Toolbar/Collectors/Views.php
custom.php	/webdata/wei/config/custom.php
database.php	/webdata/wei/config/database.php
domain_app.php	/webdata/wei/cache/config/domain_app.php
domain_client.php	/webdata/wei/cache/config/domain_client.php
hooks.php	/webdata/wei/config/hooks.php
index.php	/webdata/wei/index.php
init.php	APPPATH/System/ThirdParty/Kint/init.php
init_helpers.php	APPPATH/System/ThirdParty/Kint/init_helpers.php
lang.php	/webdata/wei/api/language/zh-cn/lang.php
site.php	/webdata/wei/cache/config/site.php
system.php	/webdata/wei/cache/config/system.php
template_DS_pc_DS_default_DS_home_DS_footer.html.cache.php	/webdata/wei/cache/template/template_DS_pc_DS_default_DS_home_DS_footer.html.cache.php
template_DS_pc_DS_default_DS_home_DS_header.html.cache.php	/webdata/wei/cache/template/template_DS_pc_DS_default_DS_home_DS_header.html.cache.php
template_DS_pc_DS_default_DS_home_DS_show.html.cache.php	/webdata/wei/cache/template/template_DS_pc_DS_default_DS_home_DS_show.html.cache.php
url_helper.php	APPPATH/System/Helpers/url_helper.php

File:	/webdata/wei/dayrui/Fcms/Control/Show.php
App:	/
Controller:	show
Method:	index
URI:	show/index
URL:	http://wei.vialancer.com/index.php?c=show&id=27

Datetime	Status	Method	URL	Content-Type	Is AJAX?
2023-07-25 14:40:22	200	GET	http://wei.vialancer.com/	text/html; charset=UTF-8	No
2023-07-25 14:40:18	200	GET	http://wei.vialancer.com/	text/html; charset=UTF-8	No
2023-07-25 11:50:35	200	GET	http://wei.vialancer.com/	text/html; charset=UTF-8	No
2023-07-25 11:50:33	200	GET	http://wei.vialancer.com/	text/html; charset=UTF-8	No
2023-07-25 11:50:31	200	GET	http://wei.vialancer.com/	text/html; charset=UTF-8	No
2023-07-25 11:50:29	200	GET	http://wei.vialancer.com/	text/html; charset=UTF-8	No
2023-07-25 11:50:25	200	GET	http://wei.vialancer.com/	text/html; charset=UTF-8	No
2023-07-25 11:50:20	200	GET	http://wei.vialancer.com/	text/html; charset=UTF-8	No
2023-07-25 11:50:18	200	GET	http://wei.vialancer.com/	text/html; charset=UTF-8	No
2023-07-25 11:50:16	200	GET	http://wei.vialancer.com/	text/html; charset=UTF-8	No
2023-07-25 11:50:12	200	GET	http://wei.vialancer.com/	text/html; charset=UTF-8	No
2023-07-25 11:50:06	200	GET	http://wei.vialancer.com/	text/html; charset=UTF-8	No
2023-07-25 11:50:03	200	GET	http://wei.vialancer.com/	text/html; charset=UTF-8	No
2023-07-25 11:49:39	200	GET	http://wei.vialancer.com/	text/html; charset=UTF-8	No
2023-07-25 11:49:36	200	GET	http://wei.vialancer.com/	text/html; charset=UTF-8	No
2023-07-25 09:50:02	200	GET	http://wei.vialancer.com/	text/html; charset=UTF-8	No
2023-07-25 09:36:57	200	GET	http://wei.vialancer.com/	text/html; charset=UTF-8	No
2023-07-25 09:35:42	200	GET	http://wei.vialancer.com/	text/html; charset=UTF-8	No
2023-07-25 09:33:16	200	GET	http://wei.vialancer.com/	text/html; charset=UTF-8	No
2023-07-24 17:45:43	200	GET	http://wei.vialancer.com/	text/html; charset=UTF-8	No

Cookie	pgv_pvi=2798497912
Accept-Language	zh-CN,zh;q=0.9
Accept-Encoding	gzip, deflate
Referer	http://wei.vialancer.com/index.php?c=category&id=12
Accept	text/html,application/xhtml+xml,application/xml;q=0.9,image/avif,image/webp,image/apng,/;q=0.8,application/signed-exchange;v=b3;q=0.7
User-Agent	Mozilla/5.0 (Windows NT 10.0; Win64; x64) AppleWebKit/537.36 (KHTML, like Gecko) Chrome/113.0.0.0 Safari/537.36
Upgrade-Insecure-Requests	1
Connection	keep-alive
Host	wei.vialancer.com

CodeIgniter Version:	4.0.5
PHP Version:	7.2.16
PHP SAPI:	fpm-fcgi
Environment:	development
Base URL:	http://wei.vialancer.com/
Timezone:	PRC
Locale:	en
Content Security Policy Enabled:	No

Time	Event Name	Times Called
4.91 ms	pre_system	1
0.05 ms	dbquery	5

省部共建国重室龙雨教授团队在串并联混合柔性焊接机械臂减振多目标轨迹规划方法取得进展

友情链接

联系我们

联系我们

4.0.5

Database (5 Queries across 0 Connection)

Views

运行时间：0.01ms

模板文件

引用提示

模板变量

Files ( 148 )

Routes

Events

History

View Data

Session User Data

Request ( HTTP/1.1 )

$_GET

Headers

Cookies

Response ( 200 - OK )

Headers

System Configuration