Inverted pendulum stabilization: Characterization of codimension-three triple zero bifurcation via multiple delayed proportional gains

The paper considers the problem of stabilization of systems possessing a multiple zero eigenvalue at the origin. The controller that we propose, uses multiple delayed measurements instead of derivative terms. Doing so, we increase the performances of the closed loop in presence of system uncertainties and/or noisy measurements. The problem formulation and the analysis is presented through a classical engineering problem which is the stabilization of an inverted pendulum on a cart moving horizontally. On one hand, we perform a nonlinear analysis of the center dynamics described by a three dimensional system of ordinary differential equations with a codimension-three triple zero bifurcation. On the other hand, we present the complementary stability analysis of the corresponding linear time invariant system with two delays describing the behavior around the equilibrium. The aim of this analysis is to characterize the possible local bifurcations. Finally, the proposed control scheme is numerically illustrated and discussed.     

Creating the brain and interacting with the brain: an integrated approach to understanding the brain

In the past two decades, brain science and robotics have made gigantic advances in their own fields, and their interactions have generated several interdisciplinary research fields. First, in the ‘understanding the brain by creating the brain’ approach, computational neuroscience models have been applied to many robotics problems. Second, such brain-motivated fields as cognitive robotics and developmental robotics have emerged as interdisciplinary areas among robotics, neuroscience and cognitive science with special emphasis on humanoid robots. Third, in brain–machine interface research, a brain and a robot are mutually connected within a closed loop. In this paper, we review the theoretical backgrounds of these three interdisciplinary fields and their recent progress. Then, we introduce recent efforts to reintegrate these research fields into a coherent perspective and propose a new direction that integrates brain science and robotics where the decoding of information from the brain, robot control based on the decoded information and multimodal feedback to the brain from the robot are carried out in real time and in a closed loop.     

湘中海相浅层湘冷1井酸压工艺研究及应用

湘冷1井具有气层埋藏浅（400m-500m）、纵向上裂隙发育的特点，属低孔、低渗的含泥质灰岩致密储层。大量室内实验和研究采用“前置液酸压＋闭合酸化”工艺技术，并优选了相应降阻酸和闭合酸配方。通过酸压实现了该井工业油气流的突破，取得了明显的增产效果，为新区海相浅层气的开发探索出了一套成熟的改造增产措施。     

涡轮搅拌桨反应器混合过程的数值计算

利用CFD方法计算单层涡轮反应器搅拌槽内流体混合过程的速度场和浓度场,研究物料在搅拌槽内的混合过程,以及不同监测点对混合时间的影响。结果表明,搅拌槽内物料的混合主要受槽内流体的流动形式所影响;混合时间的长短与监测点位置有关;在搅拌桨的桨叶附近进行监测所得到的混合时间较短,在液面附近进行监测所得的混合时间较长。在实际生产和试验中,应注意对监测点位置的选取。     

基于击键动力学和口令的双因素用户验证

提出基于击键动力学和口令的一种新的身份验证方法，该方法监视用户在输入口令时的用户击键特征的有关数据，通过采用监视键盘输入时一种新的三键持续时间的击键特征表示，用一种表示用户节奏的相对击键速度的距离衡量方式，在正常样本上建立用户模式，然后用新样本与用户模式的距离匹配情况来验证用户身份的合法性。实验表明该方法简单实用，识别效率高。     

Contributions of higher order terms to nonlinear waves in fluid-filled elastic tubes: strongly dispersive case

In the present work, employing the nonlinear equations of an incompressible, isotropic and elastic thin tube and the approximate equations of an incompressible inviscid fluid, and then utilizing the modified reductive perturbation technique presented by us [15] the amplitude modulation of weakly nonlinear waves is examined. It is shown that the first order term in the perturbation expansion is governed by a nonlinear Schrödinger equation and the second order term is governed by the linearized Schrödinger equation with a nonhomogeneous term. In the longwave limit a travelling wave type of solution to these equations are also given.     

原油基压裂液研究

研制了一种适用于低压、低渗、水敏性储集层的新型原油基压裂液体系。根据基液原油的组分合成相应的增稠剂，增稠剂在原油中与交联剂反应，形成网状结构，使原油成为黏度可以调控的冻胶，从根本上改变了油基压裂液以柴油、煤油为基液的现状，降低了油基压裂液的成本，同时还提高了压裂液的抗温、抗剪切和破胶性能，并将交联时间缩短到2h以内，可以满足现场压裂施工的要求，大大降低了施工强度和压裂改造的综合成本。在青海油田进行的现场先导试验取得成功。图9表1参5     

A stochastic model for localized disturbances and its applications

A stochastic model for local disturbances, particularly for a temporal harmonic with random modulations in amplitude and/or phase, is proposed in this paper. Results for the second moment responses of a linear single-degree-of-freedom system to this type of stochastic loading demonstrate a significant change in response characteristics due to a small uncertainty. A local phenomenon may last much longer and resonance may be smeared to a broad range. Integrated with wavelet transform, the proposed approach may be used to model a random process with non-stationary frequency content. Especially, it can be effectively used for Monte Carlo simulation to generate large size of samples that have similar characteristics in time and frequency domains as a pre-selected mother sample has. The technique has a great potential for the case where uncertainty study is warranted but the available samples are limited.