基于滑模的运载器主动段俯仰通道姿控系统设计

与传统比例-积分-微分（PID）控制方法相比，滑模控制（SMC）方法可以比较容易地将不确定性纳入控制器设计中，从而增强系统的鲁棒性。探索了SMC技术在运载器主动段姿态控制中的工程应用，首先通过分析基于趋近律的SMC系统，提出了降低不连续切换项系数的需求，然后研究了基于干扰上界的SMC方法。三通道小偏差仿真结果验证了两种方法的控制效果，表明第2种控制器的鲁棒性更好，稳态误差小，同时发动机喷管摆角需求较小。     

嵌入式实时操作系统内核混合代码的自动化验证框架

"如何构造高可信的软件系统"已成为学术界和工业界的研究热点.操作系统内核作为软件系统的基础组件，它的安全可靠是构造高可信软件系统的重要环节.为了确保操作系统内核的安全可靠，将形式化方法引入到操作系统内核验证中，提出了一个自动化验证操作系统内核的框架.该验证框架包括：（1）分别对C语言程序和混合语言程序（C语言和汇编语言）进行验证；（2）在混合语言程序验证中，为汇编程序建立抽象模型，并将C语言程序和抽象模型粘合形成基于C语言验证工具可接收的验证模型；（3）从规范中提取性质，基于该自动验证工具，对性质完成自动验证；（4）该框架不限于特定的硬件架构.成功地运用该验证框架对两种不同硬件平台的嵌入式实时操作系统内核μC/OS-II进行了验证.结果显示：利用该框架在对两个不同的硬件平台上内核验证时，框架的可重复利用率很高，高达到88%，虽然其抽象模型需要根据不同的硬件平台进行重构.在对基于这两种平台的操作系统内核验证中，分别发现了10~12处缺陷.其中，在ARM平台上两处与硬件相关的问题被发现.实验表明，该方法对不同硬件平台的同一个操作系统分析验证具有一定的通用性.     

Application of higher order spectral features and support vector machines for bearing faults classification

Condition monitoring and fault diagnosis of rolling element bearings timely and accurately are very important to ensure the reliability of rotating machinery. This paper presents a novel pattern classification approach for bearings diagnostics, which combines the higher order spectra analysis features and support vector machine classifier. The use of non-linear features motivated by the higher order spectra has been reported to be a promising approach to analyze the non-linear and non-Gaussian characteristics of the mechanical vibration signals. The vibration bi-spectrum (third order spectrum) patterns are extracted as the feature vectors presenting different bearing faults. The extracted bi-spectrum features are subjected to principal component analysis for dimensionality reduction. These principal components were fed to support vector machine to distinguish four kinds of bearing faults covering different levels of severity for each fault type, which were measured in the experimental test bench running under different working conditions. In order to find the optimal parameters for the multi-class support vector machine model, a grid-search method in combination with 10-fold cross-validation has been used. Based on the correct classification of bearing patterns in the test set, in each fold the performance measures are computed. The average of these performance measures is computed to report the overall performance of the support vector machine classifier. In addition, in fault detection problems, the performance of a detection algorithm usually depends on the trade-off between robustness and sensitivity. The sensitivity and robustness of the proposed method are explored by running a series of experiments. A receiver operating characteristic (ROC) curve made the results more convincing. The results indicated that the proposed method can reliably identify different fault patterns of rolling element bearings based on vibration signals.     

Epos – an instrument for the assessment of the ethical position in software development

Digital technology becomes more powerful, intelligent, pervasive and ubiquitous. Ethical aspects of this development have not yet drawn the appropriate attention of researchers and engineers. This paper presents an instrument that aims at measuring the individual ethical position with regard to the design and development of computer software. The development of the Epos tool was based on two data collections. The data of the first survey (n₁ = 147 participants) were used to select items and to determine the factorial structure of the questionnaire. Results show that the Epos instrument reliably assesses peoples’ ethical opinion with respect to five central components: (1) regulation, (2) data privacy, (3) domain specific knowledge, (4) societal responsibility and (5) company responsibility. In the second survey, we determined the stability of the instruments factor structure by assessing a sample of n₂?=?196 participants. A confirmatory factor analysis (CFA) supported the initial factor structure. Next steps and further implications are discussed regarding the final version of the questionnaire.     

Systematic convergence of nonlinear stochastic estimators on the Special Orthogonal Group SO(3)

This paper introduces two novel nonlinear stochastic attitude estimators developed on the Special Orthogonal Group with the tracking error of the normalized Euclidean distance meeting predefined transient and steady‐state characteristics. The tracking error is confined to initially start within a predetermined large set such that the transient performance is guaranteed to obey dynamically reducing boundaries and decrease smoothly and asymptotically to the origin in probability from almost any initial condition. The proposed estimators produce accurate attitude estimates with remarkable convergence properties using measurements obtained from low‐cost inertial measurement units. The estimators proposed in continuous form are complemented by their discrete versions for the implementation purposes. The simulation results illustrate the effectiveness and robustness of the proposed estimators against uncertain measurements and large initialization error, whether in continuous or discrete form.     

离心泵并联运行工况点的数值求解

建立了求解多台不同型号离心泵并联运行工况点的数学模型,给出了用数值计算中的“二分法”求解该模型的方法,并附有用Exce l计算的实例。     

油气操作成本预测方法研究

油气操作成本在油气生产中占有较大的比重，油气操作成本的高低直接影响油田开发的经济效益。为了有效地控制油田油气操作成本，根据影响油气操作的因素，将油气操作成本按其影响因素进行分类，对基本运行费和油气处理费采用回归预测的方法，通过对相关数据的收集，建立对应的数学模型进行预测，对其他各项操作成本，采用单位费用和计划工作量进行预测，最后进行汇总，得到油气操作成本，其预测结果可作为油气操作成本计划制订的依据。该方法简单、操作性强，预测效果较好，在油田可以推广使用。     

Windows2000环境下实时控制系统的软件实现

文章介绍了在windows2000环境下通过编写WDM（Windows Driver Model）设备驱动程序实现实时数据采集和控制的一种方法。采用研华数据采集卡PCL818L产生中断信号．通过编写WDM驱动程序实现了在windows2000环境下转台的位置控制。并在实验中调试通过。实验结果表明：在采样频率为1KHz的情况下。控制系统很好实现了输出对输入的跟踪，证明了采用方法的正确性。该方法解决了windows2000环境下的实时性问题，为在windows环境下实时控制系统的实现提供了有益的尝试。     

换热器设计中适宜流体用量的确定

利用换热器的操作线来分析讨论流体用量对传热过程的操作费用和设备费用的影响，找出了换热器设计和选型中适宜流体用量的优化确定方法，简便，快捷，具有一定的适用性。     

胜利原油350～510℃馏分糠醛精制的研究

对胜利原油 350～ 510℃馏分每 4 0℃切割一种馏分进行糠醛精制 ,考察了实验室条件下不同温度、不同醛油比条件下精制对提余油质量和收率的影响。采用醛油比 3× 1∶1,抽提温度在 70～ 95℃ ,可使精制馏分油粘度指数提高 10～ 2 7个单位 ,精制油收率高于 70 %。