Dynamic surface control-backstepping based impedance control for 5-DOF flexible joint robots

A new impedance controller based on the dynamic surface control-backstepping technique to actualize the anticipant dynamic relationship between the motion of end-effector and the external torques was presented. Comparing with the traditional backstepping method that has “explosion of terms” problem, the new proposed control system is a combination of the dynamic surface control technique and the backstepping. The dynamic surface control (DSC) technique can resolve the “explosion of terms” problem that is caused by differential coefficient calculation in the model, and the problem can bring a complexity that will cause the backstepping method hardly to be applied to the practical application, especially to the multi-joint robot. Finally, the validity of the method was proved in the laboratory environment that was set up on the 5-DOF (degree of freedom) flexible joint robot. Tracking errors of DSC-backstepping impedance control that were 2.0 and 1.5 mm are better than those of backstepping impedance control which were 3.5 and 2.5 mm in directions X, Y in free space, respectively. And the anticipant Cartesian impedance behavior and compliant behavior were achieved successfully as depicted theoretically.     

Application of open-pit and underground mining technology for residual coal of end slopes

Given the conditions of residual coal from the boundary of a flat dipping open-pit mine,which uses strip areas mining and inner dumping with slope-covering,we propose an open-pit and underground integrated mining technology for residual coal of end slopes.In the proposal a conveyance road and ventilation conveyance near the slope are built,corresponding to the pit mining area and the surface coal mine dump,as well as an interval haulage tunnel and air-inlet tunnel.The outcome shows that such mining method may reduce the effect to slope stability from underground mining,it does not affect the dumping advance and has a high recovery rate of residual coal resources.The working face is timbered by single hydraulic props,transported by a scraper conveyor and supported by coal walls.This method of mining is one of layered top coal caving,with high resource recovery,low production cost where positive economic benefit can be realized.     

Multi-label dimensionality reduction based on semi-supervised discriminant analysis

Multi-label data with high dimensionality often occurs, which will produce large time and energy overheads when directly used in classification tasks. To solve this problem, a novel algorithm called multi-label dimensionality reduction via semi-supervised discriminant analysis (MSDA) was proposed. It was expected to derive an objective discriminant function as smooth as possible on the data manifold by multi-label learning and semi-supervised learning. By virtue of the latent imformation, which was provided by the graph weighted matrix of sample attributes and the similarity correlation matrix of partial sample labels, MSDA readily made the separability between different classes achieve maximization and estimated the intrinsic geometric structure in the lower manifold space by employing unlabeled data. Extensive experimental results on several real multi-label datasets show that after dimensionality reduction using MSDA, the average classification accuracy is about 9.71% higher than that of other algorithms, and several evaluation metrices like Hamming-loss are also superior to those of other dimensionality reduction methods.     

基于B／S中可重用COM组件模型的设计与实现

利用存储过程的预编译机制,将存储过程应用于COM组件模型,是本文讨论的一项关键技术。在该技术的基础上,提出了三种可重用的COM组件模型,并在VB6．0环境下对三种组件给出了详细设计和实现。     

基于广东区域性高职院校创业教育的思考——记广州城建职业学院学生创业教育的探索

职业素质是劳动者对社会职业了解与适应能力的一种综合体现,主要包括职业修养和职业技能。在高职院校中开展创业教育是我国经济形势发展的需要,对于培养学生的实践能力、创新精神和解决学生的就业压力有着十分重要的意义。广州城建职业学院的创业教育可以从以下三方面着手：一是转变观念,营造氛围;二是传授本领,打好基础;三是开展活动,提高能力,逐步探索出一条适合广州城建职业学院特色高职学生创业教育的新路子。     

生活质量视阈下的大学生“精神贫困”测量指标研究

高校大学生＂精神贫困＂现象已引起人们重视,成为多方关注话题。本文在梳理前人研究成果基础上,对＂精神贫困＂测量指标进行研究,以获得科学的测量指标体系,为获得真实科学的一手资料打进行理论论证。     

晨静甲消毒液刺激性试验研究

目的：应用晨静甲消毒液对实验兔皮肤、阴道黏膜进行刺激试验,为其消毒液的生产和应用提供依据。方法：依据消毒技术规范（2002年版）进行一次破损皮肤刺激试验、多次皮肤刺激试验、阴道黏膜刺激试验。结果：实验兔一次破损皮肤刺激试验反应积分为0;多次皮肤刺激试验反应积分为0;阴道黏膜刺激试验反应积分为0。结论：在本试验条件下,该消毒液无刺激性。     

旋转轴对称LED均匀照明系统设计方法

基于边缘光学理论,提出了一种应用于LED照明的光学系统设计方法,分别实现基于透镜和反射器的LED均匀照明光学系统,可在一特定距离的目标面上形成均匀圆形光斑。采用基于蒙特卡罗法的光线追迹软件对两种光学系统进行模拟仿真,结果显示,目标面上光斑的均匀度优于85%,系统效率高于90%。     

关于高校会计电算化教学问题的思考

我国财会电算化事业的发展离不开电算化人才,不能掌握必要的信息技术的理财人员、会计人员必然不能适应未来的工作而被淘汰。因此,为社会培养合格的电算化人才是当前高校财会专业电算化教学的目标之一。而目前,财会类专业电算化教育还存在着许多问题,因此必须从教学目标的设定、课程体系设置、教学内容安排等诸多方面进行必要的改革以适应未来对财会类人才的需要。     

上向流厌氧氨氧化生物滤池的启动与脱氮性能

利用上向流陶粒滤池反应器进行了厌氧氨氧化工艺的启动与性能研究.以A/O除磷工艺出水为试验原水,先以自然挂膜的方法启动好氧硝化生物膜,再通过自然筛选和人工诱导的方式将其转化为厌氧氨氧化生物膜,7个月后实现了厌氧氨氧化工艺的启动,TN去除负荷达到了6.8 kg/(m~3·d),微生物表观比生长速率为0.0018h~(-1).试验表明,上向流的运行方式有利于提高厌氧氨氧化生物滤池的脱氮性能,最高TN去除负荷达到12.37 kg/(m~3·d),比目前文献所报道的最高值还要高出很多.另外,试验滤池厌氧氨氧化过程的化学计量学和COD去除特性表明该过程中存在一定程度的异养反硝化过程,且对滤池的厌氧氨氧化脱氮有利.