Joint stick-slip friction compensation of robot manipulators by using smooth robust controllers

In this article, two new smooth robust nonlinear compensators have been developed, respectively, for positional regulation and trajectory tracking of rigid robot manipulators with internal joint stick-slip friction. The proposed controllers can improve not only the positioning accuracy but also the smoothness of motion. No exact knowledge of the friction models is required for the design of the controllers. Furthermore, the tracking controller is also robust with respect to the uncertain link parameters. Using Lyapunov's direct method, we can show that the time-invariant positional regulation controller guarantees the global boundedness stability of the closed-loop system, while the time-varying positional tracking controller guarantees the global asymptotic stability of the closed-loop system. The numerical simulations of the controllers on a two-link robot are presented as illustrations. © 1994 John Wiley & Sons, Inc.     

变结构变参数设计方法及其在机械CAD中的应用

提出了一种新颖的机械结构设计思想－变结构变参数设计方法，并结合实例，阐述了变结构变参数设计的概念、原则、实施措施和意义。由此对Ｉ－ｄｅａｓ软件包进行了二次开发，编制了发动机曲轴专用ＣＡＤ软件程序，并用某型号发动机曲轴进行了验证。     

薄层反射波非零炮检距的属性特征

 本文从薄层顶、底界面反射波的走时入手，研究了薄层反射波在非零炮检距集上出现的干涉现象，导出了薄层反射波在出现干涉时的炮检距计算公式，说明薄层干涉出现的炮检距是多变量函数，即随着埋藏深度h、地层速度v、薄层厚度Δh以及地震波的主频f*的变化而改变。本文重点分析了地层厚度Δh和地震子波主频f*对反射波振幅特性和频率特性的影响。在充分分析薄层反射的振幅、频谱随炮检距变化关系的基础上，指出在应用叠前信息（如AVO分析）进行储层预测等方面的研究时，应充分考虑薄层反射波的干涉和调谐现象带来的振幅和频率特征的变化。     

膜片式流量调节阀

介绍了用于油田开采工艺的膜片式流量调节阀的结构及其特点,分析了调节阀出口压力、进口压力对其流量的影响。受力分析和现场使用表明:该阀流量恒定精度(即恒流偏差)取决于膜片有效面积S与阀心下端有效面积S′之比,此值为12,其恒流比偏差为0·03,说明该阀的流量恒定精度高;该阀不易被杂质卡死,稀油中直径1mm的砂粒能顺利通过,而不影响阀的功能;膜片式流量调节阀是没有高加工精度要求的部件,普通车床即可生产,因此造价较低。     

一种用于太阳热水器的智能控制电路

根据本刊2004年第1期刊登的《太阳热水器智能控制方案设计的探讨》一文的内容进行具体电路设计，可以设计成多种形式的电路。本文介绍一种运用于太阳热水器的全自动控制电路。该电路实现了水位、水温设定及显示功能，全自动的分段上水、止水及电加热补偿功能。经过较长时间的使用实践，效果很好。     

Fatigue crack propagation properties from small sized rod specimens

Mechanical properties characterization is needed in many industrial applications yet sufficient amount of material for fabricating standard-sized testing specimens is often not available. Techniques for testing miniaturized specimen must be adopted. Much effort has been made to develop techniques for impact, fracture toughness and tensile properties of sub-sized specimens. Work on the testing of fatigue properties is more limited. In this study, fatigue crack propagation behavior is evaluated from the growth of surface crack in a cylindrical rod under tension. Rods of various lengths and diameters were tested. As the size of the rod specimen is reduced, the fatigue crack growth rate tends to increase when correlated using the stress intensity factor range. This increase is explained largely by the decrease in the degree of premature crack closure in the small specimens. Valid fatigue crack growth data can be obtained among the specimens examined except on the crack growth on the surface of the smallest specimen, which has a length of 26 mm and diameter of 8 mm. Even so, valid data can still be elucidated on the latter specimen if the interior growth is considered. The dimensions of the latter specimen allow fatigue properties to be evaluated using broken remnants from impact or other test specimens.     

利用Hilbert-Huang变换提取地震信号瞬时参数

 通过Hilbert变换求取的信号瞬时参数并非对任何信号都有物理意义，此法通常要求被分析信号是窄带或平稳的，而且对噪声很敏感。而实际地震信号既非平稳又含有噪声，若在实际应用中不加考虑地对地震信号进行Hilbert变换以求取瞬时参数，这种情况下求取的瞬时参数将缺乏物理意义甚至失真。Hilbert-Huang变换是一种新的分析非平稳非线性信号的方法，它先将信号进行经验模态分解（EMD），形成有限个固有模态函数（IMF）之和，再对固有模态函数作Hilbert变换求取时频谱，求取的时频谱在时域和频域都具有较高的分辨率。本文将Hilbert-Huang变换应用于地震瞬时参数的提取，实例表明，对地震剖面做EMD可以得到不同时间尺度上的特征，Hilbert谱比传统的时频谱在时间和频率域上的分辨率都要高，强反射层在第1阶IMF瞬时频率剖面上比原瞬时频率剖面上表现得更为明显。     

一种应用于二次布局的有效划分方法

提出了一种基于二次布局的结合MFFC结群和hMETIS划分的算法.实验表明:这种方法能得到很好的布局结果,但是运行消耗的时间比较长.为了缩短划分在二次布局中运行的时间,提出了一种改进的结群算法IMFFC,用它在二次布局中做划分.与前者相比较,这种方法虽然布局质量稍差,但速度更快.