检测与修补移动机械手系统的协调控制技术研究

针对2自由度轮式移动载体与5自由度机械手组成的检测与修补移动机械手进行了运动分析及其控制技术的研究．首先分析了移动机械手的结构特点,描述了移动载体与机械手的动力耦合对机械手系统的性能影响．其次,根据移动机械手动力学的复杂性,提出了移动机械手的运动控制策略,建立了基于神经网络的移动机械手三层智能控制的体系结构,底层是执行层,中间层是处理层,顶层是决策层．处理层包括两个RBF神经网络子控制器,未知的移动载体和机械手的动力学参数分别由各自的RBF神经网络辨识和补偿,形成闭环逼近的控制．应用Matlab编程软件对所建立的RBF神经网络进行训练仿真,最后,在实验环境中对移动机械手的运动进行了相关的实验验证．实验结果验证了移动机械手完成相关任务的有效性和可靠性．     

Experimental dynamic characterizations and modelling of disk vibrations for HDDs

Currently, the rotational speed of spindle motors in HDDs (Hard-Disk Drives) are increasing to improve high data throughput and decrease rotational latency for ultra-high data transfer rates. However, the disk platters are excited to vibrate at their natural frequencies due to higher air-flow excitation as well as eccentricities and imbalances in the disk-spindle assembly. These factors contribute directly to TMR (Track Mis-Registration) which limits achievable high recording density essential for future mobile HDDs. In this paper, the natural mode shapes of an annular disk mounted on a spindle motor used in current HDDs are characterized using FEM (Finite Element Methods) analysis and verified with SLDV (Scanning Laser Doppler Vibrometer) measurements. The identified vibration frequencies and amplitudes of the disk ODS (Operating Deflection Shapes) at corresponding disk mode shapes are modelled as repeatable disturbance components for servo compensation in HDDs. Our experimental results show that the SLDV measurements are accurate in capturing static disk mode shapes without the need for intricate air-flow aero-elastic models, and the proposed disk ODS vibration model correlates well with experimental measurements from a LDV.     

公信力，媒体只有这一条命

这是一个被人誉为资讯爆炸的时代,这是一个他信力接近冰点的时代……生活在信息时代的人们,每天都接收到众多资讯,这些资讯涵盖大众生活的各个方面,商业、政治、体育、生活等。而大大小小的媒体每天将最新的新闻与资讯传达给大众时,也夹杂着它们对于新闻事件的观点和态度。     

Room-temperature tests of an optical transducer for resonant gravitational wave detectors

A two-oscillator transducer incorporating a laser-illuminated Fabry-Perot cavity with a finesse of 77,500 and a power dissipation of 1.2 μW was tested at room temperature. The energy of the last resonator with a mass of 1.25 g was measured to be k(B)T within 8%, and no back action from the sensor could be detected. The lowest value of the noise measured away from resonance was 1.0 × 10(-15)m/√Hz, and the electronic noise was 3.2 × 10(-17) m/√Hz. That transducer is designed for a 2400-kg gravitational wave antenna operating at cryogenic temperatures. At 4.2 K and for mechanical quality factors of 3 × 10(6), the measured thermal and electronic noise levels would translate into a sensitivity in h equal to 7.0 × 10 (-19) and 1.5 × 10(-19), respectively.     

Self-Mineralizing Dnazyme Hydrogel as a Multifaceted Bone Microenvironment Amendment for Promoting Osteogenesis in Osteoporosis

The accumulation of reactive oxygen species (ROS) and minimal osteogenic raw material in the osteoporotic bone microenvironment greatly inhibits the activity of osteoblasts. Herein, it is originally proposed to construct a biomatrix multifaceted bone microenvironment amendment -Mineralized zippered G4-Hemin DNAzyme hydrogel (MDH)-to improve osteoporotic osteogenic capacity and promote high-quality bone defect repair. The programmed design of the rolling circle amplified DNA hydrogel synthesis system allows the introduction of massive amounts of zippered G4-Hemin DNAzyme in MDH. The zippered G4-Hemin DNAzyme highly mimics the tight catalytic configuration of horseradish peroxidase and exerts excellent enzyme-like activity with considerable ROS molecule scavenging ability. In addition, the DNA amplification by-product pyrophosphate is ingeniously employed as a sufficient phosphorus source, thus constituting an autonomous mineralization system for waste reuse through the introduction of pyrophosphate hydrolase and calcium ions, which deposits in MDH as an osteogenic raw material and addresses the challenge of DNA hydrogel bio-application stability. The remarkable in vitro and in vivo outcomes demonstrate that MDH can effectively improve the oxidative stress status of osteoblasts, restore the balance of mitochondrial membrane potential, and reduce apoptosis, ultimately demonstrating superior osteogenic capacity.     

EMT 系统在磁性催化物分布检测中的应用

研究了电磁层析成像技术(EMT)在生物柴油制备过程中磁性催化物的分布检测上的应用。为了能够有效应用磁性催化物的导磁特性,在一种8线圈TMR-线圈结构的传感器阵列的基础上设计了仿真实验,比较了不同粒径大小的催化剂分布的成像结果,研究表明,该线圈结构适用于磁性催化物的分布检测。为了改进传统成像算法成像质量差、成像速度慢的缺点,研究了匹配追踪算法(CoSaMP)在图像重建上的应用,并与传统的Tikhonov算法和Landweber算法进行比较,结果表明CoSaMP算法有更好的边缘处理能力和更快的成像速度,与其他两种算法相比,图像误差平均降低了30.4%,成像速度提高了46%,有效提高了重建图像质量与速度。     

计及三相短路故障的MMC光伏并网系统电压补偿方法

模块化多电平变流器(mudular multilevel converter,MMC)在主电路结构中可以有效提高光伏并网系统的光能利用率。提出了一种光伏电站直流并网方案,通过大功率高变比的有源箝位Boost全桥隔离变换器串联升压,然后经MMC实现光伏高压直流并网。针对光伏并网后交流侧电压的稳定性,提出了基于电压前馈的双闭环控制策略。在MATLAB/Simulink中搭建串联型光伏电站经MMC并网模型,并应用基于电压前馈的双闭环控制策略,验证所提拓扑方案的正确性以及控制策略的可行性。结果表明,控制策略可以在发生三相短路故障时及时补偿电压,提高交流系统侧的可靠性。     

Optimizing emotion–cause pair extraction task by using mutual assistance single-task model,clause position information and semantic features

The traditional emotion–cause extraction task needs to give the exact emotion annotation contained in the document before extracting the cause. Different from this, the emotion–cause pair extraction (ECPE) task, which aims to extract emotion–cause pairs with causal relationships directly from the document, is a task proposed in the natural language processing field recently. At present, the task of ECPE is divided into two steps: emotion annotations and cause clause extraction, emotion–cause clause pair combining and filtering. In this article, we optimize these two steps. On the one hand, in the first step of ECPE, a mutual assistance single-task model proposed by us is used to replace the original multi-task model. On the other hand, the position information of the clause is added as an additional feature in the second step of ECPE. Furthermore, based on different levels of semantic features, we design three filtering models and explore their performance on ECPE tasks. The experimental results on the benchmark corpus show that our approach can make the ECPE task achieve better performance. Compared with the referenced method, F1-score is increased by 5.3%. Moreover, these optimization strategies improve the subtasks contained in ECPE to varying degrees.