Adaptive tracking control of manipulators: Theory and experiments

This paper considers the trajectory tracking problem for uncertain robot manipulators and proposes two adaptive controllers as solutions to this problem. The first controller is derived under the assumption that the manipulator state is measurable, while the second strategy is developed for those applications in which only position measurements are available. The adaptive schemes are very general and computationally efficient since they do not require knowledge of either the mathematical model or the parameter values of the manipulator dynamics, and are implemented without calculation of the robot inverse dynamics or inverse kinematic transformation. It is shown that the control strategies ensure uniform boundedness of all signals in the presence of bounded disturbances, and that the ultimate size of the tracking errors can be made arbitrarily small. Experimental results are presented for a PUMA 560 manipulator and demonstrate that accurate and robust trajectory tracking can be achieved by using the proposed controllers.     

Homogeneous Lyapunov function for homogeneous continuous vector field

The goal of this article is to provide a construction of a homogeneous Lyapunov function associated with a system of differential equations , under the hypotheses: (1) vanishes at x = 0 and is homogeneous; (2) the zero solution of this system is locally asymptotically stable. Moreover, the Lyapunov function tends to infinity with x, and belongs to , with as large as wanted. As application to the theory of homogeneous systems, we present two well known results of robustness, in a slightly extended form, and with simpler proofs.     

1.30μmDFB激光器组件的设计和制做及其工作原理

本文自行设计和制作了１．３０μｍＤＦＢ激光器组件的讨论了光隔离和光耦合原理。由于采用的激光器－光隔离器－光纤的一体化结构，大大增加了该组件的可用性。在实验中得到高达５５％的耦合效率。     

电荷灵敏放大器不用反馈高值电阻的新方法

本文提出了一种电荷灵敏放大器不用反馈高值电阻的新方法。对这种方法作了电路分析以及对实际电路的测量结果作了介绍。     

A two-stage MMSE multiuser decision feedback detector using successive/parallel interference cancellation

In this paper, we present a novel two-stage minimum-mean-squared-error (MMSE) multiuser decision feedback detector (DFD) for code division multiple access systems working in the frequency-selective multipath fading environment. The first stage of the proposed cascaded structure is the noise-predictive successive DFD (NP-S-DFD), in which the active users are detected successively using the conventional bell labs layered space-time (BLAST) ordering criterion. The second stage includes an adaptive successive/parallel DFD (SP-DFD), which uses the tentative decisions obtained at the first stage for multiuser interference cancellation and data detection. Therefore, the proposed two-stage DFD may be called noise-predictive successive SP-DFD (NP-S-SP-DFD). Simulation results are presented to demonstrate the substantial improvement in the bit error rate performance of NP-S-SP-DFD over the conventional single-stage and cascaded DFDs. It may be inferred that the proposed DFD provides additional performance gain, when the order in which the users are detected is optimized according to the BLAST ordering based on MMSE criterion.     

Microstructural Modelling of Nb Microalloyed Steels during Thin Slab Direct Rolling Processing

The microstructural evolution during the hot rolling of coarse grain sized austenite has been modeled considering all the microstructural mechanisms (dynamic, static and metadynamic recrystallization, strain induced precipitation) that can take place during an industrial TSDR production of three Nb microalloyed steels. Based on the results obtained from the model, processing maps have been drawn for 0.02%, 0.035% and 0.05% Nb microalloyed steels. Optimum processing conditions to exploit all the benefits of the Nb microalloying have been defined considering a final gauge thickness range between 1.5 and 12.65 mm. In addition, and facing the difficulties present in the production of thick hot strip, several alternative thermomechanical schedules are proposed, which would originate microstructures with a suitable combination of homogeneity and retained strain prior to transformation.     

A CLASS OF BAND-LIMITED CHIP WAVEFORMS FOR DS-CDMA SYSTEMS

In Direct Sequence Code Division Multiple Access （DS-CDMA） systems, the chip waveform affects the implementation, system bandwidth, envelope uniformity, eye pattern and Multiple user Access Interference （MAI）. In this paper, based on an elementary density function of a second order polynomial, a class of second order continuity pulses is proposed. From this class of pulses, we can find some members having faster decaying rate, bigger eye opening, more uniform envelope and stronger anti-MAI capability than the Nyquist waveform. The normalized-bandwidth-pulseshape-factor product, the decaying rate of the tail of the time waveform, the opening of the eye diagram, and the envelope uniformity of the second order continuity pulses are addressed in the paper that provide the basic information for the selection of the chip pulse for CDMA systems.     

自来水节能阀的设计

系统地论述了自来水节能阀的控制原理和特点 ,提出了设计框架并进行了理论分析和推导计算     

德国艾柯夫SL-500采煤机变频器故障及分析

晋城煤业集团引进德国艾柯夫SL-500采煤机,在使用过程中,短时间内连续出现多台变频器烧坏现象,这在艾柯夫采煤机使用过程中是从未有过的事,也给本公司的原煤生产造成了很大影响。为了杜绝此类事情的再次发生,特对本次的故障排除方法进行了认真的分析总结,为今后应用与修理采煤机提供了意见。     

Electron transport in direct methanol fuel cells

A three-dimensional (3D), two-phase, isothermal model of direct methanol fuel cells (DMFCs) was employed to investigate effects of electron transport through the backing layer and the land in bipolar plates. It was found that the electronic resistance of the backing layer, affected by backing layer electronic conductivity, backing layer thickness and flow channel width, played a relatively important role in determining the current density distribution and cell performance. In order to ignore the electron transport effect on the average current density, the minimum electronic conductivity of the backing layer has to be 1000 S m⁻¹, with the relative error in the average current density less than 5%, under the given conditions.