Adaptive compensation of persistent actuator failures of nonlinear systems

In this article, adaptive compensation designs are developed for nonlinear systems with uncertainties from the system functions and persistent actuator failures of characterizations that (i) some unknown system inputs are stuck at some unknown fixed or varying values at unknown time instants and (ii) the failure pattern always switches from one to another and the switching does not stop. Such a controlled plant is described by an uncertain time-varying nonlinear system, and some robust adaptive feedback linearization based failure compensation results are studied for closed-loop system stabilization and bounded output tracking for some specific conditions. To improve the tracking performance in the presence of persistent actuator failures, a new adaptive control scheme is developed, using the failure indicator function which contains the failure pattern and failure time in the formulation. Detailed stability and tracking performance are shown. Simulation results are shown to verify the effectiveness of the proposed adaptive actuator failure compensation method.     

Design and validation of robotic bionic eye with multiple flexible ropes parallel mechanism inspired by oculomotor law

Producing a stable and agile bionic eye for visual image acquisition in robotics is a challenging task. In this paper, we design a bionic eye with mirror-symmetric distribution and cross-connection of flexible ropes. This mechanism is based on oculomotor law and the physiological structure of the extraocular muscles (EOMs). Specifically, the basic structural parameters are determined by Listing’s law, and the unique connection of the flexible ropes can realize the functions of the recti and oblique muscles. Furthermore, to mimic the trochlea structure, a pulley mechanism is constructed to permit the free movement of the flexible ropes. Through simulation and physical experiments, it is demonstrated that the bionic eye mechanism can move with agility under the structural parameters. The experimental results indicate that the proposed bionic eye mechanism has a superior motion accuracy of 2.798 mm, which is 6.7% of the maximum motion distance, and the repeatable accuracy of the mechanism can up to 0.210 mm.     

铝灰的回收处理及资源化利用研究现状

铝灰是铝工业生产过程中产生的有害固体废物,每年的产生量达到上百万吨。铝灰的大量堆积会引起严重的环境与公共安全问题。铝灰中含有较多的金属铝及其氧化物、氮化物,综合回收利用铝灰对减少环境压力、提升铝行业的经济效益具有重要意义。阐述了铝灰的火法和湿法处理工艺,通过比较得出无盐火法工艺和湿法工艺是值得开发的工艺。介绍了铝灰在耐火材料、陶瓷产品、氢气制备以及工程材料等领域的综合利用现状及研究进展。指出在进一步巩固和发展铝灰原有的高附加值资源化利用的同时,应加强对铝灰处理过程中产生的气体的利用。建议根据铝灰的特性进一步开发新的资源化利用方向。     

Geothermal energy utilization trends from a technological paradigm perspective

The use of geothermal energy and its associated technologies has been increasing worldwide. However, there has been little paradigmatic research conducted in this area. This paper proposes a systematic methodology to research the development trends for the sustainable development of geothermal energy. A novel data analysis system was created to research the geothermal energy utilization trends, and a technological paradigm theory was adopted to explain the technological changes. A diffusion velocity model was used to simulate and forecast the geothermal power generation development in the diffusion phase. Simulation results showed that the development of installed capacity for geothermal generation had a strong inertia force along with the S-curve. Power generation from geothermal power sources reached a peak in 2008 and is estimated to be saturated by 2030. Geothermal energy technologies in hybrid power systems based on other renewable energy sources look to be more promising in the future.     

招远市金矿资源开发利用调查评价研究

为深入贯彻生态文明思想，促进矿产资源全面节约和高效利用，对招远市展开了金矿矿产资源开发利用水平调查评价，对2018年度数据进行整理和实地核查后，进行了单个矿山评价和多矿山评价，包括矿种评价、地区评价、行业评价。招远市16个矿山实际数据和基准值指标对比显示，单个矿山评价和多矿山评价的达标率均为100%。在此基础上，分析了金矿矿产资源资源开发利用水平调查评价的意义和存在问题。     

可持续煤矿矿井水处理与资源化技术综述

煤矿开采过程中会产生大量的废弃矿井水,不仅造成水资源的大量浪费,而且还威胁着矿区生态环境。本文综述了我国常见矿井水的常规处理方法,以及将矿井水视为水资源的可持续矿井水水处理与资源化技术,首次提出以“时间维度和空间维度”对矿井水进行全时空处理,并着重阐述了矿井水分级处理、分质利用技术,反渗透浓水处理与资源化技术,煤泥处理与资源化技术,以及重金属回收与利用技术等,对煤矿区矿井水处理与资源化利用具有指导意义。     

基于密集神经网络的灰度图像着色算法

针对在灰度图像着色领域中，传统算法信息提取率不高、着色效果不理想的问题，提出了基于密集神经网络的灰度图像着色算法，以实现改善着色效果，让人眼更好地观察图片信息的目的。利用密集神经网络的信息提取高效性，构建并训练了一个端到端的深度学习模型，对图像中的各类信息及特征进行提取。训练网络时与原图像进行对比，以逐渐减小网络输出结果的信息、分类等各类型的损失。训练完成后，只需向网络输入一张灰度图片，即可生成一张颜色饱满、鲜明逼真的彩色图片。实验结果表明，引入密集网络后，可有效改善着色过程中的漏色、细节信息损失、对比度低等问题，所提算法着色效果较基于VGG网络及U-Net、双流网络结构、残差网络（ResNet）等性能优异的先进着色算法而言取得了显著的改进。     

流域泥沙灾害与泥沙资源性的研究

泥沙灾害与泥沙资源性是流域泥沙的重要属性,二者在一定条件下可以相互转化。本文论述了泥沙淤积、泥沙冲刷、岸滩崩塌、山地崩塌与泥石流、粗沙淤积的土地沙化等泥沙灾害,指出泥沙灾害具有时空分布的不均匀性、渐变性或突发性、群发性、转化性及危害严重性等;流域泥沙资源化的主要途径包括填海造陆及造地、引洪淤灌、堤防淤临淤背、建筑材料、湿地形成(河流、湖泊与河口海岸)等,指出流域泥沙资源化及其优化配置既要解决思想观念、基本理论、目标效益等方面的问题,还要考虑与水资源联合配置问题。     

论精神损害的国家赔偿责任

国家的侵权行为造成相对人的精神损害应当承担赔偿责任是当今世界国家赔偿制度的发展潮流与趋势.确立精神损害的国家赔偿责任对社会公平正义的实现、人权的保护及促使国家公职人员依法行使职权具有重大的意义,因而应在基于我国国情的基础上,构建我国的精神损害国家赔偿制度.     

大同市水资源开发利用状况与承载能力的思考

文中分析了大同市水资源开发利用的状况，并对水资源承载能力的有关问题进行了讨论。