有环境约束时完成一族跟踪任务的力控制

本文为工业机器人提出了一种极点配置控制法，这种控制方法的优点有：一是它的积分作用消除了机器人的微小扰动和稳态误差；二是能任意设置系统的极点，因此能保证闭环系统的稳定性和规定状态变量的暂态响应；三是加入了加速度反馈，抑制了由电枢电感所引起的机械手的振动，最后，给出了ＰＵＭＡ５６２机器人的计算机仿真和实验结果验证了此控制法的有效性。     

红外目标精跟踪方法的研究

本文提出了一种直接把红外前视传感器的输出作为测量值来跟踪红外目标的扩展型卡尔曼滤波跟踪算法。在滤波处理时,设置可变的测量矩阵,其目的在于提高运算速度和抑制噪声干扰。通过具体的实例,对所提跟踪算法的特点和有效性进行了细致的分析。     

AHMED experiments on hygroscopic and inert aerosol behaviour in LWR containment conditions: experimental results

Hygroscopic NaOH, CsI, CsOH and inert Ag aerosol behaviour at different temperatures and relative humidities (RH) has been studied in a well instrumented and controlled vessel of 1.81 m³ total free volume. Homogeneous thermal-hydraulic conditions for aerosol measurement in the vessel were achieved. The aerosol number and mass concentration were measured continuously during the experiments using a Condensation Nucleus Counter and a Tapered Element Oscillating Microbalance. The particle size distribution and chemical composition in the test conditions were measured by Berner low pressure impactors. In the case of NaOH the half life of the aerosol mass concentration was more than four times longer at low RH (22%) as compared to high RH (96%). The half lives of the CsOH and CsI aerosols were only twice as long at low RH as compared to high RH. Thus at high RH (96–97%) the half lives of CsOH and CsI were twice as long as the half life for the NaOH aerosol. The faster decay of the NaOH aerosol is due to the smaller density decrease of NaOH during water condensation. CsOH particles grew rapidly to their equilibrium size at all humidities. The measured equilibrium size for CsOH aerosol agree well with the calculated particle size at different RHs. Experimental results were also compared with calculations obtained by severe accident computer codes. These calculated results will be presented in a later paper.     

Tracking Control and Synchronization for Two-Dimension Discrete Chaotic Systems

1　ＩｎｔｒｏｄｕｃｔｉｏｎＳｉｎｃｅ 1 990 ,ｃｈａｏｔｉｃｓｙｎｃｈｒｏｎｉｚａｔｉｏｎ[1～ 4] ａｎｄｃｈａｏｔｉｃｃｏｎｔｒｏｌｌｉｎｇ[5～6] ｈａｖｅｒｅｃｅｉｖｅｄａｇｒｅａｔｄｅａｌｏｆａｔｔｅｎｔｉｏｎ[7～1 1 ] ,ａｎｄｃｈａｏｔｉｃｓｙｎｃｈｒｏｎｉｚａｔｉｏｎｉｓａｐｈｅｎｏｍｅｎｏｎｏｆｉｎｔｅｒｅｓｔｉｎｆｉｅｌｄｓｆｒｏｍｅｌｅｃｔｒｏｎｉｃｓｔｏｃｏｍｍｕｎｉｃａｔｉｏｎ[1 2 ] ,ａｎｄｆｒｏｍｂｉｏｐｈｙｓｉｃｓｔｏｎｅｕｒｏ ｓｃｉｅｎｃｅ[1 3] .Ｉｆｃｈａｏｔｉｃｓｙｎｃ…     

跟踪系统中跟踪器延迟的自适应预测补偿方法

跟踪系统中跟踪器的延迟会对系统的稳定性和跟踪精度产生不利影响。为此以典型Ⅱ型系统为例，理论上定理地分析了跟踪器延迟对跟踪系统的影响，并提出了将采用LMS算法和横向滤波器结构的自适应滤波器用于延迟预测补偿的方法。仿真结果验证了方法的有效性。     

The Effect of the Charge Fluctuation of Dust Parti-cles on Ion-acoustic Wave Excited Through Ionization Instability

The effect of the charge fluctuation of dust particles on ion acoustic wave (IAW) excited through ionization instability was investigated. The hydrodynamic equations and linear time-dependent perturbation theory served as the starting point of theory, by which the dispersion relation and growth rate of the IAW were given. By comparing the results with the case of constant dust charges, it was found that the charge fluctuation of dust particles reduces the instability of the wave mode.     

悬沙中D〉0．06mm粗粒的粒析级配组成及其改正方法

本文首先简述Ｄ＞０．０６ｍｍ泥沙的粒析沉降特性及其粒径偏粗的原因。继之对悬沙中粒径大于０．０６ｍｍ的粒析级配组成机理，及级配组成不同对标准粒径Ｄｂ与粒析粒径ＤＬ关系的影响进行了详细研究。在以上研究工作的基础上，开展了Ｄｂ与ＤＬ的比较试验，得出了粗、中、细型悬沙的Ｄｂ～ＤＬ关系和对ＤＬ的改正方法。     

用奇异模型描述的受限机器人的学习控制

本文了一类受限机器人的迭代学习控制方案，控制器的设计是基于机器人模型的降阶形式。在存在有界未知干扰的情况下，对末端操纵器受线性、无摩擦约束面的受限机器人。本文给出的控制方案保证了机器人系统的完全运动跟踪，同时保证了力跟踪误差有界的，且界的大小是可调节的。     

具有再生反馈雷达的角跟踪性能闭环测试

本文论述了用雷达跟踪目标最大角速度和角加速表征具有再生反馈雷达角跟踪性能的合理性,并论述了用单片机测试雷达跟踪目标最大角速度和最大角加速的方法。     

高透明耐冲击聚氯乙烯接枝聚合研究

研究高透明耐冲击聚氯乙烯接枝聚合工艺，讨论了加料顺序、复合分散体系以及采用聚集粒子乳液、并用碱性物质调节其ｐＨ值等对接枝聚合物性能的影响，确定了接枝聚合最佳工艺条件。