A global output-feedback controller for stabilization and tracking of underactuated ODIN: A spherical underwater vehicle

This paper presents a method to design an output-feedback controller that simultaneously solves global asymptotic stabilization and tracking of an underactuated omni-directional intelligent navigator—a spherical underwater vehicle moving in a horizontal plane (i.e. at a constant depth). The vehicle does not have a sway actuator and has only position and orientation measurements available. The control development is based on Lyapunov's direct method, backstepping technique and use of interconnected structure of the vehicle dynamics. Numerical simulations demonstrate the results.     

动态多目标决策问题的灰色分析方法

将用于固定时间截面下静态多目标决策的灰色关联理论推广到动态情形，引入局部理想最优效果和整体理想最优效果的概念，提出一种新型的动态多目标决策问题的灰色关联模型，并通过算例说明该方法的合理可行性。     

A family of lower- and higher-order transversal linearization techniques in non-linear stochastic engineering dynamics

Sample pathwise numerical integration of noise-driven engineering dynamical systems cannot generally be performed beyond a limited level of accuracy, especially when the noise processes are modelled using (filtered) white noises. Recently, a locally transversal linearization (LTL) strategy has been proposed by the author (Proc Roy Soc London A 2001; 457 :539–566) for direct integration of deterministic and stochastic non-linear dynamical systems. The present effort is focussed on a host of extensions along with detailed theoretical error analyses of the linearization approach, especially as applied to problems in non-linear stochastic engineering dynamics. Thus, to begin with, estimates of local and global error orders in the basic LTL scheme are obtained separately for the displacement and velocity vectors when the system is driven either by a set of additive noises or by an arbitrary combination of (independently evolving) additive and multiplicative noises. Following this, a new family of higher-order LTL schemes is proposed in order to improve upon the basic LTL method and the associated error orders are established. A stepwise implementation of the lower- and higher-order versions of the LTL method, along with certain computational aspects, is also outlined. The proposed schemes are numerically illustrated, to a limited extent, for a single degree-of-freedom (SDOF) and a two degree-of-freedom (TDOF) non-linear engineering systems under additive and/or multiplicative white noise excitations. Copyright © 2004 John Wiley & Sons, Ltd.     

Fixed mesh front‐tracking methodology for finite element simulations

A direct front‐tracking method using an Eulerian–Lagrangian formulation is developed in two space dimensions. The front‐tracking method is general in that it can track any type of interface once its local velocity is specified or has been determined by calculation. The method uses marker points to describe the interface position and tracks the interface evolution on a fixed finite‐element mesh, including growth, contraction, splitting and merging. Interfacial conditions are applied directly at the interface position. The method is applied to three scenarios that involve different interface conditions and are based on energy and mass diffusion. The three calculations are for the dendritic solidification of a pure substance, the cellular growth of an alloy, and the Ostwald ripening of silica particles in silicon. Numerical results show that very complicated interface morphologies and topological changes can be simulated properly and efficiently. Copyright © 2004 John Wiley & Sons, Ltd.     

制造业跟踪系统解决方案剖析

NetLinx技术的发展，使得跟踪系统发生了划时代的飞跃，在制造业上的应用更加广泛。本文以一间显像管厂为例，详细介绍了跟踪系统在制造业上的应用。     

机械CAD课程教学改革探讨

文章分析了机械CAD技术的特点以及国内CAD教学的现状,提出了机械CAD教学改革的方法,并从教学体系、教学方法、考试方式等方面进行了探讨.     

新型保温材料—炭化稻壳在连铸生产中的应用效果

对新型保温材料──炭化稻壳的理化指标及其保温性能进行了阐述。在连铸生产中采用炭化稻壳做保温剂可取得显著的经济效益，是理想的保温材料。     

基于进化规划的自适应IIR滤波

针对基于梯度下降算法的自适应IIR滤波器（AIIRF）具有潜在的不稳定性和性能指标函数容易陷入局部极小而导致性能下降等问题，本文将进化规划用于AI－IRF的优化设计，不仅解决了AIIRF系统稳定性问题，而且有效地实现了滤波器性能指标函数的全局寻优和快速收敛，同时允许大动态范围的输入号。计算机仿真结果验证了基于进化规划算法的AIIRF的性能优于基于梯度算法的AIIRF，尤其对高阶、极点靠近单位圆的自适应IIR滤波器。     

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。