On the multi‐input second‐order sliding mode control of nonlinear uncertain systems

This note addresses the multi‐input second‐order sliding mode control design for a class of nonlinear multivariable uncertain dynamics. Among the most important peculiarities of the considered control problem, the considered sliding vector variable has a uniform vector relative degree [2,2, … ,2] with respect to the vector control variable, and only the sign of the sliding vector and of its derivative are available for feedback. Additionally, the symmetric part of the state‐dependent control matrix is supposed to be positive definite. Under some further mild restrictions on the uncertain system's dynamics, a control algorithm that realizes a multi‐input version of the ‘twisting’ second‐order sliding mode control algorithm is suggested. Simple controller tuning conditions are derived by means of a constructive Lyapunov analysis, which demonstrates that the suggested control algorithm guarantees the semiglobal asymptotic convergence to the sliding manifold. Simulation results, which confirm the good performance of the proposed scheme and investigate the actual accuracy obtained under the discrete‐time implementation effects, are given. Copyright © 2011 John Wiley & Sons, Ltd.     

带有局部控制因子的图割光流估计

提出一种带有局部空间项控制因子的图割光流估计算法,能判断和处理光流场的平移遮挡现象。文中分析了平移遮挡的形成机理,构造了遮挡判别公式,基于本次的正向和反向光流场,依靠遮挡判别结果调节局部空间项控制因子,建立下次的能量泛函,加强背景区域对遮挡区域的平滑作用,隔绝运动区域对遮挡区域的平滑作用,从而构造出新结构的网络流图。另外,该算法被证明可以阻断遮挡误判在各次图割优化过程间的传递,从而使逐次α-扩散移动图割光流算法具有自适应处理遮挡的能力。通过与Ground-truth光流场的实验对比,表明该算法能较好地判断与处理遮挡导致的光流场无效区域。     

一种DVE中通用的因果消息序时间管理分布式中间件

对于遵循高层体系结构(HLA)标准构建的分布式虚拟环境(DVE),时间管理服务的性能将直接影响分布式仿真的效率和正确性。目前的时间管理服务实现了两种消息排序机制:接收序和时戳序。接收序对消息按其接收顺序进行处理,实时性高,但无法正确处理接收顺序与产生顺序相违背的消息;时戳序通常指保守时戳序机制,能对消息按其产生的时间顺序进行处理,但时间开销较大,难以到达DVE的实时性要求。因此,本文以分布式中间件的方式为DVE设计实现了一种因果消息序时间管理服务,提供符合HLA标准的程序接口,使分布式仿真应用在不改变原有调用接口的情况下,能够通过中间件对消息实现因果序时间管理。实验表明,使用该中间件可以有效维护消息的处理顺序,同时时间开销小,能够较好地满足DVE的实时性要求。     

分数阶Chen混沌系统同步及Multisim电路仿真

本文针对参数已知和未知的分数阶Chen混沌系统,研究其同步控制问题。利用分数阶系统稳定性理论,设计并实现了系统的反馈控制器;同时运用Multisim软件设计实现了分数阶系统同步的混沌电路,验证了所提出同步方法的有效性和可实现性。     

Aluminum. II. Derivation of C v0from C p and comparison to C v0 calculated from anharmonic models

The specific heat at constant pressure, C _p, of aluminum measured by Ditmars, Plint, and Shukla has been reduced to the volume V ₀ appropriate for 0 K employing the Murnaghan equation. The C _v0 thus obtained is compared with the theoretical C _v0 calculated in the harmonic and the lowest-order anharmonic approximation from three different pseudopotentials (Harrison, Ashcroft, and Dagens-Rasolt-Taylor) as well as a phenomenological Morse potential. The higher-order ( ⁴) anharmonic contributions are calculated from the same nearest-neighbor Morse potential as in the lowest-order anharmonic theory. The role of the vacancy and the higher-order anharmonic contributions to C _v0 has been examined and we conclude that the ⁴ contributions to C _v0 are much smaller than the vacancy contribution. After removal of the vacancy contribution, the reduced C _v0 is found to be in excellent agreement with the Ashcroft and Harrison pseudopotentials as well as the Morse potential including the ² and ⁴ contributions to C _v0.     

Electrical transport in UNi0.5Sb2 single crystals

Single crystals of UNi₀.₅Sb₂ were investigated by means of Seebeck coefficient and Hall effect measurements in the temperature range 5–300 K. The results corroborated the occurrence of two magnetic phase transitions: from para- to antiferromagnetic state at T_N = 161.5 K and a spin-reorientation near T_t = 64 K. The first-order character of the latter feature was proved by studying in detail the electrical resistivity and the magnetic susceptibility of single-crystalline UNi₀.₅Sb₂ in the vicinity of T_t.     

高空作业平台臂架伸缩运动的横向振动特性

为了探究高空作业平台做伸缩运动时变幅平面内的横向振动动力学特性,针对臂架的实际搭接和支承情况,将臂架等效为根部铰接、中间弹性支承且带有集中参数的变截面变长度梁. 基于牛顿第二定律建立各臂段的运动微分方程,采用模态叠加法、结合边界条件求解臂架一系列时刻的瞬态振型函数,曲线拟合时变参数以近似表示梁的振型,并依据伽辽金截断方法,得到广义坐标下的状态空间方程. 在Matlab/Simulink环境下进行动态仿真,得到伸缩过程中臂架头部的变幅平面横向振动动态响应. 结果表明,就横向振动振幅而言,搭接简化会带来15.63%计算结果误差;支承简化会加大臂架整体刚度、减小臂架振动响应,不可取。     

基于协同学的Multi Agent合作系统研究*

探讨了协同学在Multi-Agent系统(MAS)合作中的应用;讨论了MAS的协同合作,给出了基于协同学的Multi-Agent的协同模型,量化了Multi-Agent协同机制的协调效应,为其最优协同机制的选择提供了依据.将序参量、自组织理论引入到MAS合作中,为MAS合作问题提供了一个新的解决思路.     

单向受拉状态下钢纤维混凝土的二次峰值强度

不同于普通混凝土在单向受拉实验中的仅有唯一峰值强度,在大量钢纤维混凝土拉伸实验的应力应变曲线中均出现了两次峰值强度现象。本文采用黏结滑移模型考虑纤维在混凝土开裂面上的桥接作用,确定了钢纤维轴向应力与裂缝宽度之间的关系。钢纤维混凝土开裂后,将基体的软化模量与纤维增强作用的切线模量之和,作为判断第二峰值的依据。该值始终为非负时,钢纤维混凝土的应力-应变曲线具有唯一峰值强度;否则,应力-应变曲线中将具有二次峰值强度,并提出了钢纤维混凝土峰值强度的三种可能情况。建立了有限元模型以模拟钢纤维混凝土的拉伸试验,进一步研究了钢纤维掺量、长径比对混凝土开裂后力学性能的影响。并提出了钢纤维混凝土的抗拉强度的计算公式,可以有效地预测钢纤维混凝土的抗拉强度。     

丁腈橡胶硫化反应动力学研究

设计了促进剂A 4种不同用量的丁腈橡胶配方;基于配方,先利用密炼机将丁腈橡胶、硬脂酸和ZnO混炼,再利用开炼机加入硫黄、促进剂和防老剂,再利用无转子硫化仪分别测试了160℃、170℃和180℃下胶料硫化曲线;基于硫化曲线计算出了每组配方胶料硫化反应速率常数K和活化能Ea。结果表明,在焦烧期时,NBR硫化反应为非一级反应,真正的一级反应开始于硫化速率达到最大时,即tdis;焦烧期后的反应可分为2个阶段且遵循一级动力学反应规律。