Robust orientation control of multi‐DOF cell based on uncertainty and disturbance estimation

Multiple degrees‐of‐freedom (multi‐DOF) cell orientation control is a vital important technique involved in single cell surgery applications. Currently, few studies have been performed toward automation of multi‐DOF cell orientation control using robotically controlled optical tweezers. In this paper, a robust control framework is developed to perform multi‐DOF cell rotational control with consideration of model uncertainties and external disturbances. Both simulation and experimental studies are presented to illustrate the performance of the proposed control strategy. The main contributions of this work lie in that this is the first time to develop a unified framework to achieve multi‐DOF cell orientation control without the need for accurate dynamic model parameters and/or any knowledge about uncertainty characteristic, which greatly enhances the robustness of the overall system.     

基于UG的采煤机防爆盖板三维标注及数控工艺研究

随着三维CAD技术的发展,产品制造信息在三维模型和二维图纸之间的反复传递,严重影响了产品制造信息的正确、快速传递。基于三维产品制造信息技术,以采煤机防爆盖板为例,在UG NX10.0中建立了防爆盖板的三维模型并进行了三维标注,设计了加工工艺路线,规划了数控加工刀具轨迹,进行了加工仿真,验证了数控加工的正确性,在此基础上完成了采煤机防爆盖板的三维工艺式设计。该研究对基于模型定义的数字化设计与制造研究,实现制造业信息化具有重要意义。     

玻璃纤维增强建筑用聚乙烯树脂复合材料的性能

采用剥离测试方法来表征制得的玻璃纤维增强建筑用聚乙烯树脂复合材料的界面黏结强度,并对其进行红外光谱、接触角、微观组织测试与分析。研究结果表明:采用浸润剂处理可以使玻璃表面生成新基团;浸润剂能够提高玻璃表面接触角,从而更易与树脂形成浸润状态,由此改善玻璃和树脂的界面结合状态,实现界面黏结特性的显著优化。在剥离测试中发现经浸润剂处理后,玻璃可以和树脂之间形成更强的界面结合作用;树脂从玻璃表面发生剥离之后,形成了光滑的玻璃片,同时还有部分纵横交错的划痕。     

基于ATP-ABE的访问控制方案

对访问控制机制中存在的安全性和有效性的问题进行了研究，提出了基于访问树剪枝的属性加密ATP-ABE（Access Tree Pruning Attribute Based Encryption）的访问控制方案。当ATP-ABE算法需要访问它的树型结构访问策略时，通过剪枝处理访问树结构中包含用户ID属性节点的分支，提高了用户所有者DO（Data Owner）管理和控制属性的效率，更加有效地实现了数据共享。还为访问树结构设计了许可访问属性，使DO仍保留共享数据的关键属性，并且能够完全控制它们的共享数据。基于决策双线性密钥交换算法DBDH（Decisional Bilinear Diffie-Hellman）假设分析了ATP-ABE方案的安全性，研究结果表明与两种经典ABE方案比较，ATP-ABE更加有效地减少了算法的系统设置、私钥生成、密文大小、用户属性撤销以及加解密过程中的计算开销，并给出了定量结论。     

Adaptive neural network command filtered backstepping control of pure‐feedback systems in presence of full state constraints

An adaptive neural network (NN) command filtered backstepping control is proposed for the pure‐feedback system subjected to time‐varying output/stated constraints. By introducing a one‐to‐one nonlinear mapping, the obstacle caused by full stated constraints is conquered. The adaptive control law is constructed by command filtered backstepping technology and radial basis function NNs, where only one learning parameter needs to be updated online. The stability analysis via nonlinear small‐gain theorem shows that all the signals in closed‐loop system are semiglobal uniformly ultimately bounded. The simulation examples demonstrate the effectiveness of the proposed control scheme.     

Motion control of underactuated linkage robot based on gymnastic skill

In this paper, a reproduction of a swing‐up and a giant swing motion of underactuated robots based on technique of the horizontal bar gymnast is discussed with focusing on an equivalent center of mass (ECM) of underactuated robots and the gymnast. At first, the behaviors of the ECM of the gymnast (ECMG) are analyzed by using a motion capturing technique and an efficient motion of the ECMG for the swing‐up and for the giant swing motion are identified from analysis results, respectively. Next, a partial linearization method, which can realize that the ECM of the Acrobot (ECMA) replicates this efficient motion, is designed and reproduces the underactuated robots the swing‐up and giant swing motion like the gymnast. Finally, an effectiveness of the proposed controller is shown by numerical simulations.     

硫磷混合酸溶样重铬酸钾容量法测定全铁

介绍了硫磷混合酸溶样重铬酸钾容量法测定矿石中铁含量的方法和步骤。重点讨论了一线生产中的质量控制。     

Multifunctional Hydrophobized Microparticles for Accelerated Wound Healing after Endoscopic Submucosal Dissection

Endoscopic submucosal dissection (ESD) provides strong therapeutic benefits for early gastrointestinal cancer as a minimally invasive treatment. However, there is currently no reliable treatment to prevent scar contracture resulting from ESD which may lead to cicatricial stricture. Herein, a multifunctional colloidal wound dressing to promote tissue regeneration after ESD is demonstrated. This sprayable wound dressing, composed of hydrophobized microparticles, exhibits the multifunctionality necessary for wound healing including tissue adhesiveness, blood coagulation, re‐epithelialization, angiogenesis, and controlled inflammation based on hydrophobic interaction with biological systems. An in vivo feasibility study using swine gastric ESD models reveals that this colloidal wound dressing suppresses fibrosis and accelerates wound healing. Multifunctional colloidal and sprayable wound dressings have an enormous therapeutic potential for use in a wide range of biomedical applications including accelerated wound healing after ESD, prevention of perforation, and the treatment of inflammatory diseases.     

爆炸防控技术在爆破工程警务规划和技术评估中应用

通过介绍爆炸防控技术概念的内涵和外延,说明了爆破工程警务规划设计和技术评估的目的,就是有效防止或遏制涉爆事故,维护社会公共安全。在对一项复杂环境下的基础开挖爆破工程实施警务规划设计和技术评估时,警务技术民警对照爆破作业设计施工单位技术方案中的参数,现场核实需要保护的建筑和重要设施,准确测量保护目标与爆区的实际距离,分析是否存在影响爆破工程实施的不稳定因素,确认上述参数符合安全要求后做出准予爆破许可的建议。爆破工程警务规划设计和技术评估的要点就是要通过现场核查,核实爆破有害效应是否可控,能否确保爆破施工时周边保护目标的安全。     

思维导图在《微机原理及接口技术》教学中的应用

思维导图作为一种可视化图形思维工具，可以有效表征知识体系、层次关系。本文针对《微机原理及接口技术》课程教学现状，介绍了思维导图的特点，分析了思维导图应用于该课程教学中的作用和意义，给出了用 MindManager软件绘制的8086CPU内部结构和输入输出接口的思维导图案例。教学实践证明，思维导图在《微机原理及接口技术》课程教学中可以激发学生学习兴趣，帮助学生建立“整体-局部”思想，促进学生对知识的理解和记忆，提升教学效果。