考虑关节角加速度约束的仿人机器人偏摆力矩控制方法

针对仿人机器人步行过程中存在的机器人关节角加速度约束影响控制性能的问题，提出一种考虑关节角加速度约束的仿人机器人偏摆力矩控制方法.该方法充分考虑了双臂在摆动过程中对偏摆力矩的影响，根据力矩平衡条件得到需要抵消的偏摆力矩的大小与方向，将偏摆力矩的控制问题转化为带约束条件的二次规划问题，并设计了一种在线变步长迭代算法计算得到优化后的双臂摆动轨迹.实验表明，该方法能有效抵消机器人步行中产生的偏摆力矩，避免控制过程中的"削峰"现象，有效提高机器人的步行稳定性.     

Heating frequency optimization for artificial field-aligned scattering

In this study, we present a simulation study of artificial field-aligned irregularities (AFAI) to calculate the scattering coefficient considering a Gaussian autocorrelation function for the wave number spectrum of the density fluctuation. By analyzing variations in the scattering coefficient under different ionospheric backgrounds, the optimal range of the heating frequency was found, which is about 0.9–1 times the critical frequency of the F2 layer. This is especially noticeable as when the heating frequency varies from 0.5 times to 0.9 times of the critical frequency, the scattering coefficient increases by 6.8–16.2 dB. These results should be useful for optimizing the heating frequency in the future artificial field-aligned scattering (AFAS) transmission applications at middle and low latitudes.     

Exploring the Impact of Social Networking on Communication in Organizations

ABSTRACT

Social networking technology has the potential to transform how organizations communicate, cooperate, and connect with key stakeholders. Our research explores how social networking technologies are deployed within organizations and how the use of these technologies is related to effectiveness in organizational communication and promotion. We also identify the facilitating factors and constraints around the use of social networking tools for communication. To examine these questions, we conducted interviews with 131 senior level executives across a broad range of organizations and employed both quantitative and qualitative methods of analysis. The executives were asked to rate numerically and then discuss in narrative form a series of questions about IT strategy and issues affecting social networking in their organization. We find important differences both in the types of tools used as well as how they are used and discuss the implications of our findings for companies seeking to more effectively harness social networking technologies.     

Order-of-addition experiments: A review and some new thoughts

Abstract

The study of order-of-addition (OofA) experiments is prevalent in many scientific and industrial areas. The statistical design of experiments (DOE) will considerably improve the efficiency of OofA experiments. Designing and modeling the OofA experiments have increasingly received a great deal of attention. In this article, we review the latest work on the design and model of OofA experiments, and introduce some new thoughts. We believe that this article will motivate fruitful applications in real OofA experiments as well as future developments in the methodology.     

Design of switchable band‐notched frequency selective absorber

An active band‐notched frequency selective absorber (BNFSA) with switchable notch band is proposed in this article. The BNFSA is a two‐layer structure composed of a lossy layer at the top and a ground plane at the bottom, separated by an air spacer. The element of the lossy layer is a lumped‐resistor‐loaded metallic dipole with a parallel LC resonance structure, which is realized by complementary n‐shaped resonator (CnR) inserted in the center, and PIN diode is welded at two arms of CnR. The bias circuit printed on the back of the substrate of the lossy layer connects to anode and cathode of the diode by via hole and isolates by the inductor. Simulation results show that the notch bands are located at 4.50 and 6.81 GHz when the diode sets to ON and OFF, respectively. To validate the performance of switchable BNFSA, the prototypes are fabricated and measured, reasonable agreement between simulated and measured results is obtained.     

Electromagnetic torque detecting for optimization of in-mould electromagnetic stirring in the billet and bloom continuous casting

ABSTRACT

In this paper, an electromagnetic torque device based on the theoretical model was established to determine the optimum frequency accurately and conveniently in billet and bloom continuous casting with in-mould electromagnetic stirring (M-EMS). Magnetic characteristics with M-EMS was investigated by numerical simulation and physical experiment with the application of electromagnetic torque device and gauss meter. In addition, the effects of stirring frequency with M-EMS on macro segregation and equiaxed crystal ratio were compared and analysed for 55SiCr with 150?mm?×?150?mm billet caster and BU with 310?×?360?mm bloom caster by a series of plant trials, respectively. The results showed that maximum magnetic flux density and maximum electromagnetic torque occurred with different frequency and same current in M-EMS, and central equiaxed crystal ratio and macro segregation has been significantly improved by optimum frequency with M-EMS.     

Microstructure,tribological behavior and magnetic properties of Fe−Ni−TiO2 composite coatings synthesized via pulse frequency variation

The Fe−Ni−TiO₂ nanocomposite coatings were electrodeposited by pulse frequency variation. The results showed that the nanocomposite with a very dense coating surface and a nanocrystalline structure was produced at higher frequencies. By increasing the pulse frequency from 10 to 500 Hz, the iron and TiO₂ nanoparticles contentswere increased in expense of nickel content. XRD patterns showed that by increasing the frequency to 500 Hz, an enhancement ofBCC phase was observed and the grain size of deposits was reduced to 35 nm. The microhardness and the surface roughness were increased to 647 HV and 125 nm at 500 Hz due to the grain size reduction and higher incorporation of TiO₂ nanoparticles into the Fe−Ni matrix (5.13 wt.%). Moreover, the friction coefficient and wear rate values were decreased by increasing the pulse frequency;while the saturation magnetization and coercivity values of the composite deposits were increased.     

Enhanced electrical and photoluminescence properties of BiSbO4-doped CaCu3Ti4O12 ceramics by modifying grain boundary response

CaCu₃Ti₄O₁₂-xwt%BiSbO₄ ceramics (CCTO-xwt%BSO, x = 0, 1, 2, 3) were prepared by solid-state reaction method. The microstructure, dielectric properties, varistor properties, photoluminescence properties of CCTO-xwt%BSO ceramics were studied in this work. Results showed that all samples formed CaCu₃Ti₄O₁₂ (CCTO) single phase. Doping BiSbO₄ (BSO) restrained the abnormal grain growth and increased the grain boundary density of ceramics. The introduction of BSO led to the increase of the grain boundary resistance, reducing the dielectric loss and enhancing the temperature stability of dielectric properties. The nonlinear electrical characteristics are enhanced with proper concentration of BSO. And the improved varistor performance with breakdown electric field of ～3.98–34.6 and nonlinear coefficient of ～1.49–2.96 are obtained for CCTO-xwt%BSO samples. In addition, the photoluminescent emission of the samples is enhanced with the addition of appropriate equivalent BSO, showing the potential applications in novel devices with photoluminescent/electrical multifunctional properties.     

Excellent destabilization effect and ideal desorption temperature in the hydride Mg2FeH6 substituted with yttrium; a first principles study

We investigated some properties of the hydride Mg₂FeH₆ substituted with yttrium by a first principles calculation. Some experimental results showed that 4d transition metal, yttrium serves as a good catalyst for magnesium based hydrogen storage alloys, but there are a few theoretical studies about magnesium based hydrides substituted with it. Mg₂FeH₆ is regarded as a cheaper material than pure MgH₂, while it is crystalized into Fm3m structure (space group 225). Although it has high hydrogen storage capacity, many investigations have not been devoted to it due to its extremely high thermodynamic stability. The yttrium substituted Mg₂FeH₆ exhibits very low energy of formation, and its desorption temperature, 75 °C is very suitable for practical hydrogen storage applications. Our results showed that Mg₂FeH₆ is destabilized effectively by yttrium substitution and introducing vacancy defects has additive effect to the improvement of dehydrogenation performance.