Shared human–robot path following control of an unmanned ground vehicle

This paper considers the shared path following control of an unmanned ground vehicle by a single person. A passive measure of human intent is used to blend the human and machine inputs in a mixed initiative approach. The blending law is combined with saturated super-twisting sliding mode speed and heading controllers, so that exogenous disturbances can be counteracted via equivalent control. It is proven that when the proposed blending law is used, the combined control signals from both the human and automatic controller respect the actuator magnitude constraints of the machine. To demonstrate the approach, shared control experiments are performed using an unmanned ground vehicle, which follows a lawn mower pattern shaped path.     

Finite-time adaptive fuzzy control for a class of output constrained nonlinear systems with dead-zone

The article investigates the finite-time adaptive fuzzy control for a class of nonlinear systems with output constraint and input dead-zone. First, by skillfully combining the barrier Lyapunov function, backstepping design method, and finite-time control theory, a novel adaptive state-feedback tracking controller is constructed, and the output constraint of the nonlinear system is not violated. Second, the fuzzy logic system is used to approximate unknown function in the nonlinear system. Third, the finite-time command filter is introduced to avoid the problem of “complexity explosion” caused by repeated differentiations of the virtual control signal in conventional backstepping control schemes. Meanwhile, a new saturation function is added in the compensating signal for filter error to improve control accuracy. Finally, based on Lyapunov stability analysis, all the signals of the closed-loop are proved to be semi-globally uniformly ultimately bounded, and the tracking error converges to a small neighborhood region of the origin in a finite time. A simulation example is presented to demonstrate the effectiveness for the proposed control scheme.     

四旋翼长续航飞行模式的设计与实现

更长的飞行时间是四旋翼无人机领域研究热点方向之一;在对实际飞行中瞬时消耗电流和电池电压数据的研究中发现,过大姿态角下电池电量消耗显著提升;为了延长飞行时间和提升电池电量使用效率,提出一种长续航飞行模式;在该模式下,基于现有的角速度串级PID姿态控制器,将飞行加速度的控制算法改为飞行速度控制,限制过大姿态角的操作;在无风、微风和强风环境下的飞行实验表明,长续航飞行模式比传统飞行方式飞行时间增加8%~20%;长续航飞行模式可广泛应用于多种无需快速变换飞行路径,但需要更长飞行时间的的应用场景中。     

高面板坝全寿命周期变形控制方法及应用

高面板坝的变形对面板的安全运行有着特别重要的影响，国内外已建的高面板坝工程中，因坝体变形大导致防渗面板挤压破损，坝体渗漏量大的实例较多，不得不降低水库水位进行修复处理，造成较大的经济损失乃至给大坝的长期运行留下安全隐患。通过发生挤压破损的实例分析，发现变形控制缺乏系统性是发生面板挤压破损的主要因素，为预防面板破损，系统提出了“控制坝体总变形，转化有害变形，适应纵向变形”的坝体变形控制方法，并在使用软硬岩混合料筑坝的董箐面板堆石坝中得到的应用，取得了良好效果，该工程运行至今达十余年，未见面板有挤压破损迹象，该方法对建设200 m以上乃至300 m级超高面板坝具有重要借鉴意义。     

Optical properties and radiation stability of SiO2/ZnO composite pigment prepared by co-sintering method

Thermal control coatings (TCCs) are an essential part of the thermal control systems in the spacecraft. Solar absorptance and emittance are the key performance parameters of TCCs. To develop an ultra-low solar absorption and stable inorganic TCCs for surface radiator, different TCCs were prepared by co-sintering ZnO and SiO₂ nanoparticles to form Zn₂SiO₄/SiO₂ pigment in this work, and the optical properties and radiation stability were systematically studied. It is found that the coating based on composite pigment has high reflectivity in the ultraviolet band and excellent optical performance possessing the low solar absorption of 0.06. In addition, the Zn₂SiO₄/SiO₂ coating demonstrates the highest proton and electron radiation stability because that SiO₂ between Zn₂SiO₄ particles acts as the relaxation center of the defects caused by radiation.     

低压静电场辅助冷冻对竹笋品质的影响

为研究低压静电场辅助冷冻对竹笋冻结特性的影响，以冻结曲线、硬度、水分损失率、水分迁移、冰晶形态和组织微观结构为指标，探究低压静电场辅助冷冻（－35 ℃）和普通冷冻（－35 ℃）条件下竹笋品质的变化规律。结果表明：低压静电场辅助冷冻提高了冻结效率，改变了冰晶形态及分布，减轻了组织微观结构破损程度，改善了解冻汁液流失情况。与静电板间距10、20、30、40 cm处的冷冻竹笋解冻后水分损失率分别为14.16%、12.58%、9.73%、10.44%，显著低于对照组（21.01%）（P＜0.05），硬度分别为461.19、507.48、496.65 g和455.31 g，显著高于对照组（350.70 g）（P＜0.05）。低场核磁共振分析结果表明，在低压静电场辅助冷冻下竹笋解冻后汁液流失减少，扫描电子显微镜观察结果显示，竹笋纤维排列整齐，组织微观结构保持较好。低压静电场辅助冷冻可有效改善竹笋品质，可为利用低压静电场进行果蔬的冷冻贮藏和冷链运输提供参考。     

智能假肢膝关节的研发要点及其研究进展综述

目的 介绍国内外智能假肢膝关节研究的主要进展,为相关领域的研发提供可借鉴的思路.方法 基于机械结构、调控方式、驱动方式,对典型假肢膝关节进行了分类比较,并从假肢穿戴者的运动意图识别、驱动控制、人机协调控制等方面做了分析.此外,对假肢膝关节在智能化研究与安全性、个性化与通用性、人机共融技术、科学伦理、关键技术等方面需要注意的问题,提出了研发要点和技术思路.结论 智能假肢膝关节应注重安全性与稳定性,规避用户在使用过程中的潜在危险因素;实现假肢控制参数的自整定和灵活适配,在个性化与通用性上达到平衡;综合考虑人—机—环境因素,实现协调控制;坚持"以人为本",在技术方法和科学伦理两个方面开展医工结合的研究;突破关键技术限制,建立完善的社会医疗康复保障服务体系.     

Transport properties in spinel ferrite/graphene oxide nanocomposites for electromagnetic shielding

Herein, $\left({\text{Co}}_{0.5}{\text{Ni}}_{0.5}\right){\text{Cr}}_{0.3}{\text{Fe}}_{1.7}{\text{O}}_4$/graphene oxide nanocomposites were fabricated by ultrasonication technique, using pure spinel ferrite and graphene oxide synthesized by sol-gel method and modified Hummers' method, respectively. The effect of graphene incorporation with ferrite nanoparticles was studied by X-ray diffraction (XRD), electrical and dielectric measurements. XRD analysis revealed the spinel phase for the ferrite sample and confirmed the formation of graphene oxide. The crystallite size was found in the range of $37-43\text{ nm}$ and the porosity increased with the increase in the concentration of graphene oxide in the composites. The DC electrical resistivity of spinel ferrite was found equal to $3.83\times {10}^9\text{ Ω}.\text{cm}$ and it substantially decreased with the increase in the percentage of graphene oxide at room temperature. The real and imaginary part of relative permittivity followed the Maxwell-Wagner type of interfacial polarization. AC conductivity confirmed the conduction by hopping mechanism and increased on increasing the GO content. The coupling of magnetic ferrite with graphene oxide tunes the magneto-electrical properties for potential applications at high frequencies.     

基于特征建模的TDD系统大气波导干扰控制体系研究

大气波导干扰是特定气象条件下发生的时分双工（time-division duplex，TDD）系统内干扰，是TDD移动通信系统大规模组网面临的顽疾。在总结分析大气波导干扰成因和分类等的基础上，对大气波导干扰进行建模和表征，验证了海量干扰源在时域和频域的功率集总特征，并结合大量4G/5G现网实测数据给出了典型条件下内陆波导和海面波导的量化干扰信号传播模型，对于干扰的预测和预防具有重要意义。基于干扰特征，给出了TDD系统预防大气波导干扰的帧结构与组网的4项设计原则，5G现网数据表明干扰控制方案有效，上行干扰下降10 dB以上，相关原则对于6G系统的设计也具有指导意义。     

调控Al2O3晶型控制MgAl2O4:Mn4+荧光粉中Mn价态研究

Mn⁴⁺激活红光荧光粉是白光半导体发光二极管(wLEDs)领域当前研究热点之一。Mn⁴⁺离子²E→⁴A₂跃迁在铝酸盐中的最短发光波长是在MgAl₂O₄中实现的651 nm发光, 由于其结构中含有形成四面体或八面体配位的两种阳离子格位(Mg²⁺/Al³⁺), 易造成所掺杂锰元素存在多种价态(+2/+4/+3等)。本研究通过改变起始原料中Al₂O₃的晶型(γ/α比例)及退火处理来调控锰离子在MgAl₂O₄晶格中的占据格位, 对其主要存在价态实现调控。采用荧光光谱和紫外-可见-近红外漫反射光谱技术来表征所合成荧光粉中Mn离子的价态及其演变。研究发现, 高α/(α+γ)比铝源促进Mn²⁺形成, 而低α/(α+γ)比铝源促进Mn⁴⁺形成。通过使用高活性纳米γ-Al₂O₃为铝源, 有效抑制了锰离子在MgAl₂O₄中Mg²⁺格位的占据及Mn²⁺离子的形成, 经空气中1550 ℃保温5 h的一次高温热处理即可制备出在可见光区只有Mn⁴⁺红光发光的高纯高亮度MgAl₂O₄:Mn⁴⁺荧光粉。氧化铝晶型影响锰离子掺杂格位和掺杂价态的本质规律是: 氧化铝活性决定实际固溶掺杂反应步骤, 进而影响锰离子掺杂格位和价态。本研究提出的反应步骤调控作为反应气氛、电荷补偿剂、反应温度三种调控方法外的一种新方法, 为Mn⁴⁺激活铝酸盐荧光粉中锰离子掺杂价态调控提供了新思路。