A Real Time Self-Tuning Motion Controller for Mobile Robot Systems

This paper proposes an intelligent controller for motion control of robotic systems to obtain high precision tracking without the need for a real-time trial and error method. In addition, a new self-tuning algorithm has been developed based on both the ant colony algorithm and a fuzzy system for real-time tuning of controller parameters. Simulations and experiments using a real robot have been addressed to demonstrate the success of the proposed controller and validate the theoretical analysis. Obtained results confirm that the proposed controller ensures robust performance in the presence of disturbances and parametric uncertainties without the need for adjustment of control law parameters by a trial and error method.      

An enhanced state estimation for linear parabolic PDE systems with mobile sensors

This paper studies an enhanced state estimation problem of distributed parameter processes modeled by a linear parabolic partial differential equation using mobile sensors. The proposed estimation scheme contains a state estimator and the guidance of mobile sensors, where the spatial domain is decomposed into multiple subdomains according to the number of sensors and each sensor is capable of moving within the respective subdomain. The state estimator is desired to make the state estimation error system exponentially stable while providing an performance bound. The mobile sensor guidance is used to enhance the transient performance of the error system. By the Lyapunov direct technique, an integrated design of state estimator and mobile sensor guidance laws is developed in the form of bilinear matrix inequalities (BMIs) to meet the desired design objectives. Moreover, to make the performance bound as small as possible, a suboptimal enhanced state estimation problem is formulated as a BMI optimization one, which can be solved via an iterative linear matrix inequality algorithm. Finally, numerical simulations are given to show the effectiveness of the proposed method.     

Experimental investigation on the effect of ambient pressure on thermal runaway and fire behaviors of lithium‐ion batteries

To investigate the impacts of ambient pressure on thermal runaway and fire behaviors of lithium‐ion battery (LIB), experimental measurement and theoretical analysis with serial conditions are conducted at two altitudes. The well‐designed experimental equipment and operating conditions have enabled the accurate evaluation of ambient pressure effects. Results show that the first abrupt temperature change in Hefei (ambient pressure 100.8 kPa) is higher than that in Lhasa (64.3 kPa). The difference in ambient pressure at two altitudes leads to different relief valve crack temperature and time. The average burning rate in Hefei is larger than that in Lhasa, and the estimated pressure effect factor is quite different for detailed pack conditions and varies within the range of 0.083‐1.39. The ambient pressure has a greater effect on the heat release rate and total heat release than the mass loss, and the effective combustion heat under the low pressure is lower than that in normal condition. This work can provide more comprehensive and useful data for the safety management of LIBs at low pressure environments.     

基于动态策略的移动警务终端安全管控系统的设计与实现

对移动警务安全接入平台中的终端设备的安全防护问题进行了研究,提出并研制了一种基于动态策略的移动警务终端安全管控系统,整个系统由客户端、前置服务端和内网服务端组成,前置服务端和内网服务端分别部署在前置区和公安内网,客户端部署在移动终端设备上,确保在移动接入区和公安内网区有效进行物理隔离的前提下,将系统制定的各种安全策略规则下发到客户端执行,规范用户对移动终端的本地软硬件资源和网络资源的使用,实现安全威胁检测、防护及预警,对移动终端用户的违规访问、操作行为进行全面监测和上报,实现终端设备安全和行为的统一管理.     

手机面板用蓝宝石玻璃性质与制备

蓝宝石具有硬度高、耐磨性、化学稳定性和耐热性好等特点,手机制造企业将蓝宝石用于代替玻璃作手机面板的覆盖材料。本文阐述了蓝宝石的结构、性质和大尺寸蓝宝石的制造方法,指出热交換法可以制备Φ380 mm的蓝宝石,冷心放肩微量提拉法(SAPMAC)也是一种有特色的制备方法。最后提出由蓝宝石和玻璃组成叠层材料,上层用耐磨的蓝宝石,下层为玻璃,可以节约成本,这将是手机面板发展的方向。     

HPLC法测定药物共晶中茶碱和对乙酰氨基酚的研究

建立了高效液相色谱法分离茶碱和对乙酰氨基酚双组分体系的最佳条件是:C18色谱柱(250 mm×4.6 mm,5μm,120),以十八烷基键合硅胶为固定相;流动相为0.01 mol/L磷酸二氢钾溶液(用磷酸溶液调节pH至3.05)(A)-甲醇(B)(体积比为80∶20);检测波长为245 nm和270 nm;流速为1.0 mL/min;柱温为25℃;进样量为20μL。实验结果表明:对乙酰氨基酚回归方程为y=0.651 1x+6.610 4,R2=0.994 5;茶碱回归方程为y=0.939 2x-5.575 1,R2=0.998,他们的线性范围是5~500μg/mL。该方法为茶碱、对乙酰氨基酚双组分体系研究提供依据,为其溶解度的测定提供方法支撑,作为高效液相色谱分离方法,分析快速,灵敏度高,重现性好。     

轮式移动机器人滑移轨迹跟踪控制策略研究

针对轮式移动机器人在滑移条件下的轨迹跟踪问题,提出一种自适应模糊控制策略。利用模糊状态观测器对未知的复杂系统模型进行速度估计和补偿,通过设计输出向量将位置约束转换为输出约束,并构造Barrier Lyapunov函数来保证机器人的运动约束,在此基础上设计更简单的纵向滑移模型,利用李亚普诺夫定理分析闭环系统的稳定性,证明了闭环系统中所有信号都是有界的。最后通过仿真和实验验证了自适应模糊控制策略在轮式机器人纵向滑移情况下的有效性和实用性。     

创新型处理高污染废水的低温常压蒸发技术

农药废水对环境造成严重污染。农药废水处理旨在降低农药生产废水中污染物浓度,提高回收利用率,从而尽量达到无害化。创源环保(CWT)公司开发的低温常压蒸发工艺能在处理废水时实现大幅地低能耗运行和低维护成本,同时也提高了回收废水中有价值的物质的可能性。     

基于安全规范化管控系统的电力建设安全管理研究

在电力建设工程项目管理中,传统的安全管理方式存在监管不及时、不到位以及落实管理要求的力度层层衰减的现象,因此安全管理工作仍未取得实质性效果。基于现有的安全规范化管控系统,编制了基建标准化作业流程和基建标准化检查流程,结合工地视频在线监控系统,提出将电力基建工程安全管理工作纳入安全规范化管控系统进行监管,同时针对基建工程建设的特点,进一步开发了相关功能模块,使电力基建施工人员和管理人员更加方便地使用该系统。改进后的安全规范化管控系统实现了基建工程从开工到竣工的全过程监管,提高了现场作业人员的安全意识,规范了现场安全措施,同时也加强了施工作业的安全监管,能够保障工程顺利推进。     

提高空气源热泵低温性能的实验研究

针对空气源热泵低温性能欠佳的原因,对原型机进行了改进,增加了旁通毛细管和换热器两个部分,通过实验测试,对比了改造前后系统的制热量、能效比以及吸排气压力,结果表明空气源热泵的低温性能有了一定的提高。