仿人机器人的机械结构设计与控制系统构建

文章研发了一款适用于机器人教育教学的多功能、多用途、普适性的19自由度的小型仿人机器人,主要完成了该机器人的机械结构设计与控制系统构建工作[1]。所设计的机器人机械结构可靠性高、工艺性好、结构紧凑、样式新颖；所构建的机器人控制系统鲁棒性高、稳定性好、控制准确、反应迅速,圆满地实现了预期的设计任务。通过对优缺点的综合对比,得出组合式构型方案在功能性、实用性和稳定性等方面具有明显优势,有望通过后续软件系统的开发提高其运动效能,真正在青少年机器人教育中发挥重要作用[2]。     

M-estimator based Chinese Remainder Theorem with few remainders using a Kroenecker product based mapping vector

The Chinese Remainder Theorem (CRT) explains how to estimate an integer-valued number from the knowledge of the remainders obtained by dividing such unknown integer by co-prime integers. As an algebraic theorem, CRT is the basis for several techniques concerning data processing. For instance, considering a single-tone signal whose frequency value is above the sampling rate, the respective peak in the DFT informs the impinging frequency value modulo the sampling rate. CRT is nevertheless sensitive to errors in the remainders, and many efforts have been developed in order to improve its robustness. In this paper, we propose a technique to estimate real-valued numbers by means of CRT, employing for this goal a Kroenecker based M-Estimation (ME), specially suitable for CRT systems with low number of remainders. Since ME schemes are in general computationally expensive, we propose a mapping vector obtained via Kroenecker products which considerably reduces the computational complexity. Furthermore, our proposed technique enhances the probability of estimating an unknown number accurately even when the errors in the remainders surpass 1/4 of the greatest common divisor of all moduli. We also provide a version of the mapping vectors based on tensorial n-mode products, delivering in the end the same information of the original method. Our approach outperforms the state-of-the-art CRT methods not only in terms of percentage of successful estimations but also in terms of smaller average error.     

Comparison of approaches to the numerical modelling of pure metals solidification using the control volume method

The thermal processes proceeding in the casting-mould system are analysed. Solidification process can be described in the different ways. One of them consists in the application of the Fourier–Kirchhoff equation in which the source function controlling the phase change is introduced. In this paper, two approaches to the modelling of pure metals solidification, i.e. the solidification proceeding at the constant temperature and in the artificially introduced interval of temperature are considered. Numerical model used at the stage of computations is constructed using the Control Volume Method in which the principle of conservation of energy (taking also into account the release of latent heat of solidification) is applied to each control volume ensuring the correctness of the model. The use of Voronoi/Thiessen tessellation to the discretization of the casting-mould system can accurately reproduce the shape of each sub-domain. In the final part of the paper, the examples of computations are shown.     

2-Phenyloxazole-4-carboxamide as a Scaffold for Selective Inhibition of Human Monoamine Oxidase B

A series of 2-phenyloxazoles bearing an amide group at position 4 were designed and synthesized for evaluation as potential inhibitors of human recombinant monoamine oxidases (hrMAOs). Results of kinetics experiments demonstrated that all compounds behave as competitive MAO inhibitors, with good selectivity toward the MAO-B isoform. The most potent and selective derivatives are characterized by inhibition constant (K_i) values in the sub-micromolar range and a good selectivity index (K_{i MAO-A}/K_{i MAO-B}>50). Some derivatives were also found to be able to inhibit MAO activity in nerve growth factor (NGF)-differentiated PC12 cells, taken as a model of neuronal cells. In particular, 2-(2-hydroxyphenyl)-N-phenyloxazole-4-carboxamide (compound 4 a ) may be a promising new scaffold, exerting the highest selectivity and inhibitory effect toward MAOs in NGF-differentiated PC12 cell lysates, without compromising cell viability. Molecular docking analysis allowed a rationalization of the experimentally observed binding affinity and selectivity.     

Improved error bound for multivariate Chebyshev polynomial interpolation

ABSTRACT

Chebyshev interpolation is a highly effective, intensively studied method and enjoys excellent numerical properties which provides tremendous application potential in mathematical finance. The interpolation nodes are known beforehand, implementation is straightforward and the method is numerically stable. For efficiency, a sharp error bound is essential, in particular for high-dimensional applications. For tensorized Chebyshev interpolation, we present an error bound that improves existing results significantly.     

Numerical analysis of history-dependent hemivariational inequalities and applications to viscoelastic contact problems with normal penetration

In this paper numerical approximation of history-dependent hemivariational inequalities with constraint is considered, and corresponding Céa’s type inequality is derived for error estimate. For a viscoelastic contact problem with normal penetration, an optimal order error estimate is obtained for the linear element method. A numerical experiment for the contact problem is reported which provides numerical evidence of the convergence order predicted by the theoretical analysis.     

采用一维物理光学法的天线罩瞄准误差补偿

针对雷达天线罩瞄准误差的补偿问题，提出了一种适用于各向同性的天线罩瞄准误差修正方法。构建了基于一维物理光学法的天线罩瞄准误差的数学模型，推导了雷达导引头测量目标角度和角速度的误差修正公式。试验结果表明，该方法有效降低了天线罩瞄准误差对目标角速度性能的影响。