Switching controller design for linear time invariant plant with a single I/O delay

ABSTRACT

To deal with the problem of conflicting requirements that cannot be satisfied by only a single LTI controller, this paper focuses on the design of a switching controller, which includes several stabilising linear time-invariant (LTI) controllers designed independently with different control performance criteria, for a specific LTI plant with a single I/O delay. The switching controller design procedure is divided into three steps. First, using simple loop shifting arguments, the design problem is reducible to an equivalent delay-free one. Second, traditional LTI controller synthesis methods could be considered independently for the delay-free plant. Third, based on a quadratically stable state space realisation method, a Youla parameter including a switching strategy with these controllers is designed to guarantee different requirements. Finally, a numerical example is provided to demonstrate the validity and efficiency of the approach.     

ALLSTEPS: Curriculum-driven Learning of Stepping Stone Skills

Humans are highly adept at walking in environments with foot placement constraints, including stepping-stone scenarios where footstep locations are fully constrained. Finding good solutions to stepping-stone locomotion is a longstanding and fundamental challenge for animation and robotics. We present fully learned solutions to this difficult problem using reinforcement learning. We demonstrate the importance of a curriculum for efficient learning and evaluate four possible curriculum choices compared to a non-curriculum baseline. Results are presented for a simulated humanoid, a realistic bipedal robot simulation and a monster character, in each case producing robust, plausible motions for challenging stepping stone sequences and terrains.     

模拟水环境下的压紧弹簧刚度试验及计算模型的研究

在模拟水环境下，对堆内构件压紧弹簧的缩比试样进行了刚度试验，并与有限元模拟、基于小扰度理论模型和大扰度随动模型的分析结果进行比较分析。结果表明，当摩擦系数按文献实验测值0.189取值时，有限元模拟、基于小扰度的理论模型和大扰度随动模型计算所得的刚度值均与试验所得的相近；卸载稳定段的刚度均明显小于加载稳定段的，是加载时的0.6倍左右。有限元模拟分析进一步阐明，在压紧弹簧变形过程中，压紧弹簧的截面存在转动，它与垫板之间的接触点并不是固定的，在加载和卸载过程中存在来回的径向位移。并且压紧弹簧接触面上的摩擦力方向是相反的，使得压紧弹簧在加载和卸载过程的刚度存在较大的差别。较小扰度理论模型、考虑压紧弹簧截面转动和接触点径向位移的大扰度随动模型所得的结果与有限元模拟更为接近。      

BRISOL钠同位素放射性核束的产生

北京放射性核束装置在线同位素分离器（BRISOL）采用100 MeV、200 μA回旋加速器提供的质子束打靶产生中、短寿命放射性核束，在线分析后供物理用户使用，其质量分辨率好于20 000。为开展²⁰Na核的奇异衰变特性研究，研制了氧化镁靶，并采用100 MeV质子束轰击氧化镁靶在线产生了^20～26Na⁺的钠同位素放射性核束。当质子束流强为8 μA时，²⁰Na⁺离子束的最大产额为2×10⁵ s^-1，²¹Na⁺离子束的最大产额为4×10⁸ s^-1。完成了北京放射性核束装置首个放射性核束物理实验，累计供束近200 h。     

中国观念艺术发展症候分析

中国观念艺术三十多年的发展,是一场"没有坐标的运动。"中国观念艺术曾在一定时期和范围内偏离了人本主义思想的轨迹,没有沿着健康的道路发展。本文将从"后殖民化"与"本土化""智力"与"智慧""大众"与"精英"三悖论,对中国观念艺术发展的症候进行分析。     

17-4PH不锈钢480 ℃时效组织的动态演变规律

将17-4PH不锈钢锻棒固溶处理后油冷,然后选择在最佳的时效温度480 ℃时效保温0～5 h后空冷。通过光学显微镜(OM)、超景深显微镜、XRD、显微硬度仪等测试方法观察固溶、时效过程的组织演变和分析其沉淀硬化机理;采用电阻仪间接测试ε-Cu相动态时效析出过程对电阻的影响;并利用摩擦磨损试验机测试其耐磨性能。研究发现:17-4PH不锈钢固溶和时效过程没有残留奥氏体和逆转变奥氏体出现,热处理后出现板条状和块状两种马氏体形态,板条状马氏体硬度高于块状马氏体,随着时效时间的延长,两种马氏体硬度同步上升,时效析出明显提高了固溶态组织的硬度;时效2.0～2.5 h附近强化效果和耐磨性能最弱,可能与ε-Cu 相长大及与位错交互作用有关;硬度随时效时间的变化趋势与电阻正好相反。     

Nanoporous copper sonocatalysts prepared by dealloying Cu–Al–Ti amorphous ribbons

ABSTRACT

Nanoporous copper (NPC) with a controllable ligament width was prepared by chemically dealloying Cu₄₅Al₄₅Ti₁₀ amorphous ribbons in dilute HCl solution. X-ray diffraction and scanning electron microscopy analysis confirmed the 3D, bicontinuous, nanoporous structure constituting fcc-Cu ligaments of 39–79?nm thickness. The coarsening of NPC ligaments increased significantly with an increase of HCl concentration, reaction temperature or time. The surface diffusivity and activation energy of NPC were also calculated. Finally, the catalytic activity of NPC was validated with the ultrasound and H₂O₂-assisted degradation of methyl orange (MO), where 99% MO was degraded within 15?min.     

Efficient hybrid algorithm based on moth search and fireworks algorithm for solving numerical and constrained engineering optimization problems

The Journal of Supercomputing - The moth search algorithm (MS) is a novel intelligent optimization algorithm based on moth population behavior, which can solve many problems in different fields....     

Oriented grouping-constrained spectral clustering for medical imaging segmentation

Multimedia Systems - Original medical images are often inadequate for clinical diagnosis. Certain prior information can be used as an important basis for disease diagnosis and prevention. In this...     

热变形工艺对含硫非调质钢流变应力及组织的影响

在变形温度950~1150 ℃和应变速率0.01~5 s^-1下,通过Gleeble-3500热模拟试验机进行单道次压缩试验,研究了热变形工艺对含硫非调质钢F45MnVS流变应力及组织的影响。结果表明:随着应变速率的增大,热压缩过程中的峰值应力增加,随着温度的升高,峰值应力降低;动态再结晶平均晶粒尺寸随着应变速率、变形量的增加而减小,随着温度的提高而增大。