零重力模拟气动悬挂系统的建模及恒压控制

为模拟空间结构地面动力学测试时的零重力环境,针对研制的气动悬挂装置(PSD)采用比例流量阀开发了高精度的恒定气压控制系统.在分析了系统原理的基础上,建立压力控制系统的非线性数学模型.模型包含了比例阀的动力学特性、阀口流动的非线性、气缸容腔的压力动态和由实验结果拟合的气体泄漏.针对实现恒压控制的目标,采用输入输出线性化方法得到相对阶为2的等价系统,由于模型具有参数不确定和未建模动态特性,设计了基于观测器和等效控制的模糊滑模变结构控制器(FSMC).实验结果表明,设计的控制器对负载变化、气源压力变化、活塞运动和外部干扰均具有较强的鲁棒性,稳态压力波动小于26 Pa,实现了高精度的恒压控制.     

基于小波神经网络补偿的飞艇滑模控制

平流层飞艇具有非线性、参数慢时变等特征,在滞空期间,还受到阵风及大气紊流的影响．将反推滑模技术用于实现飞艇姿态的鲁棒控制,保证了系统稳定．为避免变结构控制中固有的抖振现象,使用自回归小波神经网络（Self—RecurrentWaveletNeuralNetworks,SR—WNN）实时调整开关增益的大小,网络的自回归单元可以克11~,J、波函数的振荡特性,使得估计更为平滑．仿真结果表明：控制器能够适应飞艇结构参数变化及外部扰动的影响,获得强的鲁棒性与好的动态性能．     

五自由度宏/微双重驱动并联机构及其运动学分析

提出了一种扫描电子显微镜用4-PSPS/PRPUR五自由度宏/微双重驱动并联机构,该机构可以实现三维移动和两维转动。采用螺旋理论分析了该机构的自由度,采用基于螺旋系线性相关性的并联机构输入选取判别方法,选取了驱动副并进行了合理性判别。在此基础上对该双重驱动并联机构进行了位置反解分析,结合其应用给出了数值算例,并进一步对该机构进行了速度、加速度分析,且给出了速度、加速度的数值算例。     

简易人体穴位识别治疗仪

为了解决非专业人群寻找穴位难、不准确、不易操作等难题,设计了一种以SPCE061A为核心MCU（Micro Control Unit）的简易人体穴位识别治疗仪。给出了系统结构和实现流程,提出了一种基于层次分析原理的新型穴位检测方法,并讨论了环境因素对穴位识别结果的影响。通过人体穴位检测实验表明,本系统的穴位与非穴位正确识别率可分别达到95%和98%以上,且输出频率可调、波形可变的脉冲电压可达到模拟中医针灸治疗的作用。与传统找穴位方法相比,该方案具有操作简单、功耗低、性价比高等优点。     

数据流中基于滑动窗口的最大频繁项集挖掘算法*

挖掘数据流中最大频繁项集是从数据流中获得信息的一种有效手段,是数据流挖掘研究的热点之一。结合数据流的特点,提出了一种新的基于滑动窗口的最大频繁项集挖掘算法。该算法用位图来存储数据流中流动的数据;采用直接覆盖的方法存储和更新数据流上的数据;在深度优先搜索挖掘最大频繁项集时,除采用经典的剪枝策略外,还提出了与父等价原理相对应的子等价剪枝策略;最后将挖掘结果存储在索引链表中以提高超集检测效率,进一步减少挖掘最大频繁项集的时间。理论分析和实验结果证实了该算法在时间和空间上的有效性。     

Multi-channel micro neural probe fabricated with SOI

Silicon-on-insulator(SOI) substrate is widely used in micro-electro-mechanical systems(MEMS).With the buried oxide layer of SOI acting as an etching stop,silicon based micro neural probe can be fabri-cated with improved uniformity and manufacturability.A seven-record-site neural probe was formed by inductive-coupled plasma(ICP) dry etching of an SOI substrate.The thickness of the probe is 15 μm.The shaft of the probe has dimensions of 3 mm×100 μm×15 μm with typical area of the record site of 78.5 μm2.The im...     

椭圆曲线密码中抗功耗分析攻击的标量乘改进方案

椭圆曲线标量乘法运算是椭圆曲线密码(ECC)体制中最主要的计算过程,标量乘法的效率和安全性一直是研究的热点。针对椭圆曲线标量乘运算计算量大且易受功耗分析攻击的问题,提出了一种抗功耗分析攻击的快速滑动窗口算法,在雅可比和仿射混合坐标系下采用有符号滑动窗口算法实现椭圆曲线标量乘计算,并采用随机化密钥方法抵抗功耗分析攻击。与二进制展开法、密钥分解法相比的结果表明,新设计的有符号滑动窗口标量乘算法计算效率、抗攻击性能有明显提高。     

基于微课的翻转课堂教学实践

本文以C语言程序设计课程中的递归程序教学为例,论述了基于微课开展翻转课堂教学的教学设计及实施方法。     

Sliding mode disturbance observer-based backstepping control for a transport aircraft

This paper presents a novel control method by integrating the sliding mode disturbance observer- based control and the backstepping control technique, and successfully applies it to a flight control system for heavy cargo airdrop operations. The super-twisting second order sliding mode disturbance observer （SOSMDO） is employed to estimate bounded but otherwise arbitrary disturbances, thus ensuring asymptotic convergence of the estimation error to zero in a finite time. Besides, the integrated controller can significantly improve the robustness of the flight control system to modeling uncertainty and external disturbance in the presence of state/control constraints. The closed-loop stability is guaranteed in the sense of Lyapunov. In addition, the proposed approach can considerably reduce design cycles. The performance of the proposed control method is demonstrated in a very low altitude extraction airdrop simulation with a high-fidelity six-degree-of-freedom transport aircraft model.     

Hierarchical control for cornering stability of dual-motor RWD vehicles with electronic differential system using PSO optimized SOSMC method

This paper proposes a novel control scheme with a three-layer hierarchical structure to improve the cornering stability of the dual-motor rear-wheel drive (RWD) vehicles with the electronic differential system (EDS). The proposed hierarchical structure for the control system includes the observing layer, control layer, and actuation layer. In the observing layer, the driver model is designed to obtain the nominal steering angle, and the state observer is designed to obtain the yaw angle which cannot be easily measured. Then, particle swarm optimization (PSO) and second order sliding mode control (SOSMC) are employed in the control layer. The SOSMC part is used to design the control law to eliminate the chattering problem in the sliding mode algorithm, and the PSO part is used to obtain the optimal weights in the sliding mode surface to meet the minimum sideslip angle error and yaw rate error. The actuation layer allocates the corrected yaw moment by distributing the driving force to each independent driving wheel. Finally, the numerical tests are carried out under the double line change (DLC) maneuver. The results show that the proposed control system can effectively improve the cornering stability of the dual-motor RWD vehicles and reduce their motor power consumption.