磁悬浮控制力矩陀螺高速转子的高精度位置控制

在受到陀螺效应、动框架效应等影响后产生的磁力非线性问题是磁悬浮控制力矩陀螺(MSCMG)高速转子位置精度下降的主要因素。为解决以上问题,提高转子位置精度,本文分析了转子所受磁力的特性,建立了转子系统非线性动力学模型,提出了神经网络滑模控制方法。设计滑模控制律,采用径向基函数神经网络逼近控制律中的非线性模型,自适应算法根据误差在线调整神经网络的权值,同时可以保证整个系统的稳定性。仿真和实验结果表明,所提出方法的转子位置精度达到99%,稳态误差为0.000 2 mm。神经网络滑模控制可以实现MSCMG转子系统的高精度位置控制。     

Comparative Analysis of Platelet-Derived Extracellular Vesicles Using Flow Cytometry and Nanoparticle Tracking Analysis

Growing interest in extracellular vesicles (EVs) has prompted the advancements of protocols for improved EV characterization. As a high-throughput, multi-parameter, and single particle technique, flow cytometry is widely used for EV characterization. The comparison of data on EV concentration, however, is hindered by the lack of standardization between different protocols and instruments. Here, we quantified EV counts of platelet-derived EVs, using two flow cytometers (Gallios and CytoFLEX LX) and nanoparticle tracking analysis (NTA). Phosphatidylserine-exposing EVs were identified by labelling with lactadherin (LA). Calibration with silica-based fluorescent beads showed detection limits of 300 nm and 150 nm for Gallios and CytoFLEX LX, respectively. Accordingly, CytoFLEX LX yielded 40-fold higher EV counts and 13-fold higher counts of LA⁺CD41⁺ EVs compared to Gallios. NTA in fluorescence mode (F-NTA) demonstrated that only 9.5% of all vesicles detected in scatter mode exposed phosphatidylserine, resulting in good agreement of LA⁺ EVs for CytoFLEX LX and F-NTA. Since certain functional characteristics, such as the exposure of pro-coagulant phosphatidylserine, are not equally displayed across the entire EV size range, our study highlights the necessity of indicating the size range of EVs detected with a given approach along with the EV concentration to support the comparability between different studies.     

基于DSP技术的配电房关键位置温度测量系统

目前配电房关键位置温度测量系统未设计温度智能标定程序,导致系统温度测量精度和正确率较低,为此提出设计基于DSP技术的配电房关键位置温度测量系统。硬件方面,考虑系统核心模块和测量性能,优化系统硬件结构和显示模块。软件方面,设计系统温度采集模块,采集配电房关键位置温度,设计温度测算程序和温度智能标定程序,智能测量配电房关键位置温度。实验结果表明:该系统受到外界温度因素影响较小,拟合曲线拟合度较高,具有较高的温度测量精度和正确率。     

A survey on tracking control of unmanned underwater vehicles: Experiments-based approach

This paper aims to provide a review of the conceptual design and theoretical framework of the main control schemes proposed in the literature for unmanned underwater vehicles (UUVs). Additionally, the objective of the paper is not only to present an overview of the recent control architectures validated on UUVs but also to give detailed experimental-based comparative studies of the proposed control schemes. To this end, the main control schemes, including proportional–integral–derivative (PID) based, sliding mode control (SMC) based, adaptive based, observation-based, model predictive control (MPC) based, combined control techniques, are revisited in order to consolidate the principal efforts made in the last two decades by the automatic control community in the field. Besides implementing some key tracking control schemes from the classification mentioned above on Leonard UUV, several real-time experimental scenarios are tested, under different operating conditions, to evaluate and compare the efficiency of the selected tracking control schemes. Furthermore, we point out potential investigation gaps and future research trends at the end of this survey.     

Double-layer fuzzy adaptive NMPC coordinated control method of energy management and trajectory tracking for hybrid electric fixed wing UAVs

The energy management and trajectory tracking control are crucial to realize long-endurance autonomous flight for hybrid electric UAVs. This study aims to comprehensively consider energy management and trajectory tracking for hybrid electric fixed wing UAVs with photovoltaic panel/fuel cell/battery. A double-layer fuzzy adaptive nonlinear model predictive control method (DFNMPC) is proposed. Separated by the surplus demand power, energy management and trajectory tracking problem are decoupled into the high-layer fuzzy adaptive nonlinear model predictive controll problem (H-FNMPC) and low-layer fuzzy adaptive nonlinear model predictive controll problem (L-FNMPC). H-FNMPC solves the trajectory tracking and navigation control probelm for the greatest benefit of solar energy. L-FNMPC solves the power allocation problem of hybrid energy system for minimum equivalent hydrogen consumption. A fuzzy adaptive prediction horizon adjustment method based on UAV maneuvering degree is proposed to effectively improve proposed method adaptability to different mission profiles. Analogously, a fuzzy adaptive equivalent hydrogen consumption factor adjustment method in L-FNMPC is proposed to ensure the flexible utilization of battery. In addition, an equivalent hydrogen flow rate calculation method based on the real-time current ratio is proposed for PV/FC/Battery hybrid energy system. Numerical simulation results including a spiral trajectory tracking and a quadrilateral trajectory tracking, demonstrate that DFNMPC can simultaneously handle energy management and trajectory tracking problem for hybrid electric UAVs. Compared to hierarchical fuzzy state machine strategy, DFNMPC can save 13.3% hydrogen for the spiral trajectory tracking, and 56.9% for the quadrilateral trajectory tracking. It indicates that the energy efficiency can be improved from both levels of energy management and flight motion. The proposed method prospected for exploring high-energy-efficiency autonomous flight of hybrid electric UAVs in the future.     

火焰矫正法在桥式起重机整形中的应用

采用火焰使主梁局部加热，在外力的作用下产生热塑变形，达到主梁变形的目的。     

掩护式低位放顶煤液压支架及其在三软煤层条件下适应性研究

根据新登煤矿特殊的"三软"(顶板软、底板软、煤层软)地质条件,创造性地将掩护式支架的基本结构应用于放顶煤液压支架中,开发出了一种新的支架架型结构-两柱支撑掩护式低位放顶煤液压支架。该项目研究中所取得的技术成果和开发的支架产品具有较为广阔的推广应用前景。     

MG400/920-WD采煤机调高油缸故障分析与对策

针对MG4 0 0 /92 0 -WD型采煤机调高油缸频繁出现故障进行分析和试验,并提出切实可行的解决方法。     

较薄厚煤层综放开采技术在西山矿区的应用

轻型综放开采技术在太原市西山矿区镇城底矿的较薄厚煤层中进行了推广应用，并获得了初步成功，它扩大了综放开采技术的应用范围。     

基于人工神经网络的机床部件肋板位置动态优化方法

应用神经网络理论建立了机床部件的BP神经网络模型 ,并在此模型上进行肋板位置的优化计算 ,在实体结构上实现了设计变量的自动搜索寻优计算。这一方法弥补了过去在实体结构上只能进行方案式比较优化而所得结果有较大随机性的缺陷