Aperiodic disturbance rejection in a modified repetitive-control system

This paper presents a method of designing a modified output-feedback repetitive-control system (MOFRCS) that exploits the equivalent-input-disturbance (EID) approach to improve the aperiodic-disturbance rejection performance. The aperiodic disturbances are estimated by an EID estimator and suppressed by incorporation of the estimation into a repetitive control law. First, the configuration of the EID-based MOFRCS is described. Next, a sufficient stability condition is derived by employing the separation and small gain theorems. Then, the methods of designing an MOFRCS and an EID estimator are explained. Finally, some simulation results of a rotational control system are used to demonstrate the validity of the method.     

Singularity‐avoiding swing‐up control for underactuated three‐link gymnast robot using virtual coupling between control torques

An underactuated three‐link gymnast robot (UTGR) is a simple model of a gymnast on a high bar. The control objective of a UTGR is to swing it up from a point near the straight‐down position and to stabilize it at the straight‐up position. To achieve this, we first divide the motion space into two subspaces, swing‐up area and balancing area, and design a controller for each. The design of a swing‐up control law that ensures that the UTGR enters the balancing area is crucial because the UTGR is subject to a nonholonomic constraint and is highly nonlinear during the swing‐up motion. This study focused on how to design a swing‐up control law that contains no singularities. The key concept is the introduction of a virtual coupling between control torques, which converts the problem of avoiding singularities to one of imposing constraints on the parameters of the control law and properly selecting those parameters. A swing‐up control law thus designed ensures that the UTGR enters the balancing area in a natural stretched‐out posture. This makes it easy to stabilize the UTGR in the balancing area. Copyright © 2013 John Wiley & Sons, Ltd.     

基于ARM Cortex-M3的某新型装备信息采集系统设计

根据某新型装备特点,介绍了一种基于ARM Cortex-M3和SD卡的数据采集系统的硬件设计和软件设计;硬件部分包括信号调理电路、微控制器外围电路和SD卡接口电路3个方面;其中微控制器是基于ARM Cortex-M3微处理器设计的STM32F205VG,该设计采用微控制器自带的ADC模数转换器完成模数转换;软件部分包括系统软件和应用软件两部分,其中系统软件主要有主程序模块、初始化程序模块等;应用软件主要有信息采集、SD卡读写程序等;该系统设计采用ARM微处理器,充分利用了ARM的低功耗、高效率、体积小的优点,具有广泛的应用前景.     

Research on social relations cognitive model of mobile nodes in Internet of Things

Interaction and communication between humans with smart mobile devices are a new trend of development in Internet of Things (IoT). With the powerful sensing capability of smart device and human mobility, various services could be provided by building a trusted chain between service requesters and suppliers. The cognition of social relations between mobile nodes is the basis of final mobile-aware services. It involves many decision factors, such as time, space and activity patterns. Using social network theory, a new cognitive model for social relations of mobile nodes in IoT is proposed. Firstly, nodes' social relations are reasoned and quantified from multiple perspectives based on the summary of social characteristics of mobile nodes and the definition of different decision factors. Then the location factor, interconnection factor, service evaluation factor and feedback aggregation factor are defined to solve the shortcomings in existing quantitative models. Finally, the weight distribution is set up by information entropy and rough set theory for these decision factors; it can overcome the shortage of traditional methods, in which the weight is set up by subjective ways and hence their dynamic adaptability is poor. We compare our cognitive model to existing models using MIT dataset by defining a variety of test indicators, such as network overall density (NOD), the degree center potential (DCP), the network distribution index (EI), etc. Simulation results show that, the cognitive model has better internal structure and significant validity in network analysis, and thus can provide mobile-aware service effectively in dynamic environment.     

Effective degradation of para-chloronitrobenzene through a sequential treatment using zero-valent iron reduction and Fenton oxidation

In this study, zero-valent iron (ZVI) was used to pretreat para-chloronitrobenzene (p-CNB), and the major product was para-chloroaniline (p-CAN). By adding H(2)O(2) directly, further p-CAN degradation can be attributed to Fenton oxidation because ferrous ions (Fe(2+)) released during the ZVI corrosion could be used as an activator for H(2)O(2) decomposition. In the reduction process, the reduction efficiency of p-CNB as well as Fe(2+) concentration increased with increasing iron dosage and decreasing solution pH. Under the optimal conditions, 25 mg L(-1) of p-CNB could be transformed in 3 h when initial solution pH was 3.0 and ZVI dosage was 2.0 g L(-1). A sufficient amount of Fe(2+) (50.4 mg L(-1)) was obtained after the above reaction to activate H(2)O(2). In the Fenton process, the oxidization of p-CAN was also more effective in acidic conditions and it increased with increasing H(2)O(2) concentration. The control experiments showed that the sequential treatment was more effective than Fenton oxidation alone in treating p-CNB wastewater since the removal rate of total organic carbon (TOC) was improved by about 34%. It suggested that the amino function group is more susceptible to oxidative radical attack than the nitro function group. Therefore, sequential treatment using zero-valent iron reduction followed by Fenton oxidation is a promising method for p-CNB degradation.     

PPT中动画运行与路径无关的方法

介绍了三种将PPT及其素材打包为一个可执行文件的方法．且动画的运行与路径无关。并分析了其优缺点及适用场合。     

OMNET的安装与版本间区别

随着信息技术的进步与发展,无线传感器网络(WSN)在无线通信技术中占有着举足轻重的地位,在诸如环境监测、医疗护理、军事领域有着广泛的应用,其综合了传感器技术、无线通信技术等技术,是当前国际上备受关注的前沿热点研究领域.本文主要研究现阶段经典的路由算法,并对其进行了仿真实现,时LEACH算法进行了改进,降低无线传感器网络节点能耗,延长无线传感器网络节点的寿命,提高整个网络的工作效率.     

结合软硬数据的连续型多点地质统计渗透率图像模拟方法

渗透率图像的预测模拟对油田的开发具有重要意义。充分利用条件数据可以提高渗透率模拟的精度,因此提出一种基于连续型多点地质统计法和软硬数据的渗透率图像模拟方法。首先,利用过滤器得分操作对渗透率图像降维,所有的过滤器得分形成了一个过滤器得分空间;其次,通过两步划分法将得分空间划分,得到每个非空得分类的特征,形成一个“特征库”;最后,通过自定义的距离函数从“特征库”提取已知模式的特征,以完成对节点的模拟。比较各情况下渗透率模拟图像可以看出,将软硬数据同时作为条件数据的模拟图像由于采用了较为丰富的条件数据信息,因此与真实情况下的渗透率分布在结构特征上最为接近。     

Segment-based adaptive hyper-Erlang model for long-tailed network traffic approximation

Modeling the long-tailedness property of network traffic with phase-type distributions is a powerful means to facilitate the consequent performance evaluation and queuing based analysis. This paper improves the recently proposed Fixed Hyper-Erlang model (FHE) by introducing an adaptive framework (Adaptive Hyper-Erlang model, AHE) to determine the crucially performance-sensitive model parameters. The adaptive model fits long-tailed traffic data set directly with a mixed Erlang distribution in a new divide-and-conquer manner. Compared with the well-known hyperexponential based models and the Fixed Hyper-Erlang model, the Adaptive Hyper-Erlang model is more flexible and practicable in addition to its accuracy in fitting the tail behavior.

OpenLDAP性能测试分析与优化

OpenLDAP是开源的LDAP服务器,在分布式目录服务中得到了广泛应用.详细分析了OpenLDAP目前所采用的独特"线程池"模式.通过比较OpenLDAP在不同模式下的性能差异,发现原模式对LDAP操作存在较大的响应延迟.进一步给出了改进的"线程池"模式,该改进模式能够降低LDAP操作响应延迟.最后通过仿真实验,表明改进模式可以明显改善OpenLDAP的性能.