基于自适应融合的手掌静脉增强方法

针对掌脉轮廓不清晰，图像对比度低、亮度低，进而导致识别性能降低的现象，提出一种自适应融合的手掌静脉增强方法。首先，基于暗原色先验（DCP）去雾算法，根据掌脉图像变异系数自适应选择去雾系数，得到DCP增强图像，并且基于部分子块重叠直方图均衡（POSHE）算法得到POSHE增强图像；然后，将图像分为16个子块，依据图像灰度均值与标准差确定各子块权重；最后，根据各子块权重对DCP和POSHE增强图像进行自适应融合，得到最终增强图像。该方法既保留了DCP算法在增强图像对比度和亮度的同时不引入明显噪声的优点，又保留了POSHE算法在增强图像对比度和亮度的同时不损失局部细节的特点；同时，两者的自适应融合既解决了DCP图像阴影部分掌脉缺失现象，又削弱了POSHE产生的块效应。在对两个公开库和自建库分别进行的实验中，三个数据库的等错误率分别为0.0004、0.0472、0.0579，识别率分别为99.98%、94.27%、92.05%。实验结果表明，与现有的图像增强方法相比，该方法降低了等错误率，提高了识别精度。     

Distributed model reference adaptive containment control of heterogeneous uncertain multi-agent systems

In this paper, a distributed model reference adaptive control (MRAC) design framework is proposed for containment control of heterogeneous uncertain multi-agent systems (MAS). Both groups of leaders and followers are considered to have general linear dynamics with the leaders subject to bounded external inputs and the followers subject to uncertain system dynamics. Two distributed adaptive control protocols are developed under this framework. The first protocol assumes measurable leaders’ input signals for a subset of the followers, and employs distributed observers with state-feedback adaptive controllers to achieve exact containment control performance. The second protocol incorporates robust adaptive control with nonlinear compensator techniques to handle a more challenging scenario of unmeasurable bounded leaders’ inputs. Convergence of the containment control errors to an arbitrarily adjustable neighborhood of the origin is guaranteed with the second protocol. The proposed MRAC framework provides a promising alternative solution over the prevailing cooperative output regulation framework for heterogeneous linear MAS containment control. It enables us to handle more general system settings under more stringent control environments with limited accessibility of leaders’ information and uncertain follower dynamics. Effectiveness and usefulness of the proposed approaches are demonstrated through extensive simulation studies, including an application to containment control of multiple nonholonomic mobile robots.     

Distributed adaptive neural networks leader-following formation control for quadrotors with directed switching topologies

The leader-following formation problem is discussed for a team of quadrotors under directed switching topologies. To obtain a more general dynamic model, we describe the quadrotor system in a non-affine pure-feedback form with mismatched unknown nonlinearities. By employing an adaptive neural networks state observer to approximate the unknown nonlinear functions and to reconstruct the immeasurable inner states, we propose a novel distributed output feedback formation control protocol with the backstepping method combining with the dynamic surface control technique. From the Lyapunov stability theorem, all signals in the closed-loop formation system are proven to be cooperatively semiglobally uniformly ultimately bounded for any given bounded initial conditions. Finally, we proved that we verify the performance of the proposed formation control approach by a simulation study.     

基于多自由度气动机械手位置伺服系统稳定性控制研究

基于传统易碎薄板机械手位置伺服控制系统稳定性低、自动化分拣效率低等不足,设计了一种基于笛卡尔坐标式的气动码垛机器手和位置伺服稳定性控制系统。首先,设计并介绍笛卡尔坐标式码垛机械手的基本组成结构,对机械手末端吸盘气动回路控制系统进行设计和分析;然后分别对机械手X、Y、Z三个方向的伺服电机控制原理进行分析并设计了一种位置伺服系统的前馈自适应控制算法;最后,将传统位置闭环PID算法和前馈自适应控制算法进行位置跟踪稳定性对比试验。实验结果表明该笛卡尔坐标式的气动码垛机器手和位置伺服稳定性控制系统设计合理,满足实际生产要求。     

旋转式采煤工艺在煤矿生产中的应用

采煤工艺作为煤矿正常生产的核心,直接关系到综采作业的效率、煤炭回采率和综采作业的安全性,随着对综采作业要求的不断提高,旋转式采煤工艺在煤矿井下的应用范围也不断扩大。以黄家沟煤业1205综采作业面为分析对象,对旋转式采煤工艺在井下的应用情况进行了研究,为优化综采方法、提升综采作业效率和煤炭回采率奠定基础。     

Disturbance observer-based adaptive boundary iterative learning control for a rigid-flexible manipulator with input backlash and endpoint constraint

In this article, an observer-based adaptive boundary iterative learning control law is developed for a class of two-link rigid-flexible manipulator with input backlash, the unknown external disturbance, and the endpoint constraint. To tackle the backlash nonlinearities and ensure the vibration suppression, the disturbance observers based upon the iterative learning conception are considered in the adaptive boundary control design. A barrier Lyapunov function is incorporated with boundary control law to restrict the endpoint state. Based on the defined barrier composite energy function, the tracking angle error convergence of the rigid part is guaranteed, and the vibrations of the flexible part are suppressed through the rigorous analysis. Finally, a numerical simulation is provided to illustrate the effectiveness of the proposed control.     

Integral barrier Lyapunov function-based adaptive fuzzy output feedback control for nonlinear delayed systems with time-varying full-state constraints

In this article, an adaptive fuzzy output feedback control method is presented for nonlinear time-delay systems with time-varying full state constraints and input saturation. To overcome the problem of time-varying constraints, the integral barrier Lyapunov functions (IBLFs) integrating with dynamic surface control (DSC) are applied for the first time to keep the state from violating constraints. The effects of unknown time delays can be removed by using designed Lyapunov-Krasovskii functions (LKFs). An auxiliary design system is introduced to solve the problem of input saturation. The unknown nonlinear functions are approximated by the fuzzy logic systems (FLS), and the unmeasured states are estimated by a designed fuzzy observer. The novel controller can guarantee that all signals remain semiglobally uniformly ultimately bounded and satisfactory tracking performance is achieved. Finally, two simulation examples illustrate the effectiveness of the presented control methods.     

高大软岩边坡下开采程序研究

结合胜利煤田发生大型滑坡的露天矿地质赋存条件，以高大软岩边坡条件下松散物料压覆的煤炭资源安全高效回收为目标，提出采用“横采内排-尾随压脚”的开采程序方案将工作线从直线型变为“Π”字型。从地表水与地下水防治、边坡安全监测等方面提出了保证工程顺利实施的安全保障措施。计算分析了采用“横采内排-尾随压脚”开采程序方案的可观资源回收量及减少运距和提升高度带来的经济效益，同时对矿山实现可持续发展和安全开采的价值进行了预测。     

钙化-酸浸提钒沉钒母液中锰的回收

对钙化?酸浸提钒沉钒母液中锰资源的回收，一方面可以提升提钒工艺的经济效益，另一方面可避免母液循环时锰浓度不断累积而影响氧化钒产品质量，从而有助于实现母液闭路循环而提升全流程的环境效益。本工作提出了采用草酸沉淀法高效回收沉钒母液中的Mn2+，考察溶液体系pH值、草酸加量系数、反应温度和时间对锰回收率及沉淀产物物相组成的影响，以及草酸沉淀分离锰后母液的循环次数对钒浸出过程的影响。结果表明，草酸沉淀法可高效分离沉钒母液中的Mn2+，在溶液体系pH=4.0、草酸加量系数为1.5、反应温度为50℃、反应时间为60 min的条件下，锰回收率达94.33%，所得产物为纯度大于98%的水合草酸锰，为片状晶体，并呈花簇状生长。将脱锰后的沉钒母液循环至酸浸段，对钒浸出率及浸出液中锰的浓度没有明显影响，表明该方法有助于实现钙化?酸浸提钒中废水的闭路循环。