Modeling and control of two constrained manipulators

The coordinated control of two manipulators in the presence of environment constraints is studied in this paper. Such a control method is needed in applications in which the two manipulators grasp a common object whose motion is constrained by environments. The two manipulators are not only constrained with each other, but also constrained by the environment in their workspace. It is realized that the motion and constraint equations obtained directly from mechanics are not suitable for the control purpose. A set of equivalent equations are derived, which are in the standard form of the nonlinear system representation with clear state equations and output equations. A nonlinear feedback is found which exactly linearizes and decouples the dynamic nonlinear system of the two constrained manipulators. The coordinated controller design is then carried out based on the linearized system by using linear system theory.     

Covariance control with variance constraints for continuous perturbed stochastic systems

This paper proposes an approach which deals with the variance constraints for the perturbed stochastic systems. The purpose of this approach is to develop a novel methodology, which is based on the theory of covariance control, to solve the constrained variance design problem for the linear perturbed stochastic systems. Particular attention is paid to the case in which there are only uncertain perturbations in the state dynamic matrix. Moreover, an example is given to illustrate the power of the technique.     

An analysis of multivalued and join dependencies based on the entity-relationship approach

In this paper, we show that multivalued dependencies and join dependencies are not very viable for certain cases of relational database design; they are sometimes difficult to be identified; they are relation sensitive; and we are unable to talk about these types of dependencies without referring to some specific relation. We also show that the entity-relationship approach can be used for relational database design without any of the above mentioned undesirable properties of multivalued dependencies and join dependencies.     

小中甸水电站正常蓄水位选择

小中甸水电站是硕多岗河梯级开发的龙头工程.从电站发电效益、对下游梯级的补偿效益、水库淹没、经济比较等方面进行综合分析,提出合理的正常蓄水位.     

大洪河电站水库防洪问题治理对策方案的研究

大洪河水电站自建成投产３０多年来，有关水库防洪的种种问题一直未能得到圆满解决。在电站首次大坝定期安全检查工作期间，又针对水库防洪安全问题进行了一次较为全面深入地分析研究以及治理对策方案的综合比较。推荐在结合现有正常溢洪道需要加固补强的同时，降低溢流堰顶高程以扩大泄洪能力的治理方案，经鉴定认为该方案切实可行。现已完成工程设计并竣工投入运行。     

牙轮零件产品定义系统的研究

产品定义系统的集成保证了各种信息在零件设计制造过程中的高效利用，建立统一的零件信息模型正是ＣＡＤ／ＣＡＰＰ／ＣＡＭ系统集成的关键。目前普遍采用的产品定义系统大多是针对常规回转类零件的，对形状不规则的复杂零件还未能形成一套通用的描述方式。本文在详细研究牙轮外形的基础上，提出了对复杂专用零件进行特征提取的方法，对这类零件建立了相应的数据模型，实现了零件信息的交互与集成。     

Optimal linear feature selection for a general class of statistical pattern recognition models

A dimension reduction method proposed by Odell (1979) and Decell, Odell, and Coberly (1981) for Gaussian models is extended to a general class of density functions known as θ-generalized normal densities. Necessary and sufficient conditions for the existence of a dimension reduction matrix which preserves the original Bayes classification regions is derived. Moreover, an explicit expression for the compression matrix is given.     

The continuity of abnormal and normal behavior.

"Pearson and Kley (see 33: 1700) criticize the writer for basing his belief in the continuity of normal and abnormal states on the invalid consideration that test scores tended to be continuous between the groups. In answer, the writer has pointed out that he himself had discussed the lack of validity of this procedure in detail and had advocated a different method, namely, that of criterion analysis, specifically designed by him to deal with problems of this kind." (PsycINFO Database Record (c) 2010 APA, all rights reserved)