Explicit dynamics of space free-flyers with multiple manipulators via SPACEMAPLE

This paper focuses on the dynamics of a multiple manipulator space free-flying robot (SFFR) with rigid links and issues relevant to the development of appropriate control algorithms. To develop an explicit dynamics model of such complex systems, the Lagrangian formulation is applied. First, the system kinetic energy is derived based on a developed kinematics approach. Then, through vigorous mathematical analyses, three formats are obtained which describe the contribution of each term of kinetic energy to the equations of motion. Next, explicit derivations of a system's mass matrix, and of the vectors of non-linear velocity terms and generalized forces are introduced for the first time. The obtained dynamics model is very useful for dynamics analyses, design and development of control algorithms for such complex systems. The explicit SFFR dynamics can be implemented either numerically or symbolically. Following the latter approach, the developed symbolic code for dynamics modeling, i.e. SPACEMAPLE, and its verification procedure are described, and issues relevant to the development and computation of dynamics models in control algorithms are briefly discussed. Specific dynamic characteristics of SFFRs compared to fixed-base manipulators are pointed out.     

Grey Entropy Relation Algorithm of Choosing the Optimum Diagnostic Nodes in Analogue Circuits

Choosing the optimum diagnostic nodes is helpful to increase the accuracy and the efficiency of circuits fault diagnosis. Grey entropy relation algorithm is proposed to choose the optimum diagnostic nodes of analogue circuits in this paper. Analogue circuits are regarded as grey system. Grey relation analysis and grey entropy analysis are combined to grey entropy relation algorithm. Grey entropy relation algorithm is used to quantify the relationship between the diagnostic nodes and fault components. The relevance between the diagnostic nodes and fault components can be evaluated by grey entropy relation degrees. According to the rank order of grey entropy relation degrees, the optimum diagnostic nodes of analogue circuits can be selected objectively and accurately. An example of fault diagnosis is presented to verify the validity of the optimum diagnostic nodes.     

柔性曲环吹塑型坯控制系统的研制

本文介绍了一种独立研发的柔性曲环径向壁厚控制系统，介绍了该系统的特点与研究试验情况。     

COMPROMISE: AN EFFECTIVE APPROACH FOR CONDITION-BASED MAINTENANCE MANAGEMENT OF GAS TURBINES

A decision-based approach to condition-based maintenance management of rotating machinery is introduced and illustrated by formulating and solving a multiple objective maintenance management problem for a 15 MW industrial gas turbine. The compromise Decision Support Problem approach is used because it provides a convenient way of incorporating both information from condition monitoring and considerations of factors such as machine degradation, operating cost (fuel cost), production loss, maintenance cost, environmental protection, machine availability, etc. The focus in this paper is on explaining the approach rather than on the results per se.     

Single Beacon Cruise Positioning Algorithm in Wireless Sensor Networks

Node localization is important in WSNs （Wireless sensor networks） applications. We present a new cruise positioning algorithm, where a single beacon node cruises an entire network, broadcasting its position periodically with fixed signal strength. Meawhile, an unknown node obtains the location and the corresponding distance of the beacon node. Two possible position coordinate sets for the unknown node can then be calculated, and the coordinate mean of the point set with a small variance is an unbiased estimator of the unknown node＇s coordinate. The positioning algorithm＇s computation is simple, positioning accuracy is not limited by a physical distance measuring tool, and there are no restrictions on the path of motion, which makes it more realistic. An algorithm simulation is presented to compare the original and cruise location algorithm. Numerical results show that the cruise localization algorithm can achieve good positioning accuracy.     

Topographies of the future: urban and suburban visions in Edward Bellamy’s utopian fiction

In Looking Backward (1888) and Equality (1897), Edward Bellamy offered two distinct but interrelated visions of a utopian future. The first and more famous book was set in a luxuriant, centralized metropolis. The sequel detailed decentralized, suburbanized infrastructures. Within the literature on Bellamy these emendations have been treated as evidence of regressive anti-urbanism. This paper argues instead that Bellamy used correlations between topography and technology to mediate an evolving approach to social reform. The discrepancies between the two texts did not represent abandonment of the city but rather an expansion of the scale and scope necessary to ensure social progress. While Looking Backward has often been invoked in relation the Garden City and City Beautiful movements, a new reading of Equality offers opportunities to rethink Bellamy’s relationship to planning history.     

BIOLOGICAL SYSTEMS AS ORGANIZATIONAL PARADIGMS†

It is suggested that biological systems provide the best source of paradigms for the consideration of the kinds of organizations which we find in human systems; social, political or economic. A brief review of the several ways in which biological activities can be mathematically modelled is given, together with indications of the manner in which these ideas can be extended and applied beyond biology.