Inverted pendulum stabilization: Characterization of codimension-three triple zero bifurcation via multiple delayed proportional gains

The paper considers the problem of stabilization of systems possessing a multiple zero eigenvalue at the origin. The controller that we propose, uses multiple delayed measurements instead of derivative terms. Doing so, we increase the performances of the closed loop in presence of system uncertainties and/or noisy measurements. The problem formulation and the analysis is presented through a classical engineering problem which is the stabilization of an inverted pendulum on a cart moving horizontally. On one hand, we perform a nonlinear analysis of the center dynamics described by a three dimensional system of ordinary differential equations with a codimension-three triple zero bifurcation. On the other hand, we present the complementary stability analysis of the corresponding linear time invariant system with two delays describing the behavior around the equilibrium. The aim of this analysis is to characterize the possible local bifurcations. Finally, the proposed control scheme is numerically illustrated and discussed.     

一种变步长D-Rake多用户检测器

在时变多径衰落信道下,接收到的CDMA信号功率变化较大,此时D-Rake盲自适应多用户检测器性能显著下降,将变步长LMS算法与基于主分量的相干合并引入到D-Rake(DecorrelatingRake)检测器中,构成一种变步长D-Rake,称之为VD-Rake(Variablestep-sizeDecorrelatingRake)检测器。该检测器能克服原D-Rake检测器对信号功率变化较敏感等缺点,有效地改善了D-Rake检测器的性能。     

消力池底板块的失稳破坏机理及其防护措施

本文根据国内外一些高坝消力池和水垫塘失事破坏的调查资料，说明了脉动压力在引起破坏中的作用。从理论上分析了脉动压力的基本特征及其分布规律、板块上脉动上举力的产生机理，论证了脉动上举力是导致消力池底板揭底破坏的主要原因。论述了合理设置止水设施、排水设施以及锚固措施等对防止破坏的效果，讨论了计入脉动荷载的底板块稳定性设计准则，提供了消力池底板块的设计和防护参数。     

Stability of Equilibria in a Four-dimensional Nonlinear Model of a Hydraulic Servomechanism

Starting from plysical laws a four-dimensional nonlinear model for mecano-hydraulic servomechanisms is deduced. The stability of its equilibria is analysed using a theorem of Lyapunov and Malkin to handle the critical case due to the presence of zero in the spectrum of the matrix of the linear part around equilibria. Stability diagrams are drawn and simulation results are presented through phase diagrams.     

Intriguing nonlinear dynamics of a controller with a sluggish actuator

We apply a bifurcation-theoretic approach to the standard Moore–Greitzer compressor model in effort to understand a curious phenomenon. When one forces the actuator to respond sluggishly to commanded inputs, performance of the controller improves dramatically. We show that the behavior can be explained via Hopf–Hopf interactions of surge and rotating stall. Also, we argue that there is a broad class of controllers which possess the general dynamic features responsible for the surprising effectiveness of sluggish actuators.     

Express Method for Estimation of Tensile Strength and Crack Resistance of Brittle Media

The procedure is proposed for estimating the crack resistance and tensile strength of rocks by the results of experiments on disk samples with holes. The gradient approach to the strength problem is employed in processing the experimental data.     

基于非线性规划的指数自回归模型的辨识

讨论了指数自回归模型的辨识问题，证明了该模型最小二乘估计的目标函数的非凸性，并给出了使该函数为凸的条件，最后给出了辨识该模型的算法及该算法的收敛性，并以数值例子加以说明。     

浅谈如何更好地推行工程量清单计价规范

《建设工程工程量清单计价规范》的颁布实施,是工程建设领域的一件大事,为了更好的推行和施行计价规范,应做好多方面的工作。     

一种基于稳健匹配准则的视频文本跟踪方法

本文首先根据文本中各个字符的颜色相似的特性,确定已知文本块的文本的颜色,利用文本的颜色信息二值化文本图像以得到文本块中的字符数、字符的尺寸和间距;其次,根据视频图像的大小和视频的播放速度确定搜索窗口的大小,并利用文本的运动信息来预测搜索窗口的位置;第三,根据在相邻两帧中具有相同内容文本的颜色相似的特性,提出了一个可以解决脉冲噪声和部分缺损或遮挡问题的稳健匹配准则来跟踪文本块;最后,确定跟踪输出的文本的颜色、尺寸和运动方式。本文方法可以很好地跟踪平移、缩小或放大、旋转、淡入淡出和部分被遮挡的水平或倾斜排列的文本,并且可以记录文本平移、旋转和缩放的速度。     

正交曲线坐标下三维代数应力通量模型

针对弯曲及不规则明渠的水动力及物质输运特性，本文建立了曲线坐标系下的三维代数应力通量数学模型，对平面上弯曲及不规则复杂边界情形，采用Poisson方程进行正交曲线坐标变换，各向异性的湍流代数应力通量模型被引用于本文的模拟计算中，以体现复杂边界条件引起的水动力及物质输运特性的变化。通过180度强弯曲明渠水槽及贵溪电厂不规则边界河段物理模型试验两个实例计算表明，实测值与计算吻合良好，效果令人满意。