机器人系统有限时间自适应迭代学习控制

研究任意初态下，机器人系统的有限时间自适应迭代学习控制方法。引入初始修正吸引子的概念，构造一个含有初始修正项的误差变量。针对定常机器人系统和时变机器人系统，采用Lyapunov-like方法，分别设计迭代学习控制器处理系统中不确定性。并且，采用未含/含限幅学习机制，保证闭环系统各变量的一致有界性和误差变量在整个作业区间一致收敛性。藉以实现跟踪误差在预先指定区间的完全跟踪。仿真结果验证所设计控制方法的有效性。     

On the approximation of the canard explosion point in singularly perturbed systems without an explicit small parameter

A canard explosion is the dramatic change of period and amplitude of a limit cycle of a system of nonlinear ODEs in a very narrow interval of the bifurcation parameter. It occurs in slow–fast systems and is well understood in singular perturbation problems where a small parameter epsilon defines the time-scale separation. We present an iterative algorithm for the determination of the canard explosion point which can be applied for a general slow–fast system without an explicit small parameter. We also present assumptions under which the algorithm gives accurate estimates of the canard explosion point. Finally, we apply the algorithm to the van der Pol equations, a Templator model for a self-replicating system and a model for intracellular calcium oscillations with no explicit small parameters and obtain very good agreement with results from numerical simulations.     

具有外套管的释热元件表面温度求解

为进行具有外套管的释热元件的性能分析，需准确计算元件包壳外侧的温度分布。由于套管结构内外均存在流体，传热情况较为复杂，因此本文基于传热基本方程和能量守恒关系，设计开发了专用的迭代算法和计算程序求解该结构温度分布，并采用典型算例，将计算结果与Fluent软件仿真结果进行对比。结果表明，本文程序计算结果与Fluent软件仿真结果的相对误差小于5%。基于本算法编写的程序模块与燃料元件性能分析程序相耦合，可提高燃料性能分析流程的独立性。     

Multi-objective iterative optimization algorithm based optimal wavelet filter selection for multi-fault diagnosis of rolling element bearings

Rolling element bearings (REBs) play an essential role in modern machinery and their condition monitoring is significant in predictive maintenance. Due to the harsh operating conditions, multi-fault may co-exist in one bearing and vibration signal always exhibits low signal-to-noise ratio (SNR), which causes difficulties in detecting fault. In the previous studies, maximum correlated kurtosis deconvolution (MCKD) has been validated as an efficient method to extract fault feature in the fault signals. Nonetheless, there are still some challenges when MCKD is applied to fault detection owing to the rigorous requirements of multiple input parameters. To overcome limitation, a multi-objective iterative optimization algorithm (MOIOA) for multi-fault diagnosis is proposed. In this method, correlated kurtosis (CK) is taken as a criterion to select optimal Morlet wavelet filter using the whale optimization algorithm (WOA). Meanwhile, to further eliminate the effect of the inaccurate period on CK, the update process of period is incorporated. After that, the simulated and experimental signals are utilized to testify the validity and superiority of the MOIOA for multiple faults detection by the comparison with MCKD. The results indicate that MOIOA is efficient to extract weak fault features even with heavy noise and harmonic interferences.     

Design and validation of robotic bionic eye with multiple flexible ropes parallel mechanism inspired by oculomotor law

Producing a stable and agile bionic eye for visual image acquisition in robotics is a challenging task. In this paper, we design a bionic eye with mirror-symmetric distribution and cross-connection of flexible ropes. This mechanism is based on oculomotor law and the physiological structure of the extraocular muscles (EOMs). Specifically, the basic structural parameters are determined by Listing’s law, and the unique connection of the flexible ropes can realize the functions of the recti and oblique muscles. Furthermore, to mimic the trochlea structure, a pulley mechanism is constructed to permit the free movement of the flexible ropes. Through simulation and physical experiments, it is demonstrated that the bionic eye mechanism can move with agility under the structural parameters. The experimental results indicate that the proposed bionic eye mechanism has a superior motion accuracy of 2.798 mm, which is 6.7% of the maximum motion distance, and the repeatable accuracy of the mechanism can up to 0.210 mm.     

Mg-bearing quartz solid solutions as structural intermediates between low and high quartz

Glass powder samples of cordierite composition (doped with 8 mol% TiO₂) were heat-treated to produce a series of increasingly SiO₂-enriched Mg-bearing quartz solid solutions (Qss). The obtained materials were then analyzed by X-ray diffraction: Rietveld structural refinements revealed that Mg-bearing Qss phases possess trigonal symmetry and a compositionally dependent intermediate structural arrangement between those of low and high quartz. High-temperature diffraction measurements were performed up to 700°C to characterize the thermal expansion behavior of the crystals. At SiO₂-rich compositions, a reversible high-to-intermediate inversion of the quartz structure is observed, which shifts with increasing stuffing to lower temperatures than the conventional 573°C for pure quartz. Similarities and differences to the better-established Li-bearing Qss are discussed in the text.     

煤化工酸水汽提装置运行存在问题及解决方法

本文简述了酸水汽提工艺的发展概况和技术进展,详细介绍了煤化工酸水汽提装置实际运行中存在的几类主要问题,并提出切实可行的解决措施,具有一定的借鉴意义。     

Rhombellation: a builder for multi-shell clusters

Rhombellanes are mathematical structures, proposed by us in 2017; they may appear both in periodic crystals or in finite structures. The simplest rhombellane is rbl.5 or K_2.3, the complete bipartite graph. In this paper, rhombellation operation is iteratively applied on three classes of structures: cube, tori and cubic pcu-network, respectively. The structural topological parameters are detailed.     

基于分解的多目标花朵授粉算法

在过去几十年里，许多多目标进化算法被广泛应用于解决多目标优化问题，其中一种比较流行的多目标进化算法是基于分解的多目标进化算法(MOEA/D)。花朵授粉算法是一种启发式优化算法，但迄今为止，花朵授粉算法在基于分解的多目标进化算法领域的研究还非常少。本文在基于分解的多目标进化算法的框架下，将花朵授粉算法拓展至多目标优化领域，提出一种基于分解的多目标花朵授粉算法(MOFPA/D)。此外，为了保证非支配解的多样性，本文提出一种基于网格的目标空间分割法，该方法从找到的Pareto最优解集中筛选出一定数量且分布均匀的Pareto最优解。实验结果表明，基于分解的多目标花朵授粉算法在收敛性与多样性方面均优于基于分解的多目标进化算法。     

急性炎性疾病患者乳酸林格氏液液体动力学

目的:探索炎性疾病患者的乳酸林格氏液（Ringer's lactate,RL）液体动力学特征以及炎性生物标记物是否可以作为协变量影响RL分布和排泄。方法:本研究为前瞻性队列研究。选择40例美国麻醉医师分级（ASA）I-II级，腹腔镜下择期胆囊切除术（胆囊炎组，n=20）或者腹腔镜下急诊阑尾切除术（阑尾炎组，n=20）。所有患者麻醉诱导前开始输注RL，按15 mL/kg，35 min内输毕。采用酶联免疫（enzyme-linked immunosorbent assay,ELISA）方法测定血浆炎症（TNF-α,IL-10和CRP）或者内皮损伤生物标记物（syndecan-1,SDC-1）；利用血红蛋白（Hb）稀释-时间曲线和尿量，使用Phoenix软件，采用非线性混合效应模型分析计算RL液体动力学参数和协变量的影响。结果:与胆囊炎组相比，阑尾炎组RL从组织间隙到血浆的转运速率常数（k21）显著降低（14×10-3min-1 versus 35×10-3min-1;P=0.012）。阑尾炎组C反应蛋白（CRP）升高［中位数38.1(1.8-143.6) μg/mL versus 1.3(0.1-159.0) μg/mL;P<0.001］；与清醒状态相比，麻醉期间（输液开始后30～45 min），液体从中央室中到外周室的转运速率常数（k12）显著增加（57×10-3min-1 versus 32×10-3min-1；P<0.01）。清除速率常数（k10）降低90%（0.6×10-3min-1 versus 5.3×10-3min-1;P<0.001）。无论在清醒状态还是麻醉状态下低血压均能降低液体清除；炎症或者内膜损伤的生物标记物不能作为显著影响RL液体动力学参数的协变量。结论:阑尾炎或者胆囊炎患者术前输入液体后“炎症反应的生物标记物”不是RL的液体动力学的协变量，但是两组患者中，全身麻醉期间输入液体的清除率下降。