Tracking-error model-based predictive control for mobile robots in real time

In this paper, a model-predictive trajectory-tracking control applied to a mobile robot is presented. Linearized tracking-error dynamics is used to predict future system behavior and a control law is derived from a quadratic cost function penalizing the system tracking error and the control effort. Experimental results on a real mobile robot are presented and a comparison of the control obtained with that of a time-varying state-feedback controller is given. The proposed controller includes velocity and acceleration constraints to prevent the mobile robot from slipping and a Smith predictor is used to compensate for the vision-system dead-time. Some ideas for future work are also discussed.     

A new method of strength calculation and lifetime prediction of pipe bends operating in the creep range

An easy to use method for an approximate creep life prediction for pipe bends was developed within a recent R & D-project in Germany. The new algorithm is based on a Finite-Element parameter study comprising approximately 200 pipe bends. The creep behaviour of the materials primarily used for main steam and hot reheat piping is described using the Graham–Walles creep law. Since the new algorithm considers the time dependent out-of-roundness and stress redistribution of the pipe bend, it yields a more precise creep life prediction, compared to standard piping codes. It is possible to integrate this new calculation into existing online lifetime-monitoring-systems.     

TrajStat: GIS-based software that uses various trajectory statistical analysis methods to identify potential sources from long-term air pollution measurement data

Statistical analysis of air mass back trajectories combined with long-term ambient air pollution measurements are useful tools for source identification. Using these methods, the geographic information system (GIS) based software, TrajStat, was developed to view, query, and cluster the trajectories and compute the potential source contribution function (PSCF) and concentration weighted trajectory (CWT) analyses when measurement data are included.     

Nonlinear buckling optimization of composite structures

The paper presents an approach to nonlinear buckling fiber angle optimization of laminated composite shell structures. The approach accounts for the geometrically nonlinear behaviour of the structure by utilizing response analysis up until the critical point. Sensitivity information is obtained efficiently by an estimated critical load factor at a precritical state. In the optimization formulation, which is formulated as a mathematical programming problem and solved using gradient-based techniques, a number of the lowest buckling factors are included such that the risk of “mode switching” during optimization is avoided. The presented optimization formulation is compared to the traditional linear buckling formulation and two numerical examples, including a large laminated composite wind turbine main spar, to clearly illustrate the pitfalls of the traditional formulation and the advantage and potential of the presented approach.     

Analysis of application patterns of Z-type MEMS microspring

In this paper, we design a Z-type microspring, which consists of several “Z” type micromechanical beams within mutual connection. With good mechanical performance and mature LIGA fabrication technology, Ni is chosen as the material of Z-type MEMS microspring. The mechanical properties of electroformed Ni have been tested by the Micro Hardness Tester, and the Young’s modulus is 219 GPa. Different from traditional springs, microsprings can be divided into three application patterns in direction x, y, and z to study. Applying the Castigliano second theorem of energy method in macro theory, the formulas used to calculate the spring constant of Z-type microspring in the directions of the three application patterns were derived, and verified by the ANSYS finite element method. Using the Tytron250 micro force test machine, the experiments of the Z-type microspring deformation properties were carried out. The spring constant, rupture force and rupture strength of Z-type microspring in direction y are 3821 N/m, 1.64 N and 1.61 GPa, respectively. The experimental results agree with the theoretical analysis. Based on the analysis above, the change laws of the spring constant of microspring in the three application patterns are summarized.     

Study on CuO–BaTiO3 semiconductor CO2 sensor

The prototype of a CO₂ sensor made of CuO–BaTiO₃, which has capacitance sensitive effect, is designed based on the pn heterojunctions of CuO and BaTiO₃ semiconductors. The preparation of BaTiO₃ semiconductor powders is pointed out, using the coprecipitation and semiconducting techniques. The characteristic quantities relating to the capacitance sensitive effect of the sensor are studied systematically with the aid of a gas tester. A reasonable mechanism of the sensor is proposed.     

从EOS/MODIS数据中提取夜间强对流云团的闪电信息

主要探索用EOS/MODIS极轨卫星监测闪电的可行性,应用大气和云辐射原理以及云中水滴mie散射的原理,从EOS/MODIS的中红外通道及热红外通道中提取夜间强对流云团产生的闪电信息,并可由强对流卫星云图的云顶温度确定可能出现冰雹的区域,对减灾、预警提供宏观信息。