Optimal design of nonlinear model predictive controller based on new modified multitracker optimization algorithm

The controller design for the robotic manipulator faces different challenges such as the system's nonlinearities and the uncertainties of the parameters. Furthermore, the tracking of different linear and nonlinear trajectories represents a vital role by the manipulator. This paper suggests an optimal design for the nonlinear model predictive control (NLMPC) based on a new improved intelligent technique and it is named modified multitracker optimization algorithm (MMTOA). The proposed modification of the MTOA is carried out based on opposition-based learning (OBL) and quasi OBL approaches. This modification improves the exploration behavior of the MTOA to prevent it from becoming trapped in a local optimum. The proposed method is applied on the robotic manipulator to track different linear and nonlinear trajectories. The NLMPC parameters are tuned by the MMTOA rather than the trial and error method of the designer. The proposed NLMPC based on MMTOA is compared with the original MTOA, genetic algorithm, and cuckoo search algorithm in literature. The superiority and effectiveness of the proposed controller are confirmed to track different linear and nonlinear trajectories. Furthermore, the robustness of the proposed method is emphasized against the uncertainties of the parameters.     

无人机在输电线路巡检中的多种应用

无人机技术目前的快速发展使得我们国家输电线路自身的巡检能力得到了持续的提升,基于此本文在对无人机技术给予认识的情况下,在了解了输电线路巡检过程中的使用优势之后,还总结了无人机技术在当前我国线路巡检过程中的应用路径以及应用方法;之后使用案例分析的方式分析了无人机技术在当前输电线路巡检过程中的应用方法。     

Event-triggered variable horizon Supervisory Predictive control of hybrid power plants

The supervision of a hybrid power plant, including solar panels, a gas microturbine and a storage unit operating under varying solar power profiles is considered. The Economic Supervisory Predictive controller assigns the power references to the controlled subsystems of the hybrid cell using a financial criterion. A prediction of the renewable sources power is embedded into the supervisor. Results deteriorate when the solar power is unsteady, owing to the inaccuracy of the predictions for a long-range horizon of 10 s. The receding horizon is switched between an upper and a lower value according to the amplitude of the solar power trend. Theoretical results show the relevance of horizon switching, according to a tradeoff between performance and prediction accuracy. Experimental results, obtained in a Hardware In the Loop (HIL) framework, show the relevance of the variable horizon approach. Power amplifiers allow us to simulate virtual components, such as a gas microturbine, and to blend their powers with that of real devices (storage unit, real solar panels). In this case, fuel savings, reaching 15%, obtained under unsteady operating conditions lead to a better overall performance of the hybrid cell. The overall savings obtained in the experiments amount to 12%.     

Science fiction reduces the eeriness of android robots: A field experiment

As suggested by the uncanny valley hypothesis, robots that resemble humans likely elicit feelings of eeriness. Based on the psychological model of meaning maintenance, we expected that the uncanny valley experience could be mitigated through a fictional story, due to the meaning-generating function of narratives. A field experiment was conducted, in which 75 participants interacted with the humanlike robot Telenoid. Prior to the interaction, they either read a short story, a non-narrative leaflet about the robot, or they received no preliminary information. Eeriness ratings were significantly lower in the science fiction condition than in both other conditions. This effect was mediated by higher perceived human-likeness of the robot. Our findings suggest that science fiction may provide meaning for otherwise unsettling future technologies.     

Ranking of aircraft maintenance organization based on human factor performance

Aircraft maintenance organisation is a complex socio-technical setup, where human factors influence the quality of aircraft maintenance service. Maintenance service quality is assessed based on the commitment of management and its ability to provide suitable facility, tools, spares and manpower supported with comfortable environment and maintenance procedures. Assessment of the service quality of the aircraft maintenance organisation is a complex process. Airlines, regulators, insurance companies and other agencies need decision support system, to assess the performance of a maintenance organisation. This paper provides criteria and scientific approach for assessing the maintenance organisation; it presents a methodology of applying Analytical Hierarchy Process to prioritise the key functions and to rank the maintenance organisations under study. The study has established that maintenance service quality in airline is directly correlated to its fleet size.     

耦合让均压支护在综采面端头维护的应用

为了提高综采工作面端头超前应力区顶板稳定性,降低顶板支护费用,对8309工作面端头应力区提出了耦合让均压支护技术,控制了端头应力区顶板下沉、破碎现象,可降低支护成本费用320元/m。     

浅谈亚欧海底光缆S2段远供电源(PFE)及其维护管理

以亚欧海底光缆S2段为例,介绍亚欧海底光缆远供电源(PFE)的供电方式,以及其在正常运行时和故障维修时的维护管理方法。探讨在实际维护中如何贯彻落实及灵活运用系统联合维护文档,总结适合中国国情的远供电源维护经验,确保亚欧海底光缆远供电源安全稳定运行。     

语音信号的线性预测分析在DSP上的优化实现

语音信号的线性预测分析是语音压缩中的一个重要环节，占据语音压缩计算中的大部分时间，为提高语音压缩的速度，在C54x系列DSP上用汇编语言实现了语音信号的线性预测分析，并对其进行优化。最终可以使代码的运行时间减少到原来的5％左右。     

集中化、信息化、区域化--转型期移动网络运维的发展方向

随着3G时代的到来，移动网络将步入重大的转型期。本文通过对河北移动网络运维的实例分析说明，集中化是移动网络发展的要求，信息化支撑了集中化的实施，区域化是县区保证网络运维、支撑市场发展的有效途径。文中最后对集中化、信息化、区域化的运维发展趋势做了展望。