基于SoC的多轴驱控一体化平台设计

随着FPGA技术和电力电机技术的发展,FPGA+ARM的集成方式已经成为FPGA的发展方向.针对一体化多轴运动控制与驱动的特点,选用了集成双核ARM CPU与FPGA结合的Xilinx Zynq-7020全可编程System-on-chip(SoC)作为硬件平台,一个ARM CPU完成多轴的位置环、速度环和电流环的算法以及多轴轨迹生成,能同时完成伺服高级算法如谐振等,另一个ARM CPU完成交互功能,发挥FPGA高速运算的功能,完成6轴电流环流水线控制以及双采样双更新电流环算法.提高了系统整体带宽,实现多轴ns级同步精度以实现更精确的位置轨迹,驱控一体内部数据通过共享内存以及高速内部总线的方式进行交换,其传输速度更快、传输信息更加丰富.     

A practical reliability assessment approach and its application for pile-stabilized slopes using FORM and support vector machine

Bulletin of Engineering Geology and the Environment - Many uncertainties exist in pile-stabilized slopes which make their design substantially complicated. In this paper, a first-order reliability...     

A Student's t-based density peaks clustering with superpixel segmentation (tDPCSS) method for image color clustering

Image color clustering is a basic technique in image processing and computer vision, which is often applied in image segmentation, color transfer, contrast enhancement, object detection, skin color capture, and so forth. Various clustering algorithms have been employed for image color clustering in recent years. However, most of the algorithms require a large amount of memory or a predetermined number of clusters. In addition, some of the existing algorithms are sensitive to the parameter configurations. In order to tackle the above problems, we propose an image color clustering method named Student's t-based density peaks clustering with superpixel segmentation (tDPCSS), which can automatically obtain clustering results, without requiring a large amount of memory, and is not dependent on the parameters of the algorithm or the number of clusters. In tDPCSS, superpixels are obtained based on automatic and constrained simple non-iterative clustering, to automatically decrease the image data volume. A Student's t kernel function and a cluster center selection method are adopted to eliminate the dependence of the density peak clustering on parameters and the number of clusters, respectively. The experiments undertaken in this study confirmed that the proposed approach outperforms k-means, fuzzy c-means, mean-shift clustering, and density peak clustering with superpixel segmentation in the accuracy of the cluster centers and the validity of the clustering results.     

澳门融入粤港澳大湾区世界机场群路向研究

粤港澳大湾区世界城市群与世界机场群相伴而生、联动发展.建设世界级机场群，需要5大机场错位发展和良性互动.澳门国际机场是澳门融入粤港澳大湾区重要一极，但机场发展存在与澳门定位、香港珠海空域空运矛盾、澳门土地和环境现状等相关的问题.因此，澳门国际机场今后发展需在葡语国家航线、珠澳密切合作、公务机产业方面努力实现跨越式发展.然而，澳门国际机场改扩建问题争议不断，本文就原址扩建、填海区新建、飞地黄茅岛新建3种模式进行比较分析，探索符合澳门长远利益之方案.     

In situ characterization of LiY(WO4)2 nanotubes for electrochemical energy storage

Here, LiY(WO₄)₂ nanotubes are prepared via a feasible electrospinning technique. This new anode material shows excellent electrochemical properties. The capacity loss of LiY(WO₄)₂ nanotubes is as low as 6.9% after 156 cycles, while bulk LiY(WO₄)₂ presents the capacity loss higher than 55.0%. Even after 600 long-life cycles, the capacity loss of the nanotubes is only 9%. It can be seen that the hollow structure with a rough surface and a porous morphology contributes to the improvement of electrochemical performance. Furthermore, online X-ray diffraction (XRD) method is firstly applied to understand the lithium ions insertion/extraction mechanism of LiY(WO₄)₂ nanotubes. It can be concluded that it is an asymmetrical two-phase reaction. A phase transformation from LiY(WO₄)₂ to Li₃Y(WO₄)₂ can be obviously seen from the in situ XRD during discharge process. While Li₂Y(WO₄)₂ appears as an intermediate phase with a reverse charge reaction. In addition, in situ XRD also demonstrates that LiY(WO₄)₂ nanotubes have surprised electrochemical reversibility. All the above results indicate that LiY(WO₄)₂ nanotubes can be expected to be anode candidate for rechargeable lithium ion batteries (LIBs).