Adaptive recurrent neural network control of uncertain constrained nonholonomic mobile manipulators

In this article, motion/force control problem of a class of constrained mobile manipulators with unknown dynamics is considered. The system is subject to both holonomic and nonholonomic constraints. An adaptive recurrent neural network controller is proposed to deal with the unmodelled system dynamics. The proposed control strategy guarantees that the system motion asymptotically converges to the desired manifold while the constraint force remains bounded. In addition, an adaptive method is proposed to identify the contact surface. Simulation studies are carried out to verify the validation of the proposed approach.     

Making sky lanterns from polygonal meshes

Releasing sky lanterns is a popular way of celebrating festivals and ceremonies in the Asian countries. This paper presents a computer-aided approach to help novice users to design flyable sky lantern with desired shape. Given a closed up-right 3D model with a user-specified cutting on the bottom, our system optimizes the shape by regularizing the boundary, smoothing the geometry and improving the volume-to-area ratio to make it feasible for flying. The optimized shape is then approximated by a set of developable patches. Next, through a physical analysis step that tests the flying condition and determines the optimal size, the approximated shape is flattened into 2D patches, which can be printed out and glued together to form the airbag. Finally, the user can attach the airbag to a bamboo frame and assemble the fuel cell. We successfully apply our prototype system to design and construct real sky lanterns.     

A perceptual evaluation of grating frequencies and velocities in the analysis of dynamic images

Dynamic images that possess beauty and are user-friendly can increase the use of digital technology. In addition to information conveyance, dynamic images also act as a communication bridge in the human–machine interface. Dynamic images are widely used in the application of digital media. Therefore, understanding the visual effects of dynamic images on viewers is a very important issue. From a visual communication design perspective, dynamic images influence not only image quality, but also the viewers’ perception and impression of the displayed image. In the contemporary age characterized by universal usage of dynamic images, designers should attain synchronized knowledge and understanding of relevant media technology so as to present preferred design quality in the management of digital design such as animation design, Web page design, multimedia design, and so on. The current study noted that psychological effects such as viewers’ visual attention, preferences, and understanding were more important than image quality. Therefore, this study adopted the viewpoint of “visual design” and conducted a perceptual evaluation of grating frequency and grating velocity. The pair-comparison method and scale method were adopted in the research methodology to simplify perceptual evaluations and enhance their validity. The purpose of this study was: (1) To propose recommendations for displaying dynamic images and improving image performance using perceptual evaluation methods. (2) To examine the influence of psychological factors on viewer’s comfort when they experience dynamic images. (3) To identify the best grating feature combinations that meet viewer’s psychological characteristics and propose recommendations for dynamic images design. The study concludes that it is useful to establish criteria for evaluating users’ perception and to, develop perceptual evaluations of dynamic images. It is recommended that designers find a balance between watching a moving imaging display “clearly” and watching it “comfortably” for successful reception by the viewer.     

降膜波动特性的研究

本文提出了一种测定膜厚的新方法－双电导探针法，测定了高湍流降膜的厚度沿降膜管管程的变化情况，探讨了径向平均膜厚及膜厚的概率密度分布沿管程的变化规律，证明降膜的波动特性同时受到液相雷诺数和管程的影响。并对平均膜厚和液相雷诺数作了经验关联，得出NT＝（δ^ )^2/3 [8.92(ReL/4)^5/2 6.0×10^-6(ReL/4)^9/2]^2/15。     

Association-Based Active Access Control models with balanced scalability and flexibility

In existing Active Access Control (AAC) models, the scalability and flexibility of security policy specification should be well balanced, especially: (1) authorizations to plenty of tasks should be simplified; (2) team workflows should be enabled; (3) fine-grained constraints should be enforced. To address this issue, a family of Association-Based Active Access Control (ABAAC) models is proposed. In the minimal model ABAAC₀, users are assigned to roles while permissions are assigned to task-role associations. In a workflow case, to execute such an association some users assigned to its component role will be allocated. The association's assigned permissions can be performed by them during the task is running in the case. In ABAAC₁, a generalized association is employed to extract common authorizations from multiple associations. In ABAAC₂, a fine-grained separation of duty (SoD) is enforced among associations. In the maximal model ABAAC₃, all these features are integrated, and similar constraints can be specified more concisely. Using a software workflow, case validation is performed. Comparison with a representative association based AAC model and the most scalable AAC model so far indicates that: (1) enough scalability is achieved; (2) without decomposition of a task, different permissions can be authorized to multiple roles in it; (3) separation of more fine-grained duties than roles and tasks can be enforced.     

Phase Assemblages of Pr α-sialon Derived from SHS-ed Powders and TEM Study on the Nucleation of Pr α-sialon

The Pr α-sialon powders prepared by self-propagating high-temperature synthesis (SHS), consisting of 55 wt% Pr α-sialon and 45 wt% of β-sialon (abbreviated as α' and β'), were hot-pressed at 1800°C for 1 h. The results showed that Pr α' phase would transfer to β' with the appearance of JEM phase (Pr(Si_{6− z} Al _z )(N_{10− z} O _z )) after sintering, thus resulting in the increase of β' phase to 86 wt%. The addition of Y₂O₃ into SHS-ed Pr α' powders as the starting materials restrains the transformation of α' to β' and prevents the formation of JEM phase as well. The nucleation mechanism of Pr α' grain during hot-pressing was investigated in terms of transmission electron microscope and energy-dispersive spectrometer analysis. Two nucleation modes of Pr α' grains were found, i.e., nucleating on the undissolved Pr α' grains and on the nuclei of (Pr, Y) α' grains precipitated from liquid phase.     

高效塔填料——共轭环的性能研究

本文总结了我国自行开发的高效散堆填料——共轭环的流体力学与传质性能,论述了共轭环的结构特点.用φ38塑料共轭环、鲍尔环、阶梯环做对比实验,其结果为:共轭环的每米压强降比阶梯环低40-45%、比鲍尔环低50—55%,共轭环的传质单元高度比阶梯环低15%、比鲍尔环低30%,即共轭环的流体力学和传质性能均比阶梯环、鲍尔环优良.     

国内外聚氯乙烯塑料门窗的现状及展望

介绍了未增塑聚氯乙烯塑料门窗的导热系数低、防水、防潮等特点,利用PVC型材作门窗是节约建筑材料的一条重要途径.重点阐述了国内外聚氯乙烯塑料门窗的生产、使用情况及国内产品存在的缺陷,另外还论述了国内塑料门窗的发展趋势,对PVC塑料门窗在国内的发展应用有促进作用.     

Dynamic response of Ti3SiC2 under shock compression up to 112 GPa

Ti₃SiC₂ is of interest due to its unique dual nature reminiscent of both brittle ceramics and ductile metals at ambient conditions. In this work, plate-impact experiments have been performed to study the dynamic behavior of Ti₃SiC₂ under shock compression up to 112 GPa by using laser velocity interferometer and electric pin techniques. Hugoniot elastic limits (HEL), spall strength, and Hugoniot equations of state have been obtained based on measured particle velocity profiles and shock wave velocities. The ratio of spall strength to HEL for Ti₃SiC₂ is larger than brittle ceramics but smaller than metals. This result indicates that the dual nature of Ti₃SiC₂ remains at least up to 10 GPa. On the other hand, the linearity of the Hugoniot equation of state, $D=6.9\text{0}1(22)+1.153(53)u_{\text{p}}$, suggests that the initial structure of Ti₃SiC₂ should be stable up to 112 GPa, in contrast to the result reported by Jordan et al. [J. Appl. Phys., 93 (2003) 9639].     

Preparation,morphology, and mechanical properties of elastomers based on α,ω‐dihydroxy‐polydimethylsiloxane/polystyrene blends

α,ω‐Dihydroxy‐polydimethylsiloxane/polystyrene (PDMS/PS) blends were prepared by the solution polymerization of styrene (St) in the presence of α,ω ‐dihydroxy‐polydimethylsiloxane (PDMS), using toluene as solvent and benzoyl peroxide (BPO) as initiator. The PDMS/PS blends obtained by this method are a series of stable, white gums, which were vulcanized to elastomers at room temperature with methyl‐triethoxysilicane (MTES). The use level of MTES was far more than the necessary amount used to end‐link hydroxy‐terminated chains of PDMS, with the excess being hydrolyzed to crosslinked networks, which were similar to SiO₂ and acted as filler. Investigations were carried out on the elastomeric materials by extraction measurement, swelling measurement, and scanning electron microscopy. The extraction data show that at each composition the amount of soluble fraction is less than expected and the difference between experimental and theoretical values becomes more and more significant as PS content increases. This is mainly due to the grafting of PS onto PDMS and the entanglement of PS in the interpenetrating polymer network (IPN), which consists of either directly linked PDMS chains or chains linked via PS grafts and is formed by free radical crosslinking of PDMS during the radical polymerization of St. PS grafted on PDMS is insoluble and PS entangled in the IPN is difficult to extract. Both render the soluble fraction to be less than expected. As the St content in preparing PDMS/PS blends increases, the probability of grafting PS onto PDMS also increases, which may subsequently produce a higher crosslinking level of PDMS networks that linked via PS grafts by radical crosslinking. As a result, not only the amount of insoluble PS increases but also PS entangled in the IPN is more difficult to extract. Scanning electron microscopy demonstrates that the elastomer system has a microphase‐separated structure and a certain amount of PS remains in the PDMS networks after extraction, which is in accordance with the extraction data. Moreover, the mechanical properties of the elastormeric materials have been studied in detail. © 2004 Wiley Periodicals, Inc. J Appl Polym Sci 92: 3542–3548, 2004