Unlike a fully-actuated manipulator, the position-posture control of a planar underactuated manipulator (PUM) is more difficult, but the research on it is significant due to the wide practical applications. The existing control methods consider no external disturbance and are involved in the staged control idea, bringing the problems of nonsmooth control torque and time-consuming. A novel one-stage control approach is proposed in this paper for the position-posture control of a three-link PUM with the first free joint under the external disturbance. By analyzing the coupling relationship between its active joints and free joint, the position-posture control is transformed into the trajectory tracking control. Unlike the general trajectory planning, the trajectories of the active joints are planned to include several parameters. Meanwhile, the parameters are solved using a chaos particle swarm optimization algorithm to guarantee that all joint angles can reach to their desired angles. Then, to obtain the high trajectory tracking accuracy at every moment under the external disturbance, the nonlinear disturbance observer is constructed and a nonlinear fast terminal sliding mode tracking controller is designed. Finally, the feasibility and superiority of this strategy are verified via two simulations.
This paper presents a power-smoothing scheme of a variable-speed wind turbine generator (VSWTG) that employs separate control gains for the over-frequency section (OFS) and under-frequency section (UFS). In the proposed scheme, an additional proportional control loop based on the system frequency deviation operating in conjunction with maximum power point tracking operation is used. In the OFS, to improve the energy-storing capability, the scheme suggests the gain of the frequency deviation control loop, which is set to be monotonously decreasing with the rotor speed while being significantly larger than that in the UFS. In the UFS, to improve the energy-releasing capability while preventing over-deceleration, the gain of the frequency deviation control loop is set to be a linear function of the rotor speed. The simulation results under continuously varying wind speeds with different wind patterns and wind speeds clearly demonstrate that the proposed scheme significantly mitigates the output power fluctuations of a VSWTG. The proposed scheme keeps the frequency within a narrow range, thereby reducing the required primary frequency control reserve for regulating the frequency under normal operations.
In the post-genomic era, proteomics has achieved significant theoretical and practical advances with the development of high-throughput technologies. Especially the rapid accumulation of protein-protein interactions (PPIs) provides a foundation for constructing protein interaction networks (PINs), which can furnish a new perspective for understanding cellular organizations, processes, and functions at network level. In this paper, we present a comprehensive survey on three main characteristics of PINs: centrality, modularity, and dynamics. 1) Different centrality measures, which are used to calculate the importance of proteins, are summarized based on the structural characteristics of PINs or on the basis of its integrated biological information; 2) Different modularity definitions and various clustering algorithms for predicting protein complexes or identifying functional modules are introduced; 3) The dynamics of proteins, PPIs and sub-networks are discussed, respectively. Finally, the main applications of PINs in the complex diseases are reviewed, and the challenges and future research directions are also discussed. 相似文献
ZrC coatings were deposited on graphite substrates by low pressure chemical vapor deposition (LPCVD) with the Br2-Zr-C3H6-H2-Ar system. The effects of deposition time on the microstructures and growth behavior of ZrC coatings were investigated. ZrC coating grew in an island-layer mode. The formation of coating was dominated by the nucleation of ZrC in the initial 20 minutes, and the rapid nucleation generated a fine-grained structure of ZrC coating. When the deposition time was over 30 min, the growth of coating was dominated by that of crystals, giving a column-arranged structure. Energy dispersive X-ray spectroscopy showed that the molar ratio of carbon to zirconium was near 1:1 in ZrC coating, and X-ray photoelectron spectroscopy showed that ZrC was the main phase in coatings, accompanied by about 2.5mol% ZrO2 minor phase. 相似文献
A method of phaseless near-field measurement is studied which can reconstruct the far-field characteristics of the antenna by analyzing the near-field amplitude-only data. The method includes a dual-plane scanning strategy which lets the linear polarization probe collect the amplitude-only data on the two scanning planes respectively. The phase of each sampling points at one of the scanning planes can be retrieved using the iterative fourier transform algorithm. Then the far-field properties of the antenna are obtained by applying the near-field/far-field transformation technique. Theoretical research and simulations show that the phaseless near-field measurement strategy can reconstruct the far-field pattern effectively and that a better choice of the initial iterate phase can help to improve the convergence rate and the convergence precision of the method. 相似文献
The dynamic fault tree does not have the ability of fault calculation when analyzing the reliability of the system, so it needs to be modeled and analyzed by means of multi-valued decision diagrams and so on. The dynamic fault tree is translated into a multi-valued decision diagram according to the ordering of variables of basic events which affects the size of the generated multi-valued decision diagram and the cost of traversal to get cut sequences. An adjustment method of the dynamic fault tree structure is proposed based on the importance degree of repeated events, dynamic gates and the locations of events of the dynamic fault tree. By taking the fact that the basic events at the same level are equally important into account, an improved dynamic variable ordering method and ordering generation algorithm for the multi-valued decision diagram are presented in this paper. The result analysis of an example shows that the improved dynamic variable ordering method can reduce the size of the multi-valued decision diagram and space and time complexity of the reliability calculation compared to the similar methods. 相似文献
A fault sensitivity analysis (FSA)-resistance model based on time randomization is proposed. The randomization unit is composed of two parts, namely the configurable register array (R-A) and the decoder (chiefly random number generator, RNG). In this way, registers chosen can be either valid or invalid depending on the configuration information generated by the decoder. Thus, the fault sensitivity information can be confusing. Meanwhile, based on this model, a defensive scheme is designed to resist both fault sensitivity analysis (FSA) and differential power analysis (DPA). This scheme is verified with our experiments. 相似文献