Adaptive tracking control of leader–follower systems with unknown dynamics and partial measurements

In this paper, a decentralized adaptive tracking control is developed for a second-order leader–follower system with unknown dynamics and relative position measurements. Linearly parameterized models are used to describe the unknown dynamics of a self-active leader and all followers. A new distributed system is obtained by using the relative position and velocity measurements as the state variables. By only using the relative position measurements, a dynamic output–feedback tracking control together with decentralized adaptive laws is designed for each follower. At the same time, the stability of the tracking error system and the parameter convergence are analyzed with the help of a common Lyapunov function method. Some simulation results are presented to validate the proposed adaptive tracking control.     

扎实推进规划工作 培植绿色发展理念——湖北省中小河流水能资源开发规划工作情况介绍

本文介绍了湖北省中小河流水能资源开发规划工作进展,规划工作在树立绿色发展理念、摸清水能资源开发状况等方面取得的成效,以及湖北省为推动规划工作采取的主要做法。     

密度泛函方法的ZSM-5分子筛上苯与乙烯烷基化反应机理研究

采用密度泛函(DFT)方法对于ZSM-5分子筛上苯与乙烯的烷基化反应机理进行研究。选取了包含酸性质子的8T原子簇模型代表ZSM-5分子筛的部分结构。采用B3LYP/6-31G(d)水平从生成能与反应活化能角度对于烷基化反应发生时可能存在的2种联合机理和一种分步机理进行了计算与比较。结果表明,联合反应机理中乙烯的质子化和C-C键的形成同时发生,而分步机理开始于乙醇盐中间体的生成,随后与苯反应生成反应产物。分步机理中乙醇盐中间体生成步骤的活化能(124.55 kJ/mol)低于联合机理的反应活化能(168.98 kJ/mol和156.06 kJ/mol),而烷基化步骤的活化能(209.35 kJ/mol)高于联合机理的反应活化能,由此可以推断ZSM-5分子筛上苯与乙烯的烷基化反应时2种机理同时发生,存在竞争关系。     

存在飞轮安装偏差与故障的卫星姿态容错控制

基于滑模控制理论提出一种刚体卫星姿态稳定控制方法,实现对反作用飞轮部分失效故障的容错控制,以及对其安装偏差的补偿控制,并从理论上证明了所设计的控制器在有限时间内能够实现对闭环姿态控制系统的几乎全局渐近稳定控制.最后将所设计的控制器应用于某型卫星姿态稳定任务,仿真结果验证了所提出方法的有效性.     

利用OpenSSL实现PKI中数字签名及数字验证的研究

主要介绍如何利用OpenSSL实现数字签名及数字验证,重点关注数字签名及数字验证的处理流程。通过对比实验,得到数字签名方案中的几个特点,并着重分析算法和公钥算法对数字签名方案效率的影响,为完善数字签名在实际通信安全领域中的应用提供建议。     

黑方台焦家4号黄土滑坡发育特征及滑动机理

20世纪60年代以来,大量的灌溉系统在黄土地区建设运营,解决了农业的干旱问题,但同时灌溉也诱发了大量的滑坡。其中,2015年1月28日20:00,甘肃省永靖县焦家村发生了一起中等规模的黄土滑坡,滑坡严重影响其下方309国道线和六盘峡水库的安全。采用对裂缝分布、水文地质的调查,结合低空摄影测量、精细工程地质测绘、室内三轴试验等研究方法,对焦家4号滑坡的基本特征进行了分析,对形成滑坡的成灾机理有了初步认识。结果表明:(1)滑坡发生前,后缘裂缝有明显的变形情况;(2)滑坡滑动距离为548.3 m,体积为15.35万m~3,面积为6.6万m~2;(3)饱和黄土应力应变模式表现为强烈的应变软化剪缩型,并具有一定的静态液化特性;(4)滑坡是饱和黄土层静态液化引起的。     

分流叶片对离心泵内部固液两相流的影响

为了研究分流叶片对离心泵内部固液两相流的影响,建立固液两相流模型,对无分流叶片离心泵和3种带分流叶片的离心泵进行全流道非定常数值模拟。重点分析了添加分流叶片对离心泵外特性、叶片表面压力脉动、叶片表面颗粒体积分数分布、叶片表面颗粒滑移速度的影响。分析结果表明:添加分流叶片以后,离心泵的扬程和效率均有显著的提高,叶片表面的颗粒分布更加均匀,叶片表面颗粒的滑移速度有不同程度的下降,使颗粒对叶片表面的磨损程度得以降低;当分流叶片的进口直径为0.65D2时,叶片出水边处的压力脉动幅值最小,减小了离心泵在运行过程中的振动和噪声。     

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.     

Seasonal evolution of the interannual variability of chlorophyll-a concentration and its forcing factors in the northwestern Pacific from 1998 to 2010

The northwestern Pacific Ocean is a complex region with significant biological spatial variations on a seasonal timescale. To investigate the joint variation patterns on both seasonal and interannual timescales, a season-reliant empirical orthogonal function (S-EOF) analysis was applied to seasonal mean chlorophyll-a concentration (chl-a) anomalies in the northwestern Pacific Ocean during the period 1998–2010. The first two dominant modes accounted for nearly 31% of the total interannual variance, with the second S-EOF mode (S-EOF2) lagging behind the first S-EOF mode (S-EOF1) by one year. S-EOF1 featured a strong variation pattern to the north of 30° N, with maximum chl-a in winter and minimum chl-a in summer. However, S-EOF2 indicated an opposite seasonally evolving pattern compared with S-EOF1, with chl-a increasing along the Kuroshio and extension current from boreal winter to autumn. Both these modes revealed significant relationships with climate-related indices. The two modes corresponded to the central Pacific (CP) La Niña developing episodes and the turnaround from eastern Pacific (EP) La Niña to CP El Niño, respectively. Both modes were associated with the cold phase of the Pacific Decadal Oscillation, which played an important role in prolonging the impact of the El Niño/Southern Oscillation on chl-a seasonal evolution from 1998 to 2010. In addition, we discuss the possible factors dominating chl-a seasonal variation, in terms of the subregions of the northwestern Pacific Ocean. In the subtropical northwestern Pacific Ocean (15° N – 30° N), the chl-a growth was primarily nutrient-limited, whereas in the mid-latitude northwestern Pacific Ocean (35° N – 50° N), the chl-a growth was mainly light-limited.     

高水头混流式水轮机内部固液两相流数值分析

针对泥沙直径对混流式水轮机蜗壳和导水机构内部流场产生影响的问题进行了初步研究,采用固液两相流模型对某电站的高水头混流式水轮机进行了全流道数值模拟,通过单一变量法来研究不同来流泥沙的直径对蜗壳和导水机构内部压力及泥沙分布产生的影响。研究结果表明:与清水相比,含沙水流会不同程度地使蜗壳和导水机构内部的水压力载荷增加,在相同工况下,蜗壳底部、蜗壳鼻端、固定导叶和活动导叶头部的泥沙浓度较大;小直径下泥沙分布均匀,随着泥沙直径的增加,泥沙浓度的梯度变大,泥沙分布更加集中,从而会使磨损加剧。该研究成果可为在含沙水流中运行的水轮机设计提供参考。