Adaptive robust posture control of a parallel manipulator driven by pneumatic muscles

Rather severe parametric uncertainties and uncertain nonlinearities exist in the dynamic modeling of a parallel manipulator driven by pneumatic muscles. Those uncertainties not only come from the time-varying friction forces and the static force modeling errors of pneumatic muscles but also from the inherent complex nonlinearities and unknown disturbances of the parallel manipulator. In this paper, a discontinuous projection-based adaptive robust control strategy is adopted to compensate for both the parametric uncertainties and uncertain nonlinearities of a three-pneumatic-muscles-driven parallel manipulator to achieve precise posture trajectory tracking control. The resulting controller effectively handles the effects of various parameter variations and the hard-to-model nonlinearities such as the friction forces of the pneumatic muscles. Simulation and experimental results are obtained to illustrate the effectiveness of the proposed adaptive robust controller.     

Semi-supervised transformable architecture search for feature distillation

Pattern Analysis and Applications - The designed method aims to perform image classification tasks efficiently and accurately. Different from the traditional CNN-based image classification methods,...     

Effect of Sintering Temperature on Magnetic and Electrical Properties of GdBaCo<Subscript>2</Subscript><Emphasis Type="Italic">O</Emphasis><Subscript>5 + <Emphasis Type="Italic">δ</Emphasis></Subscript>

In this study, we report the results of an investigation into the sintering temperature dependence of magnetic and transport properties for GdBaCo₂ O _{5 + δ} synthesized through a sol-gel method. The lowering of sintering temperature leads to the increase of oxygen content and the reduction of grain size. The increase of oxygen content results in the enhancement of magnetic interactions and the weakening of Coulomb repulsion effect, while the reduction of grain size improves the magnetoresistance effect. Metal-insulator transition accompanied with spin-state transition is observed in all samples.     

La<Subscript>1−x</Subscript>Ag<Subscript>x</Subscript>FeO<Subscript>3</Subscript>/halloysites nanocomposite with enhanced visible light photocatalytic performance

La_1?xAg_xFeO₃/halloysites nanotubes (HNTs) nanocomposite was synthesized by sol–gel method. It was characterized by X-ray diffraction, transmission electron microscope, Fourier transform infrared spectroscopy and UV–visible diffused reflectance spectroscopy measurements. The photo-activity of the La_1?xAg_xFeO₃/HNTs nanocomposite was evaluated via degradation of methylene blue (MB) under visible-light irradiation. The results showed that the HNTs with unique pore structure favored the adsorption of organic molecules. Adequate Ag⁺ doping improved the absorption ability for visible light. The La_0.95Ag_0.05FeO₃/HNTs demonstrated the best photocatalytic performance, which achieved as high as 99 % for MB degradation exposed 2 h irradiation. However,further increasing of Ag⁺ doping gradually reduced the photocatalytic activity. The nanocomposite catalyst showed outstanding recyclability after eight cycles which still remained up to 90 %.     

超声换能器检测方法的研究

超声检测技术广泛使用在无损检测领域中,而换能器是超声工程中极其重要的技术和分支领域。超声换能器是一种电声能量转换器件,是超声检测技术中的关键,直接影响无损检测结果的可靠性,本文阐述了超声换能器的原理和测量接触换能器的检测方法,分析了A型换能器脉冲回波灵敏度校准的不确定度。     

Escherichia coli prlC gene encodes a trypsin-like proteinase regulating the cell cycle

BACKGROUND AND PURPOSE: Mood disorders are common after stroke and may impede physical, functional, and cognitive recovery, making early identification and treatment of potential importance. We aimed to compare the accuracy of the General Health Questionnaire (GHQ-30) and the Hospital Anxiety and Depression (HAD) Scale in detecting psychiatric morbidity after stroke and to determine the most suitable cutoff points for different purposes. METHODS: One hundred five hospital-referred stroke patients completed both the GHQ-30 and HAD Scale 6 months after onset before a blinded psychiatric assessment in which the Schedule for Affective Disorders and Schizophrenia with some supplementary questions was used to determine a DSM-IV (Diagnostic and Statistical Manual of Mental Disorders, Fourth Edition) diagnosis. Measures were compared in terms of sensitivity, specificity, and receiver operating characteristic curves. RESULTS: No significant differences were found between the GHQ-30 and the HAD Scale in identifying those patients with any DSM-IV diagnosis (P=0.95), grouped depression (P=0.56), or anxiety (P=0.25) disorders. The previously recommended cutoff points for identifying "cases" for the GHQ (4/5) and for the HAD Scale (8/9 and 11/12) were found to be suboptimal in this population. CONCLUSIONS: The GHQ-30 and HAD scale exhibited similar levels of sensitivity and specificity. Data are presented, taking into account the "cost" of false-positives and negatives, to allow a choice of cutoff points suitable for differing situations.     

A relativistic extension of the complex scaling method using oscillator basis functions

We develop the complex scaling method within the relativistic framework by expanding the Dirac spinors in the complete set of eigensolutions of a harmonic oscillator potential, and present the theoretical formalism of describing the discrete bound and resonant states on the same footing. Based on a well established and frequently used model, we demonstrate the utility and applicability of the extended method and examine the stability of the results with respect to the variations of the parameters of the model. Satisfactory agreements are found for all the calculated results in comparison with some other calculations in references. Especially, the present calculation in the nonrelativistic limit gives a consistent result with that in the nonrelativistic calculation.     

基于无线网络技术的燃气集抄系统设计

针对燃气行业人工抄表费时费力等问题,提出一种基于GPRS和无线多跳网络技术的燃气无线抄表系统,在分析传统抄表系统的结构以及传输方式优缺点的基础上介绍了系统的总体结构、工作原理以及各部分组成和功能。采用计算机网络和数据库等技术,使得该系统具有功能强大、使用方便、可扩展性好等特点,可实现对整个燃气输配系统的监控,有效提高燃气公司的管理水平和服务效率。     

A two-level strategy for segmenting center of interest from pictures

Segmenting center of interests (COIs) from pictures is an important but highly challenging problem for researchers in computer vision and image processing. The capability of understanding the meanings of pictures by computers can lead to breakthroughs in a wide range of applications including Web image search and online picture-sharing communities. In this paper, a two-level strategy is presented, which consists of a rough segmentation stage and a fine segmentation stage. In the first level, a picture is partitioned into four regions by using a block clustering method based on color and texture features, and the COI within the picture is distinguished from the background according to the principles of photographic composition. This stage aims to determine the approximate region of the target. In the second level, a novel active contour model is established based on shape information and vector method, where the image energy is defined by a hue gradient and the external energy is generated from either a triangular inner force or a supplementary force. This stage tries to extract the boundary of the target accurately. Experimental results on photos downloaded from the Internet show the feasibility and effectiveness of the proposed method.