On the learning control of a robot manipulator

This paper derives a learning control law to achieve trajectory following for a robot manipulator. The controller consists of two parts, a computed torque servo for the rigid body terms that can be modelled and a learning law for the unmodelled dynamics. An advantage of this method is that bounds can be assigned to the position and velocity tracking errors.     

基于Protel DXP的电路仿真设计

Protel DXP是集所有设计工具于一身的电子设计自动化(EDA)软件.文中运用其内嵌的仿真器叙述了分压式偏置电路放大器的仿真设计过程,设计过程简单、方便.在电子线路理论教学过程中引入电路设计仿真环节在不同情况下对电路进行实时分析,不仅可以提高学生的学习兴趣,而且能够在较短时间内加深学生对理论知识的理解;在工程设计过程中利用仿真工具对电路进行即时测试,可以缩短设计周期,提高设计效率.     

A Recursive Frequency Estimator Using Linear Prediction and a Kalman-Filter-Based Iterative Algorithm

This paper proposes a new Kalman-filter-based recursive frequency estimator for discrete-time multicomponent sinusoidal signals whose frequencies may be time-varying. The frequency estimator is based on the linear prediction approach and it employs the Kalman filter to track the linear prediction coefficients (LPCs) recursively. Frequencies of the sinusoids can then be computed using the estimated LPCs. Due to the coloredness of the linear prediction error, an iterative algorithm is employed to estimate the covariance matrix of the prediction error and the LPCs alternately in the Kalman filter in order to improve the tracking performance. Simulation results show that the proposed Kalman-filter-based iterative frequency estimator can achieve better tracking results than the conventional recursive least-squares-based estimators.     

Effects of compressive and tensile stress on the growth mode of epitaxial oxide films

Oxide films were deposited on different substrates by laser molecular beam epitaxy. Reflection high-energy electron diffraction was performed to in situ investigate the change of growth mode and the lattice relaxation during the growth. An asymmetrical phenomenon was found in the two kinds of strain states, compressive stress and tensile stress of heterostructures with different lattice mismatch. In the case of BaTiO₃/SrTiO₃ (2.2%), 2D layer-by-layer growth mode without lattice relaxation can be maintained for a longer period for BTO films on STO with compressive stress, comparing to STO films on BTO with tensile stress. When MgO films were deposited on SrTiO₃ with a large mismatch of 7.8%, compressive stress leads to rapid lattice relaxation with a very thin wet layer, and 3D strained island were observed. As a comparison, SrTiO₃ films on MgO with tensile stress were configured. No RHEED patterns can be observed duo to a large tensile stress.     

Predeployed secure key distribution mechanisms in sensor networks: current state-of-the-art and a new approach using time information

In this article we survey a number of predeployed secure key distribution (PSKD) schemes proposed in the technical literature. We also propose a new time-based PSKD (TPSKD), which operates under the assumption of loose time synchronization, and discuss the performance of the scheme. Since the TPSKD scheme uses time information, which would typically already be available in sensor nodes, the cost of the scheme?s implementation is low.     

SU-8 3D microoptic components fabricated by inclined UV lithography in water

Out-of-plane microlenses and microoptical fiber holder are two of the most important components for building an integrated microoptic system with a precise alignment accuracy. In this paper, a simple and convenient method to fabricate these components from SU-8 by using inclined UV lithography in water is proposed. It consists of two perpendicular exposures in SU-8 at ±45°. DI water possesses a low absorption coefficient and a moderate and stable value of refractive index in near UV. Using water, the exposure angle in SU-8 can be increased to 50° from 35° in air necessary to pattern the desired 45° slope of the sidewalls. The principle of the proposed technique and the detailed fabrication process of the microoptic components will be presented. The integratability of the fabricated components was demonstrated by the fabrication of the microoptical fiber holder with a pre-aligned out-of-plane microlens.     

Method to Characterize the Air Flow and Water Removal Characteristics During Vacuum Dewatering. Part II—Analysis and Characterization

This is part II of a study reported earlier on a method to characterize the air flow and water removal characteristics during vacuum dewatering. This article presents experimental data and analysis of results from the use of a cyclically actuated vacuum dewatering device for removing moisture from wetted porous materials such as paper with the intermittent application of vacuum and accompanying air flow though the material. Results presented include sheet moisture content as a function of residence time and hence water removal rate under a variety of process conditions. Also, experimental results on air flow through the wet porous structure and hence the role and importance of air flow during vacuum dewatering are presented. Vacuum dewatering process conditions include exit solids content between 11 and 20% solid under applied vacuum conditions of 13.5 to 67.7 kPa (4 to 20 in. Hg). Regression analysis indicated that the exit sheet moisture content exhibited a nonlinear relationship with residence time with exit solids reaching a plateau after a certain residence time. Final moisture content correlated linearly with the average overall flow rate of air through the paper sample and the basis weight of the material.