A dual neural network for redundancy resolution of kinematically redundant manipulators subject to joint limits and joint velocity limits

In this paper, a recurrent neural network called the dual neural network is proposed for online redundancy resolution of kinematically redundant manipulators. Physical constraints such as joint limits and joint velocity limits, together with the drift-free criterion as a secondary task, are incorporated into the problem formulation of redundancy resolution. Compared to other recurrent neural networks, the dual neural network is piecewise linear and has much simpler architecture with only one layer of neurons. The dual neural network is shown to be globally (exponentially) convergent to optimal solutions. The dual neural network is simulated to control the PA10 robot manipulator with effectiveness demonstrated.     

感应电动机转子磁场定向的一种自校准算法

介绍感应电动机矢量控制系统中转子磁场定向的一种自校准算法。该算法只需检测电动机的定子电流和转速信号，并由具有严格正实误差传递函数的参数调整算法保证其稳定性和收敛性。数值仿真实验说明了算法的性能。     

新试剂2-(2''''-苯并噻唑偶氮)-1,8-二羟基-3,6-萘二磺酸与钛(Ⅳ)和 CTMAB 形成三元络合物显色反应的研究

在阳离子表面活性剂ＣＴＭＡＢ存在下，２－（２′－苯并噻唑偶氮）－１，８－二羟基－３，６－苯二磺酸与钛（Ⅳ）在ｐＨ３．５～４．５范围内发生高灵敏的显色反应，形成一种蓝色的三元胶束络合物，其最大吸收波长位于６５０ｎｍ，表观摩尔吸光系数ε＝１．２２×１０５·Ｌ·ｃｍ－１。络合物中钛（Ⅳ）与显色剂的组成比为１：２，钛含量在０～８．０μｇ／２５ｍＬ范围内符从比尔定律。间用于铝合金中微量钛的测定，结果满意。     

材料韧性断裂的细观力学分析与测试

应用细观力学的观点分析材料韧性断裂方面的独到之处及便利，并结合高强铸铁细观力学的断裂判据——临界空穴扩张比的测试研究，介绍了作者在应用细观力学研究高强铸铁韧性断裂方面所做的工作及进展     

创造绿地型国际性花园城市——深圳特区绿地系统规划设计探讨

从深圳生态环境与现有城市绿地系统特点、深圳建设绿地型国际性花园城市的优势和绿地系统规划设计思路等三个方面扼要介绍了深圳特区的绿地系统规划设计方案．     

面向服务的系统集成模型研究

在对系统集成以及传统模型的分析基础上,介绍了面向服务的思想、面向服务的体系结构以及面向集成的应用,提出了面向服务的 集成的两种模型,并结合实例进行了一定的研究探讨。     

基于软构件的动态企业建模技术

动态企业建模是企业信息化工程中的一次重大变革.本文在分析动态企业建模理论的基础上,提出了一种基于软构件的动态企业建模技术:在企业建模过程中引入软构件,通过对模型构件的动态重构,快速建立同时具备柔性和扩展性的企业模型.文中详细说明了企业模型的构件化过程和基于软构件的动态建模体系.     

分布式防火墙技术研究

介绍了分布式防火墙的产生、体系结构、主要特点及存在的问题.     

INTERNET网络带宽的主动测量技术

在INTERNET中,链路带宽的测量技术对内容分发网络优化、覆盖网络路由选择、流量工程等应用都极为重要.主动测量技术可以准确、快速的测量链路带宽.本文介绍了网络带宽的相关测度,并着重讨论了近年来主要的主动测量技术及其局限性,最后分析了影响测量准确性的主要因素.     

Fluxing Agents on Ceramification of Composites of MgO-Al<Subscript>2</Subscript>O<Subscript>3</Subscript>-SiO<Subscript>2</Subscript>/Boron Phenolic Resin

Fluxing agents of zinc borate, antimony oxide, galss frit A and glass frit B, with different melting or softening point temperatures, were added into MgO-Al₂O₃-SiO₂/boron phenol formaldehyde resin (MAS/BPF) composites to lower the formation temperature of eutectic liquid phase and promote the ceramification of ceramifiable composites. The effects of fluxing agents on the thermogravimetric properties, phase evolution, and microstructure evolution of MAS / BPF composites were characterized by TG-DSC, XRD and SEM analyses. The results reveal that the addition of a fluxing agent highly reduces the decomposition rate of MAS / BPF composites. Fluxing agents lower the formation temperatures of liquid phases of ceramifiable MAS / BPF composites obviously, and then promote the ceramification and densification process. The final residues of composites are ceramic surrounded by large amount of glass phases.