具有谐波减速器的柔性关节参数辨识

为了辨识具有谐波减速器的柔性关节模型的关键参数,设计了一套基于多传感器融合的离线辨识方法,根据电机的位置传感器、电流传感器和关节力矩传感器的实验数据完成柔性关节模型关键参数的辨识.首先,建立采用谐波减速器柔轮输出的柔性关节模型;然后,使用正反转加载力矩的方法辨识出电机的力矩系数;并在空载的情况下,由关节力矩和电机输出力矩分别辨识出关节端和电机端的摩擦力;最后,采用敲击法初步辨识出关节的刚度和阻尼后,在关节位置受限条件下,逐渐增加电机输出力矩,得到柔性关节刚度和关节力矩的非线性关系.多次实验的结果显示,辨识出的参数具有较高的重复性,验证了该方法的有效性.     

High temperature polymerization of propylene catalyzed by MgCl2‐supported Ziegler–Natta catalyst with various cocatalysts

Four cocatalysts, referred to as ethylaluminoxanes, were synthesized by the reaction between triethylaluminium (AIEt₃) and water under various molar ratios of H₂O/Al at ?78°C. Aluminoxanes were used as cocatalysts for a MgCl₂‐supported Ziegler–Natta catalyst for propylene polymerization at temperatures ranging from 70 to 100°C. When the polymerization was activated by AlEt₃, the activity as well as the molecular weight and isotacticity of the resulting polymer gradually dropped as the temperature varied from 70 to 100°C. When ethylaluminoxane was employed as the cocatalyst, good activity and high molecular weight and isotacticity were obtained at 100°C. Furthermore, when the cocatalyst varied from AlEt₃ to ethylaluminoxane, the atactic fraction and polymer fraction with moderate isotacticity decreased and the high isotactic fraction slightly increased, which indicated that the variation of the cocatalyst significantly affects the isospecificity of active sites. It was suggested that the reactivity of the Al‐Et group and the size of the cocatalyst were correlated to the performance of the Ziegler–Natta catalyst at different temperatures. © 2006 Wiley Periodicals, Inc. J Appl Polym Sci 100: 1978–1982, 2006     

State estimation for complex systems with randomly occurring nonlinearities and randomly missing measurements

This paper is concerned with the state estimation problem for the complex networked systems with randomly occurring nonlinearities and randomly missing measurements. The nonlinearities are included to describe the phenomena of nonlinear disturbances which exist in the network and may occur in a probabilistic way. Considering the fact that probabilistic data missing may occur in the process of information transmission, we introduce the randomly data missing into the sensor measurements. The aim of this paper is to design a state estimator to estimate the true states of the considered complex network through the available output measurements. By using a Lyapunov functional and some stochastic analysis techniques, sufficient criteria are obtained in the form of linear matrix inequalities under which the estimation error dynamics is globally asymptotically stable in the mean square. Furthermore, the state estimator gain is also obtained. Finally, a numerical example is employed to illustrate the effectiveness of the proposed state estimation conditions.     

Feedback nonlinear discrete-time systems

In this paper, we design an adaptive iterative learning control method for a class of high-order nonlinear output feedback discrete-time systems with random initial conditions and iteration-varying desired trajectories. An n-step ahead predictor approach is employed to estimate future outputs. The discrete Nussbaum gain method is incorporated into the control design to deal with unknown control directions. The proposed control algorithm ensures that the tracking error converges to zero asymptotically along the iterative learning axis except for the beginning outputs affected by random initial conditions. A numerical simulation is carried out to demonstrate the efficacy of the presented control laws.     

沈阳含蜡油稀释三榨脱蜡新工艺

本文研制出一种新型的含蜡油稀释三榨脱蜡新工艺,该工艺对加工沈北减二线含蜡油十分有效,提高了石蜡质量与产量。     

加压下二氧化碳在二甲基甲酰胺中的溶解度研究

本文报道了二氧化碳在二甲基甲酰胺中的溶解度,实验温度分别为15、20、25、30、35、40、45℃,实验压力为207.21—1684.02kPa.并且提出一个考虑了过量熵的、用溶度参数表示的活度系数方程.     

Empirical evaluation of H.264/SVC streaming in resource-constrained multihomed mobile networks

Nomadic users of streamed multimedia content in mobile networks are often faced with resource-constrained network paths that suffer from low bandwidth. Streaming high-quality video in such a challenging scenario demands a set of highly adaptive schemes, which have not been sufficiently explored in particular for the emerging H.264 Scalable Video Coding (H.264/SVC) standard. In this paper, we empirically investigate the performance of streaming H.264/SVC scalable video streams to users in multihomed mobile networks containing multiple available transmission paths. Previous work has demonstrated the feasibility of aggregating bandwidth of multiple paths to deliver video streams when no single, sufficiently high bandwidth path is available. We focus on evaluating the enhanced performance of multipath bandwidth-aggregation streaming by exploiting a quality-layers based, H.264/SVC-specific packet prioritisation scheme for quality-aware multipath packet scheduling and selective packet dropping in case of bandwidth shortage even after aggregation. Additionally, we explore a base-layer rate control scheme for H.264/SVC delivery in ultra-low bandwidth environments. Through extensive experimentation on a realistic hardware-based testbed, we obtain a comprehensive and insightful understanding of the behaviour of H.264/SVC streams when transmitted across multiple paths in mobile networks. We quantify the improvements offered by the use of H.264/SVC-specific packet prioritisation schemes compared with an existing generic scalable video prioritisation scheme, and the benefits by the use of base-layer rate control in ultra-low bandwidth situations. The performance of the multipath streaming schemes is further compared with that of an ideal single high bandwidth path. We also identify the remaining challenges that must be overcome if such streaming schemes are to offer performance close to that of the ideal single high bandwidth path.     

Prediction-based realistic 3D model compression

The benefit of using the geometry image to represent an arbitrary 3D mesh is that the 3D mesh can be re-sampled as a completely regular structure and coded efficiently by common image compression methods. For geometry image-based 3D mesh compression, we need to code the normal-map images while coding geometry images to improve the subjective quality and realistic effects of the reconstructed model. In traditional methods, a geometry image and a normal-map image are coded independently. However a strong correlation exists between these two kinds of images, because both of them are generated from the same 3D mesh and share the same parameterization. In this paper we propose a predictive coding framework, in which the normal-map image is predicted based on the geometric correlation between them. Additionally we utilize the strong geometric correlation among three components of normal-map image to improve the predicting accuracy. The experimental results show the proposed coding framework improves the coding efficiency of normal-map image, meanwhile the realistic effect of a 3D mesh is significantly enhanced.     

The min-dist location selection and facility replacement queries

We propose and study a new type of location optimization problem, the min-dist location selection problem: given a set of clients and a set of existing facilities, we select a location from a given set of potential locations for establishing a new facility, so that the average distance between a client and her nearest facility is minimized. The problem has a wide range of applications in urban development simulation, massively multiplayer online games, and decision support systems. We also investigate a variant of the problem, where we consider replacing (instead of adding) a facility while achieving the same optimization goal. We call this variant the min-dist facility replacement problem. We explore two common approaches to location optimization problems and present methods based on those approaches for solving the min-dist location selection problem. However, those methods either need to maintain an extra index or fall short in efficiency. To address their drawbacks, we propose a novel method (named MND), which has very close performance to the fastest method but does not need an extra index. We then utilize the key idea behind MND to approach the min-dist facility replacement problem, which results in two algorithms names MSND and RID. We provide a detailed comparative cost analysis and conduct extensive experiments on the various algorithms. The results show that MND and RID outperform their competitors by orders of magnitude.     

浅谈电子产品对儿童的影响及对策

在现代社会中,平板电脑、智能手机在人们日常生活的方方面面发挥着巨大的作用。通过分析电子产品在儿童和青少年的视力、身体发育、社交能力和学习能力等方面的负面影响,提出了加强亲子陪伴、合理引导控制等应对措施。