Safe Landing Analysis of a Quadrotor Aircraft With Two Legs

We proposed a multi-propeller multifunction aerial robot (MMAR) that is composed of a quadrotor with two legs. The legs can increase the function of the robot. We found that the legs can increase the safety region of the robot during the landing. To study the safety problem, the dynamics of MMAR interacting with environment should be solved. On the basis of the interaction dynamics, this paper investigates the velocity constraint for safe landing of MMAR. The investigation begins from the kinematics and dynamics of MMAR in flight mode. Then the impact dynamics of MMAR during landing is developed. Furthermore, the landing safety problem is formulated by a series of constraint equations which can give a safety region of the velocity during landing. The safety region can give the safe velocity of the aerial robot before landing. Finally, simulation examples are presented using the proposed methodology. In the examples, a detailed safety region of a simulated MMAR is constructed and shown.     

A novel self-adaptive extreme learning machine based on affinity propagation for radial basis function neural network

In this paper, a novel self-adaptive extreme learning machine (ELM) based on affinity propagation (AP) is proposed to optimize the radial basis function neural network (RBFNN). As is well known, the parameters of original ELM which developed by G.-B. Huang are randomly determined. However, that cannot objectively obtain a set of optimal parameters of RBFNN trained by ELM algorithm for different realistic datasets. The AP algorithm can automatically produce a set of clustering centers for the different datasets. According to the results of AP, we can, respectively, get the cluster number and the radius value of each cluster. In that case, the above cluster number and radius value can be used to initialize the number and widths of hidden layer neurons in RBFNN and that is also the parameters of coefficient matrix H of ELM. This may successfully avoid the subjectivity prior knowledge and randomness of training RBFNN. Experimental results show that the method proposed in this thesis has a more powerful generalization capability than conventional ELM for an RBFNN.     

Wavelet twin support vector machine

Twin support vector machine (TWSVM) is a research hot spot in the field of machine learning in recent years. Although its performance is better than traditional support vector machine (SVM), the kernel selection problem still affects the performance of TWSVM directly. Wavelet analysis has the characteristics of multivariate interpolation and sparse change, and it is suitable for the analysis of local signals and the detection of transient signals. The wavelet kernel function based on wavelet analysis can approximate any nonlinear functions. Based on the wavelet kernel features and the kernel function selection problem, wavelet twin support vector machine (WTWSVM) is proposed by this paper. It introduces the wavelet kernel function into TWSVM to make the combination of wavelet analysis techniques and TWSVM come true. The experimental results indicate that WTWSVM is feasible, and it improves the classification accuracy and generalization ability of TWSVM significantly.     

勃劳特换热器的性能

勃劳特换热器的性能周绪美，陈建铭，张鹏远，冯元鼎，丁华（北京化工大学化学工程系）关键词勃劳特换热器；压降１引言在生产过程中，气体与气体之间进行热量交换的换热器，在性能评比时，应该用两项指标来衡量。其一是单位产品所需传热面积要小，其二是单位压降的传热膜...     

基于交叠社团相似性的生物网络关键节点识别

生物网络是研究生物特性的一个重要工具,目前已经有许多方法用于研究生物网络,关键节点分析是其中最常用的方法之一。关键节点分析通常是根据一定的规则为网络中的各节点分配一个函数值,并由此来确定网络中各节点的重要程度,目前已经发表了一些方法。然而,这些方法在单独使用的情况下,获得的关键节点的生物学意义一般较低,存在一定的缺陷。本文从节点对社团贡献的角度建立关键节点识别方法,首先提取网络中富含生物学功能意义的社团,然后依据交叠社团的相似性为各节点分配贡献值,最后通过两个生物网络实例论证了方法的有效性。     

Water‐absorptive blend fibers of copoly(acrylic acid–acrylamide) and poly(vinyl alcohol)

Through the addition of N‐hydroxymethyl acrylamide as a potential crosslinker, water‐absorptive blend fibers of copoly(acrylic acid–acrylamide) and poly(vinyl alcohol) with three‐dimensional network structures were prepared with heat‐crosslinking technology after fiber formation. Fourier transform infrared, scanning electron microscopy, dynamic mechanical analysis, and thermogravimetry were used to analyze the structures and properties of the fibers. The tensile behavior and absorbent capacities of the fibers were also studied. The results showed that there were lots of chemical crosslinking points in the fibers, the compatibility of copoly(acrylic acid–acrylamide) and poly(vinyl alcohol) was perfect, and the tensile properties of the fibers could be improved effectively through stretching in a vapor bath. © 2006 Wiley Periodicals, Inc. J Appl Polym Sci 100: 3353–3357, 2006     

基于MCGS的液化气梭式窑操作的计算机仿真

通过全面分析梭式窑操作系统运行的规律,就整个系统的燃气流量、压力以及炉膛内的温度等参数进行研究,选择ADMA为数据采集模块,根据操作流程以及现场控制设备的要求,提出了用计算机仿真操作设计的方案,并基于MCGS工控组态软件技术,设计了“液化气梭式窑操作仿真系统”.     

一种检测单晶炉热场温度的新方法

为去除单晶炉热场温度测量信号中的低频干扰、提高温度信号的估计精度,本文提出了一种基于跨维模拟退火(trans dimensional simulated annealing,TDSA)的单晶炉热场温度检测方法.该方法首先将AIC(Akaike information criterion)信号个数判断准则纳入采样机制中以便对干扰个数采样估计,进而利用所设计的基于信号频谱和轮盘赌思想的Metropolis Hastings机制对相应个数的干扰频率进行采样,最后设计了混合均匀和高斯采样机制对单晶炉热场温度进行采样估计.仿真和单晶炉工程实验结果表明,该方法在干扰个数未知的情况下,能够有效地抑制低频干扰、准确检测单晶炉热场的温度.     

稀土基汽车尾气催化剂的研究Ⅰ:催化剂老化和SO_2添加对催化活性的影响

制备了低Pt、Rh担载量的稀土基催化剂体系 ,研究了贵金属担载量、催化剂高温老化、抗硫水热老化和SO2 对催化活性的影响。结果表明 :随着贵金属质量分数从 0 2 5 %降低到0 1% ,CO、碳氢化合物 (HC)和NO的起燃温度分别平均提高 2 0℃ ;随着m(Pt)∶m(Rh)从 5∶1提高到 9∶1,CO、HC和NO的起燃温度分别提高 17、2 0和 5 3℃ ;当在反应体系中添加SO2 ,随SO2 体积分数从 0 0 0 2 %增加到 0 0 1% ,CO和NO的起燃温度和完全转化温度分别平均提高2 0℃ ,而对于HC ,催化活性几乎保持不变 ;催化剂在水热含硫条件下连续老化 4 0 0h ,CO、NO和HC的起燃温度分别为 2 5 2、2 6 7和 30 3℃ ,仍具有良好的反应活性。表明该稀土基催化剂在一定条件下 ,能满足汽车实际工况的要求     

Preparation and electrical conductivity of polyethers/WS2 layered nanocomposites

Utilizing the solvothermal synthesis technique, lithium intercalated tungsten disulfide Li_xWS₂ with x > 1 was obtained, which was allowed to react with water to the formation of single-molecule-layer suspension of tungsten disulfide. The layered nanocomposites PEG, PEO/WS₂, intercalating poly(ethylene glycol) (PEG, MW ≈ 1 × 10³, 6 × 10³, 1 × 10⁴) and poly(ethylene oxide) (PEO, MW ≈ 3 × 10⁵) into the tungsten disulfide host galleries, were prepared using the improved exfoliation-adsorption technique. It was revealed that the intercalated polymers within the host galleries are in a double-layer arrangement with an interlayer expansion of about 9 Å. Despite high conductivity of the host material, those of the PEG, PEO/WS₂ nanocomposites were found to be high in the order of 1 × 10⁻² to 10⁻³ S cm⁻¹ at ambient temperature, resulted from the guest-host charge transfers.