Optimal Performance in Tracking Stochastic Signal Under Disturbance Rejection

The analysis method of optimal tracking performance is proposed for multiple‐input multiple‐output (MIMO) linear time‐invariant (LTI) systems under disturbance rejection. An H₂ criterion of the error signal between the output of the plant and the reference signal is used as a measure for the tracking performance. Spectral factorization is applied to obtain the optimal solution of the system tracking error. The explicit expressions are derived for this minimal tracking error with respect to random reference signals under disturbance rejection. It is shown that the nonminimum phase zeros, the zero direction, the unstable poles, the pole direction of a given plant, statistical characteristics of the reference input signal, and disturbance signal have a negative effect on a feedback system's ability to reduce the system error with disturbance rejection. The results show that the optimal tracking performance will further be damaged because of disturbance rejection. Some typical examples are given to illustrate the theoretical results.     

有效的IPSec安全策略管理方案*

针对IPSec协议在安全策略管理存在的问题,引入信任管理的思想,介绍了一种基于信任管理的IPSec安全策略管理方案。该方案对分布式网络中的策略可以进行统一的描述,并通过一致性证明能够实现策略的委托授权管理,这样大大提高了IPSec安全策略管理效率和IPSec的灵活性。     

D301树脂分离衣康酸的工艺研究

采用弱碱性阴离子交换树脂Ｄ３０１对发酵法生产的衣康酸进行了分离研究。通过静态交换实验，研究了Ｄ３０１树脂对衣康酸的静态交换动力学，确定了传质机制和影响因素；通过动态交换实验，研究了以硫酸为洗脱剂，以氨水为再生剂的工艺过程，确定了主要工艺参数。     

钛酸钾品须填充UHMWPE复合材料的摩擦磨损性能研究

用钛酸钾晶须(PTW)对超高摩尔质量聚乙烯(UHMWPE)进行填充改性,考察了复合材料的摩擦磨损性能,研究了其结晶情况,观察了磨损表面形貌并分析了其机理.结果表明随着PTW用量的增加,复合材料的硬度、结晶度以及维卡软化点都有所增大.PTW提高了复合材料的耐磨性,但摩擦系数有所上升.PTW的加入使得UHMWPE的磨损机理从黏着磨损和塑性变形改变成疲劳磨损和轻微的塑性变形,提高了其抗磨粒磨损的性能.     

基于自由运动一维标定物的多摄像机参数标定方法与实验

一维标定方法易于实现且标定效率高,为了克服现有一维标定方法的一些不足,本文提出一种用一维标定物标定多摄像机内外参数的方法,首先进行两两标定,在此过程中,假定主点坐标近似已知而仅考虑畸变、焦距、旋转和平移等参数,接着利用基本矩阵及一维标定物上特征点之间的几何约束,估计两摄像机的内外参数,两两标定完成后,采用Dijkstra最短路径法和捆绑调整对多摄像机系统进行全局标定(含主点坐标),仿真和真实实验表明本文的方法是切实有效的.     

基于似人特性的拟人臂机器人自主抓取动作规划

针对拟人臂机器人在家庭环境中的自主抓取任务,提出了一种强调运动姿态似人特性的拟人臂动作的规划方法.该方法分为两个部分,构型规划和运动规划,构型规划基于人体工程学中广泛使用的快速上肢评估准则评价机器人运动姿态的似人特性,并在此基础上以机器人末端传速速率最优为目标规划机器人运动过程中的关键构型.运动规划结合了Fitts定律和似人运动模型规划了机器人末端的空间轨迹.本文最后以Motoman SDA10D拟人双臂机器人和Mitsubishi PA10机器人为例,具体介绍了该方法的应用和规划的结果,规划结果证明了本方法的可行性和有效性.     

小型连锁超市优惠券管理系统的开发

本系统适用于小型连锁超市,主要是从总体上对其优惠券进行管理。本系统具有优惠券类别管理、优惠券规则定义、优惠券发放管理、优惠券使用管理、优惠券查询、优惠券统计、会员优惠券管理等功能。本系统界面友好、直观,操作简便,系统中的多级权限管理等也可以保证数据的安全可靠。     

基于ExtJS+SSH架构的民政服务信息系统设计与实现

针对传统民政办公系统结构复杂,不易维护和不易扩展的情况,提出了一种基于Ext JS+SSH(Struts2、Spring和Hibernate)架构的民政服务信息系统。按照Java EE的分层思想,通过Struts2框架实现了MVC模式,将用户界面、业务处理和数据访问三者分离,利用Spring框架统一管理系统对象以降低系统的耦合性,采用Hibernate框架实现业务数据的持久化以降低开发难度。实验结果表明,基于Ext JS和SSH架构的系统具有易维护、可扩展和运行稳定的特性。     

Effects of the reinforcement and toughening of acrylate resin/CaCO3 nanoparticles on rigid poly(vinyl chloride)

Novel composite particles based on nanoscale calcium carbonate (nano‐CaCO₃) as the core and polyacrylates as the shell were first synthesized by in situ encapsulating emulsion polymerization in the presence of the fresh slush pulp of calcium carbonate (CaCO₃) nanoparticles. Subsequently, these modified nanoparticles were compounded with rigid poly(vinyl chloride) (RPVC) to prepare RPVC/CaCO₃ nanocomposites. At the same time, the effects of the reinforcement and toughening of these modified nanoparticles on RPVC were investigated, and the synergistic effect of modified nanoparticles with chlorinated polyethylene (CPE) was also studied. The results showed that in the presence of nano‐CaCO₃ particles, the in situ emulsion polymerization of acrylates was carried out smoothly, and polyacrylates successfully encapsulated on the surface of nano‐CaCO₃ to prepare the modified nanoparticles, breaking down nano‐CaCO₃ particle agglomerates, improving their dispersion in the matrix, and also increasing the particle–matrix interfacial adhesion. Thus, the effects of the reinforcement and toughening of these modified nanoparticles on RPVC were very significant, and the cooperative effect of the nanoparticles with CPE occurred in the united modification system. Scanning electron microscopy analyses indicated that large‐fiber drawing and network morphologies coexisted in the system of joint modification of nanoparticles with CPE. © 2006 Wiley Periodicals, Inc. J Appl Polym Sci 103: 3940–3949, 2007