Adaptive backstepping repetitive learning control design for nonlinear discrete‐time systems with periodic uncertainties

This paper addresses a tracking problem for uncertain nonlinear discrete‐time systems in which the uncertainties, including parametric uncertainty and external disturbance, are periodic with known periodicity. Repetitive learning control (RLC) is an effective tool to deal with periodic unknown components. By using the backstepping procedures, an adaptive RLC law with periodic parameter estimation is designed. The overparameterization problem is overcome by postponing the parameter estimation to the last backstepping step, which could not be easily solved in robust adaptive control. It is shown that the proposed adaptive RLC law without overparameterization can guarantee the perfect tracking and boundedness of the states of the whole closed‐loop systems in presence of periodic uncertainties. In addition, the effectiveness of the developed controller is demonstrated by an implementation example on a single‐link flexible‐joint robot. Copyright © 2014 John Wiley & Sons, Ltd.     

"砼"趣 ——记清水混凝土建筑荣成青少年活动中心设计施工点滴

从清水混凝土材料特点、空间适用性、肌理、细节和工艺等方面总结了荣成青少年活动中心复杂异形清水混凝土工程从设计到建造的全过程,展现了本土设计理念和地域环境的融合、创新型施工工艺的成功应用及项目最终呈现的高品质完成度.     

浅谈氯碱氢的一种深度脱水工艺

概述了氢的主要工业生产方法和实际应用,详细介绍了氯碱氢三级脱水工艺过程,并运用在线分析手段,准确显示了干燥过程中的氯碱氢水分含量变化规律。     

(S)-6-乙烯基-2,2'-二甲氧基-1,1'-联萘的合成

以S-1,1'-联二苯酚为起始原料,通过多步反应合成了标题化合物。该联萘酚通过羟基保护、傅克酰基化、羰基的还原和卤代烃的消除反应制备得到目标产物。对实验条件进行了适当改进,找到了较好的合成条件,并用1HNMR和13CNMR对各步产物进行了表征。     

多功能高压实验辅助绝缘支架的设计

在高压耐压实验中,由于施加耐压较大(可达额定电压的3倍),因此常遇到实验线路对设备或对地距离不够导致实验中发生放电或实验数据测试异常的情况.为了保证实验线路对设备或对地有足够的距离,常用绝缘操作杆将高压实验线路挑起或用绝缘带拉紧高压实验线使其悬空,既费时费力又不安全,尤其在刮风天气极易造成绝缘杆滑落、塑料带摆动等,导致实验数据不准确,影响判断.这种情况下,就必须进行多次实验,降低了工作效率.为此研制一款功能完善、能有效解决现场实验困难的实验线支撑工具,以达到提高工作效率和安全性的目的.     

基于蛋白质组学技术研究秦川牛肉宰后贮藏过程中肌红蛋白含量及其衍生物转化

本实验采用4D-非标记蛋白质组学技术研究秦川牛肉贮藏过程中（0～8 d）肌红蛋白含量及其衍生物的转化情况，阐释冷却秦川牛肉中肌红蛋白含量及其衍生物转化的分子机制。结果表明：贮藏过程中，肌红蛋白表达量在宰后0～4 d上升、4～8 d下降，利用非标记蛋白质组学技术鉴定出与肌红蛋白及其衍生物相关的差异蛋白14 种，具体包括代谢酶、氧化还原酶、过氧化物酶、伴侣蛋白4 类，这4 类蛋白的表达共同调控贮藏过程中肌红蛋白含量的变化及其3 种衍生物之间的转化，具体表现为贮藏过程中肌红蛋白表达量整体呈下降趋势，氧合肌红蛋白相对含量持续下降，脱氧肌红蛋白、高铁肌红蛋白相对含量逐渐增加，导致肉色发生褐变。本研究结果有利于理解秦川牛肉贮藏过程肉类变色的复杂生化变化机制。     

APP软件性能效率研究

性能效率是APP软件的重要质量属性，但目前缺乏APP软件性能效率的通用模型。分析了APP软件的性能特征，基于ISO/IEC 25010标准提出了APP软件的性能效率模型，定义了APP软件性能效率的子特性和度量指标。基于提出的APP软件性能效率模型，通过实验对APP软件的性能效率进行了度量及相关分析。     

P-doped CoSe2 nanoparticles embedded in 3D honeycomb-like carbon network for long cycle-life Na-ion batteries

We report for the first time a Na-ion battery anode material composed of P-doped CoSe2 nanoparticles(P-CoSe2)with the size of 5-20 nm that are uniformly embed in a 3D porous honeycomb-like carbon network.High rate capability and cycling stability are achieved simultaneously.The honeycomb-like carbon network is rationally designed to support high electrical conductivity,rapid Na-ion diffusion as well as the accommodation of the volume expansion from the active P-CoSe2 nanoparticles.In particular,heteroatom P-doping within CoSe2 introduces stronger P-Co bonds and additional P-Se bonds that signif-icantly improve the structure stability of P-CoSe2 for highly stable sodiation/desodiation over long-term cycling.P-doping also improves the electrical conductivity of the CoSe2 nanoparticles,leading to highly elevated electrochemical kinetics to deliver high specific capacities at high current densities.Benefiting from the unique nanostructure and atomic-level P-doping,the P-CoSe2(2∶1)/C anode delivers an excel-lent cycle stability with a specific capacity of 206.9 mA h g-1 achieved at 2000 mA g-1 after 1000 cycles.In addition,this material can be synthesized using a facile pyrolysis and selenization/phosphorization approach.This study provides new opportunities of heteroatom doping as an effective method to improve the cycling stability of Na-ion anode materials.     

结合位图切割和区域合并的彩色图像分割

就经典分水岭图像分割算法中存在的过分割问题，提出一种结合位图切割和区域合并的彩色图像分割算法。对原始彩色图像通过空域梯度算子求其梯度图像，并利用位图切割重建梯度图像；对新梯度图像进行分水岭预分割；对预分割图像基于异质性最小原则进行区域合并，并获得最终分割结果。相比于现有的同类方法，该算法引入位图切割，抑制噪声对分割结果的影响，在边缘模糊处分割准确，得到符合人类视觉的较小分割区域数目，同时在运行效率上提高。