Static Force-Based Modeling and Parameter Estimation for a Deformable Link Composed of Passive Spherical Joints With Preload Forces

To balance the contradiction between higher flexibility and heavier load bearing capacity, we present a novel deformable manipulator which is composed of active rigid joints and deformable links. The deformable link is composed of passive spherical joints with preload forces between socket-ball surfaces. To estimate the load bearing capacity of a deformable link, we present a static force-based model of spherical joint with preload force and analyze the static force propagation in the deformable link. This yields an important result that the load bearing capacity of a spherical joint only depends on its radius, preload force, and static friction coefficient. We further develop a parameter estimation method to estimate the product of preload force and static friction coefficient. The experimental results validate our model. 80.4% of percentage errors on the maximum payload mass prediction are below 15%.      

车辆安全跟驰模式预测的形式化建模方法

由于传统车辆跟驰建模预测方法无法遍历车辆所有可能的系统输入与运行状态的不确定性, 因而不足以从理论上保证对周边车辆安全跟驰行为预测的完整性与可信性. 为此提出车辆安全跟驰模式预测的形式化建模方法. 该方法利用随机可达集的遍历表现特征实现对周边车辆行为预测的不确定性表述, 并通过马尔科夫链逼近可达集的方式表达系统行为状态变化的随机性, 从而完成对周边车辆跟驰行为状态变化的精确概率预估. 为了表达跟驰情形中车辆之间的行为关联影响以及提高在线计算效率, 离线构建了关联车辆在状态及控制输入之间的安全关联矩阵, 描述周边车辆的安全跟驰控制输入选择规律, 并综合相关车辆的当前状态信息, 达到对周边车辆安全跟驰行为的在线分析与预估. 数值验证不仅表明提出的建模方法完备地表述了周边车辆所有的安全跟驰行为及过程, 显著提高了预测的精确度, 也论证了该方法对车辆跟驰控制策略建模分析与安全验证的有效性.     

Synthesis of fixed-structure robust controllers using a constrained particle swarm optimizer with cyclic neighborhood topology

The purpose of this paper is to develop design scheme based on an easy-to-use meta-heuristic approach with superior reliability and validity for fixed-structure robust controllers, satisfying both multiple control specifications and system stability conditions. For this purpose, a particle swarm optimizer is first developed, which reduces the probability of premature convergence to local optima in the PSO (particle swarm optimization) by exploiting the particle’s local social learning based on the idea of cyclic-network topology. Next, it is shown how to obtain a fixed-structure robust controller with constraints on multiple H_∞ specifications and system stability based on the developed PSO technique incorporated with a simple constraint handling method. Finally, typical numerical examples are studied to show the applicability of the proposed methodology to the synthesis of fixed-structure robust controllers. These examples clearly verify that the developed design scheme gives a novel and powerful impetus with remarkable reliability to fixed-structure robust controller syntheses.     

The general theory of three-party quantum secret sharing protocols over phase-damping channels

The general theory of three-party QSS protocols with the noisy quantum channels is discussed. When the particles are transmitted through the noisy quantum channels, the initial pure three-qubit tripartite entangled states would be changed into mixed states. We analyze the security of QSS protocols with the different kinds of three-qubit tripartite entangled states under phase-damping channels and figure out, for different kinds of initial states, the successful probabilities that Alice’s secret can be recovered by legal agents are different. Comparing with one recent QSS protocol based on GHZ states, our scheme is secure, and has a little smaller key rate than that of the recent protocol.     

Physical Design Methodology for Godson-2G Microprocessor

The Godson-2G microprocessor is a high performance SOC which integrates a four-issue 64-bit high performance CPU core(called GS464),a DDR2/3 controller,a HyperTransport controller,a PCI/PCI-X controller,etc.It is physically implemented in 65 nm CMOS process and reaches the frequency of 1GHz with power consumption less than 4 W.The main challenges of Godson-2G physical implementation include nanometer process technology effects,high performance design targets,and tight schedule.This paper describes the ke...     

Thermoelectric Properties of Co-Doped TiS<Subscript>2</Subscript>

The thermoelectric properties of cobalt-doped compounds Co _x Ti_1−x S₂ (0 ≤ x ≤ 0.3) prepared by solid-state reaction were investigated from 5 K to 310 K. It was found that the electric resistivity ρ and absolute thermopower |S| for all the doped compounds decreased significantly with increasing Co content over the whole temperature range investigated. The increased lattice thermal conductivity of the doped compounds would imply enhancement of the acoustic velocity. Moreover, the ZT value of the doped compounds was improved over the whole temperature range investigated, and specifically reached 0.03 at 310 K for Co_0.3Ti_0.7S₂, being about 66% larger than that of TiS₂.     

寒冷和潮湿季节的网印制版

每年的11月份以后天气日趋变冷,特别是在北方,很多地方已开始供暖。即使在沿海的广东,也是忽冷忽热的,例如深圳去年的最低温度也降到了（4～5）℃;而到了每年的六七月份又是非常潮湿的季节。     

一体式活塞内模结构设计及应用

采用一体式内模代替原来的两体式内模铸造模具,简化了模具制造工艺、节约了制造成本、美化了活塞内腔。利用Magma软件模拟浇注,发现一体式内模容易出现的缺陷以及缺陷存在的位置,并提出有效的解决方法。通过在小缸径活塞上的实际应用,取得了良好的效果。     

Measurement system escape and overkill rate analysis

In 100% inspection, measurement errors are unavoidable. Due to these errors, acceptable products are sometimes rejected (overkill) and defective products are accepted (escape). Overkill increases production costs, while escape is a source of customer dissatisfaction. This study presents a model for calculating overkill and escape rates using process and measurement system performance data. A practical example of applying the model is also presented to calculate gage reproducibility and repeatability requirements for different production settings. Industrial managers and quality engineers can utilize the results of this study to calculate escape and overkill rates of their production systems, and to assess and improve their processes.     

提高弱电网中光伏并网逆变器稳定性的控制方法

随着电网中分布电源的增加,电网呈现出了弱电网特性。电网阻抗使得逆变器与电网之间存在相互作用,对逆变器的稳定性产生影响,威胁着系统的安全稳定运行。从相位角度分析了电网阻抗对系统稳定性的影响,电网阻抗的增加会导致系统相位降低,继而使系统进入不稳定状态。为增强系统在电网阻抗变化过程中的鲁棒性,提出一种基于神经网络的逆变器变增益控制方法。该方法采用一定的控制环节补偿系统相位,采用径向基函数神经网络建模的方法实时调整系统的开环截止频率,使相位裕度始终保持最大值。仿真结果验证了本文的理论分析。