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.     

On the study of creep feed grinding of alumina

Several issues involved in creep feed grinding of alumina with diamond wheels were studied. Influences of variables on responses were investigated. Off-line optimization was performed by formulating the grinding process as a multi-objective nonlinear mixed integer problem. The dominant mechanism of material removal was determined. The grinding process was simulated to obtain the number of active cutting edges and the grinding parameters such as cutting length, maximum undeformed chip thickness, etc. Unit load distribution was characterized and then used to estimate the percentage of cutting edges that fracture or plastically cut the material and to derive the probability distribution function for substance cracks. Fractal concept was applied to characterize wheel profiles. Findings from these studies are reported in this paper. These studies are definitely not complete, but surely shed some light on the creep feed grinding process of ceramic materials.     

山梨酸正丁酯的合成研究

以山梨酸与正丁醇为原料,对甲苯磺酸为催化剂合成了山梨酸正丁酯,用乙酸丁酯作带水剂,4A分子筛作除水剂,酯化收率可达97.5%.     

高性能环氧树脂涂料的研制

以甲基丙烯酸、丙烯酸丁酯及苯乙烯的聚合为接枝体，在过氧化苯甲酰作用下对E-51环氧树脂进行接枝改性，同时对三乙烯四胺进行曼尼希改性，制得多种改性固化剂，并用其与改性的环氧树脂配制成涂料，实验结果表明，当苯酚、甲醛和三乙烯四胺的物质的量比为3：3：1时固化剂的固化性能最好。     

改进马蹄焰玻璃窑炉加料口设计的体会

我厂总结加料实际运行情况,分析加料口对配合料熔化作业的影响,在仍采用一台(嘴宽为800mm)毯式推料加料机情况下,对24m~2的马蹄焰熔炉加料口结构进行了改进,取得了较好的效果。     

钢渣、碱矿渣水泥强度影响因素的研究

本文从宏观和微观两方面,讨论了诸如钢渣（D渣）掺量、碱组分及养护条件等因素对钢渣-碱矿渣水泥强度发展的影响机理,为更好利用钢渣以作为碱矿渣水泥的复合组分,进行了理论和实践方面的探索.     

用D_2EHPA-煤油溶剂萃取分离L-异亮氨酸

本文研究了从发酵液中用D2EHPA－煤油溶剂萃取分离L－异亮氨酸工艺．考察了萃取时pH值、萃取剂浓度和异亮氨酸浓度对于异亮氨酸和缬氨酸的萃取分配比的影响．在计算机上进行回归，得到以下分配模型：当1≤pH≤3．5时lgDIle＝0．09906pH2＋0．8625pH＋2．2696lgCHR－0．09188lg2CIle＋0．1766lgCIle－1．366lgDrmVal＝－0．0293pH2＋0．550pH＋1．2659lgCHR－0．2420lg2CIle＋0．4549lgCIle－1．696用此模型，应用分馏萃取理论，进行逐级计算，求取了萃取工艺的主要参数，并在φ20mm的多级离心萃取器上对上述结果进行了验证．结果表明：当CHR浓度为1．5mol／L，相比V：L：L’＝2：1：2，N’＝3，N＝6时，异亮氨酸的收率达到90％以上，纯度＞99％．实验取得了较为满意的结果．     

A minimal kinematic model for serial robot calibration using POE formula

Traditional methods based on the product of exponentials (POE) formula are parametrically continuous and complete for the calibration of the kinematic parameters of serial robots. However, these methods are not minimal due to the constraints of joint twists. This paper puts forward a new POE-based model, whose parameters are totally independent and conform to the formula of minimality. This is the first model that simultaneously satisfies the requirements of parametric continuity, completeness, and minimality with uniform and generic modeling rules. The proposed approach avoids the operations of normalization and orthogonalization which are necessary redundancy elimination steps with the traditional model. Simulations on a SCARA robot and experiments on an ABB IRB 120 robot prove that the new model outperforms in convergence, accuracy, and efficiency.     

生物质中元素分布特征的聚类分析研究

测定了稻草秆、小麦秆、玉米秆、棉花秆、大豆秆、玉米芯、花生壳和柳树、松树、桦树、杨树、杉树 1 2个农业生物质和林业生物质种类 2 7个样品中主要元素 K,Ca,Na,Mg,Al,Fe,P和痕量元素 As,Cr,Co,Cu,Cd,Mn,Mo,Ni,Pb,Ti,Zn,V,Si,Ba,Be,Se,Sb,Ge,Hg的含量 ,并用SPSS聚类分析法分别进行了 R型和 Q型聚类研究 ,对这些元素在生物质中的分布特征进行了研究 .结果显示 :杨木、杉木和桦木与松木和柳木归成一大类 ,经济类作物黄豆秆和棉花秆分别归类后又归入一大类 ;农业生物质稻草秆和小麦秆、玉米秆被归入一类 ;虽然 2 7种生物质样品分别取自我国东北、华东、华北和西南地区 ,在地理位置上相距极远 ,但样品聚类谱系图表明 ,元素的分布特征与生物质的种类的关系显著 ,与产地的关系不明显 ,即元素的分布特征受种类的影响大 ,而受生长环境、气候、土壤条件的影响小 .     

Ionic liquid as reaction medium for the synthesis and crystallization of a metal-organic framework: (BMIM)2[Cd3(BDC)3Br2] (BMIM = 1-butyl-3-methylimidazolium, BDC = 1,4-benzenedicarboxylate)

An ionic liquid, 1-butyl-3-methylimidazolium bromide, is used as reaction medium for the synthesis and crystallization of a coordination polymer, (BMIM)₂[Cd₃(BDC)₃Br ₂] (1) (BMIM = 1-butyl-3-methylimidazolium, BDC =  1,4-benzenedicarboxylate), which forms an anionic two-dimensional framework with the imidazolium cations located between the layers. This compound is thermally stable up to ca. 340 °C and exhibits blue emission in solid state at room temperature. Other characterizations by IR and UV–visible spectra are also described.