A robust control of robot manipulators for physical interaction: stability analysis for the interaction with unknown environments

Intelligent Service Robotics - A robust control designed for multiple degrees-of-freedom (DOF) robot manipulators performing complex tasks requiring frequent physical interaction with unknown...     

Large increase of Curie temperature in (110)-oriented La0.7Sr0.3MnO3 films

From the perspectives of scientific researches and practical applications, it is desirable to explore high operating temperature ferromagnetic films. The effect of biaxial strain on magnetic properties of (110)-oriented La_0.7Sr_0.3MnO₃ films was studied. High quality La_0.7Sr_0.3MnO₃ films were grown on (110)-oriented perovskite single crystal substrates using pulsed laser deposition, varying substrate-induced misfit strains from ??2.27–0.75%. A remarkable enhancement of Curie temperature has been achieved for (110)-oriented La_0.7Sr_0.3MnO₃ films clamped with small misfit strains (i.e., grown on LAST (110)). The enhanced Curie temperature of (110)-oriented La_0.7Sr_0.3MnO₃ films could be attributed to the misfit strain between the films and the underlying substrates and may have technological implication for applications at high temperature environments.     

Overseas Cooperation of Chinese Oil Enterprises in 2017

This paper analyzes the status quo and progress of overseas oil and gas business cooperation built by Chinese oil enterprises in 2017. With the slow recovery of the oil and gas industries as a whole, the overseas oil and gas business of Chinese oil enterprises has continued to grow in size, and all-round cooperation progress was made along the Belt and Road. Breakthroughs were made in oil and gas cooperation between China and the United States. In the meantime, new features have emerged in the overseas cooperation of Chinese enterprises, and a pattern of diversified investors has basically taken shape.     

Preparation of biaxially textured Ce1-x(Y0.2Zr0.8)xOδ buffer layers on RABiTS NiW tapes by chemical solution deposition

Highly (100)-oriented Ce_1-x(Y_0.2Zr_0.8)_xO_δ (CYZO) films were prepared on biaxially textured NiW substrates by a chemical solution deposition approach using metal inorganic salts as starting materials. It has been found that both the preferential orientation and surface roughness of CYZO films decrease gradually with increasing of the doping percentage of Y³⁺ and Zr⁴⁺ ions. The epitaxial growth relationship of (220)_CYZO//(200)_NiW and [00?l]_CYZO//[001]_NiW was demonstrated by XRD texture measurement as well as atomic resolution STEM observation. XRD, Raman and XPS spectra results indicate that Y³⁺ and Zr⁴⁺ ions were indeed introduced into CeO₂ lattice to substitute Ce⁴⁺ ions and form cubic fluorite CYZO solid solution. Moreover, CeO₂ buffer layer can be endowed a strong enough capability to prevent element diffusion through co-doping of yttrium and zirconium, provided that an optimal doping ratio of them is adopted. This will provide a new approach to fabricating strong-barrier single buffer layer for coated conductor.     

基于门控联合池化自编码器的通用性文本表征

为了学习文本的语义表征,以往的研究者主要依赖于复杂的循环神经网络(recurrent neural networks, RNNs)和监督式学习方法。该文提出了一种门控联合池化自编码器(gated mean-max AAE)用于学习中英文的文本语义表征。该文的自编码器完全通过多头自注意力机制(multi-head self-attention mechanism)来构建编码器和解码器网络。在编码阶段,提出了均值—最大化(mean-max)联合表征策略,即同时运用平均池化(mean pooling)和最大池化(max pooling)操作来捕获输入文本中多样性的语义信息。为促使联合池化表征可以全面地指导重构过程,解码器采用门控操作进行动态关注。通过在大规模中英文未标注语料上训练模型,获得了高质量的句子编码器。在重构文本段落的实验中,该文模型在实验效果和计算效率上均超越了传统的RNNs模型。将公开训练好的文本编码器,使其可以方便地运用于后续的研究。     

LTE系统多小区上行联合功控算法

针对传统的小区内开环功率控制算法通常以提升本小区的吞吐量性能为目标，忽略了当前小区用户对邻小区用户同频干扰的问题，为提升边缘用户性能的同时兼顾系统整体性能，提出了一种LTE系统小区间上行联合功率控制（UJPC）算法。该算法采用单基站三扇区为系统模型，以最优化系统吞吐量比例公平函数为目标，首先根据最小信干噪比（SINR）约束值和用户最大发射功率这两个约束条件得到相应的数学优化模型，然后采用连续凸近似的方法求解优化问题得出各个基站所管辖的小区内所有用户的最优发射功率。仿真结果表明，与基准的开环功控方案相比，联合功控方案在保证系统平均频谱利用率的情况下能够较大幅度地提高小区边缘频谱利用率，其最佳性能增益能达到50%。     

我国堆场磷石膏工程特性分析

磷石膏堆场的渗流及稳定性分析结果的可靠度取决于磷石膏物理力学参数的准确性,因此开展磷石膏工程特性研究十分必要。根据我国不同磷石膏堆场的试验数据,分别对磷石膏的物理性质、击实特性、渗透特性、固结特性和强度特性进行了分析。结果表明:磷石膏强度、压缩、渗透特性均与其压实程度密切相关,相同压实程度不同堆场磷石膏的物理力学性质相近;磷石膏渗透特性与其晶体形态有关;磷石膏在荷载作用下具有长期蠕变变形特性,磷石膏堆场封场后仍会发生较大沉降;深部磷石膏破坏时的应变大于浅层磷石膏;磷石膏剪切破坏时产生负孔隙水压力,实际工程中可通过测试孔压的变化了解堆场坝体的安全程度。     

深度学习识别光网络单元故障的设计与应用

为解决依赖装维上门鉴别光网络单元故障带来的不便,可以从机器视觉入手实现自动化故障识别。近年,ImageNet挑战赛的成功推动了物体识别技术的跨越式发展,特别是基于卷积的深度学习技术在视觉识别方面已经达到人类水平,为光网络单元故障的自动识别提供了技术基础。文章对识别光网络单元的工作状态进行了研究,将设备工作状态分为7个场景,提出了利用手机APP采集图片识别故障的解决方案并投入了实际生产;重点阐述了深度学习模块的设计与实现,提出一种通过算法整合的方式综合运用物体检测和图像分类算法,分3阶段逐步求精,解决了图片过滤,光网络单元型号和状态识别等问题,实现了基于计算机视觉自动识别光网络单元故障。从数据上看产品的端到端准确率超过84%,识别速度达到10 FPS,月均提供服务超过1万人次,在减少用户等待的同时节约了人力资源。