A dual neural network for redundancy resolution of kinematically redundant manipulators subject to joint limits and joint velocity limits

In this paper, a recurrent neural network called the dual neural network is proposed for online redundancy resolution of kinematically redundant manipulators. Physical constraints such as joint limits and joint velocity limits, together with the drift-free criterion as a secondary task, are incorporated into the problem formulation of redundancy resolution. Compared to other recurrent neural networks, the dual neural network is piecewise linear and has much simpler architecture with only one layer of neurons. The dual neural network is shown to be globally (exponentially) convergent to optimal solutions. The dual neural network is simulated to control the PA10 robot manipulator with effectiveness demonstrated.     

迅速掌握8088/8086指令系统的教学方法

介绍了一种快速掌握汇编语言指令系统的方法,对学生学习汇编语言程序设计有一定的帮助。     

小波分析在三维地形数据简化中的应用研究

研究了小波分析在三维地形数据简化中的应用。在分析了小波多分辨率分析理论的基础上,重点探讨了小波多分辨率分析理论在三维地形简化中的应用,提出了实现三维地形数据简化的一种新的方法。     

Surface Plasmon Resonance Enhanced Scattering of Au Colloidal Nanoparticles

Abstract Suspended gold nanoparticles have been synthesized via electrochemical method.The strongest resonance scattering peak is at 485 nm, which results from the surface plasmonresonance. When the excited wavelength is at 242 nm (12.4×10~(14) Hz), there have been a 1/2fraction frequency scattering peak at 485 nm (1/2×12.4×10~(14) Hz) and a 1/3 fraction frequencyscattering peak at 726 nm (1/3×12.4×10~(14) Hz) displayed. Emission spectra with different particlediameters were compared, the intensity of scattering light increases with the particle size. Thefrequency-dependent scattering average cross section of small particle was calculated from Mietheory. The model calculation is in agreement with the experimental results.     

HL-2A Tokamak Edge Modeling with B2

The outer divertor plasma of HL-2A and its associated scrape-off plasma have been simulated using a two-dimensional multi-species fluid code of Braams with a simplified neutral gas model. HL-2A has a double-null closed divertor in separate divertor chambers above and below the nearly circular plasma tours. The computed numerical grid is developed according to an ideal magnetic surface. The calculation is involved only with pure hydrogen plasma. The emphasis has been focused on parametric studies involving variation of the assumptions made for the core plasma. The peak temperatures and the heat flux near the target are of the principal concern。     

基于数字电力系统的地区配电网络统一数据平台的研究

基于数字电力系统的思想 ,根据地区配电网络的特点 ,对数据进行分类 ,建立关系数据库的组织关系 ,提出了一种利用集合以及图论知识构建地区配电网络统一数据平台的方法 ,确保数据的共享性、一致性、唯一性 ,并符合数字电力系统的要求 ,具有普适性。同时结合实例 ,在该数据平台上 ,利用特征映射的方法 ,进行查询 ,效果令人满意。     

对我国高等职业教育人才培养的分析与思考

高等职业教育是我国现代高等教育的重要组成部分,其培养目标是实用型、应用型的高级专门人才。如何使高等职业教育培养的人才更适应社会经济发展的需要是摆在每一所高职学校面前的重要课题。文章认为目前高职教育的办学层次未尽合理,人才培养过程难以反映出职业技术教育的特点,并就此提出了若干建议。     

基于数据库管理系统的电机设计集成系统软件开发

本文基于电机设计的基本原理 ,采用Access数据库管理技术、面向对象技术、SQL查询语言 ,利用VisualBasic 6.0为工具开发了基于数据库管理系统的电机设计集成系统软件。在实际使用中充分证明 ,该软件操作方便、运行良好、可维护性高 ,软件计算结果比较接近实验值。     

采用LabVIEW图形程式设计构成虚拟仪控设备

本文介绍了虚拟仪控的概念和LabVIEW图形程式语言的编程方法,性能特点,以及目前在广州地区的推广应用.