Selection of network and learning parameters for an adaptive neural robotic control scheme

This paper presents the results of a study in the design of a neural network based adaptive robotic control scheme. The neural network used here is a two hidden layer feedforward network and the learning scheme is the well-known backpropagation algorithm. The neural network essentially provides the inverse of the plant and acts in conjunction with a standard PD controller in the feedback loop. The objective of the controller is to accurately control the end position of a single link manipulator in the presence of large payload variations, variations in the link length and also variations in the damping constant. Based on results of this study, guidelines are presented in selecting the number of neurons in the hidden layers and also the parameters for the learning scheme used for training the network. Results also indicate that increasing the number of neurons in the hidden layer will improve the convergence speed of learning scheme up to a certain limit beyond which the addition of neurons will cause oscillations and instability. Guidelines for selecting the proper learning rate, momentum and fast backpropagation constant that ensure stability and convergence are presented. Also, a relationship between the r.m.s. error and the number of iterations used in training the neural network is established.     

A new hybrid active power filter (APF) topology

In this paper, a new hybrid active power filter topology is presented. A higher-voltage, low-switching frequency insulated gate bipolar transistor (IGBT) inverter and a lower-voltage high-switching frequency metal oxide semiconductor field effect transistor (MOSFET) inverter are used in combination to achieve harmonic current compensation. The function of the IGBT inverter is to support utility fundamental voltage and to compensate for the fundamental reactive power. The MOSFET inverter fulfills the function of harmonic current compensation. To further reduce cost and to simplify control, the IGBT and MOSFET inverters share the same DC-link via a split capacitor bank. With this approach harmonics can be cancelled over a wide frequency range. Compared to the conventional APF topology, the proposed approach employs lower dc-link voltage and generates less noise. Simulation and experimental results show that the proposed active power filter topology is capable of compensating for the load harmonics     

用晶种技术解决低品位石灰石配料中存在的问题

采用晶种技术，能有效地改善熟料的煅烧过程和熟料的质量。晶种和复合矿化剂的作用机理不同，在某些方面具有互补性。     

怎样合理安装冲压模具

对冲压模具的安装过程进行了分析,提出了在冲模安装过程中应注意或考虑的事项。     

模袋混凝土护坡在永定河滞洪水库工程中的应用

模袋混凝土护坡是一种新型的护面技术,具有整体性强、冲灌的混凝土强度可根据工程具体要求设计的优点.它克服了其它护面型式的诸多缺点,成为十分成熟的护面新技术.随着土工合成材料在水利工程上大面积推广应用,模袋混凝土护坡具有良好的应用前景.     

Motivations for the San Fernando Valley Secession Movement: The Political Dynamics of Secession

I argue that the motivation for the San Fernando Valley secession movement can be explained as a desire for local control based on democratic ideals, but I emphasize that the movement is also motivated in part by the tangible benefits that accompany such autonomy. After a brief look at possible economic and racial motivations behind the secession movement, I look for a political divide between the city and the Valley, based on literature that has found political divisions between urban and suburban areas. Evidence of a political divide is mixed, but does indicate that the Valley lacks representation in comparison to the rest of the city. Valley residents may also fear increasing minority political power, which could erode the dominance of Valley whites at the polls. There is also evidence that those who favor secession are most dissatisfied with representation and most concerned with getting their fair share of services from the city, indicating a strong desire for more local control. Images of a smaller, more democratic government, and a more engaged local civic community are prime motivations in the Valley’s quest for autonomy, though the possibility of reduced taxes, land use control, and increased political power do offer secessionists clear substantive benefits in addition to more democratic goals.     

Chemical leaching and magnetic properties of non-equilibrium Al(Co–Cu) powders produced by rod milling

We report upon the chemical leaching and magnetic properties of nanoscale crystalline Al_0.6(Co₂₅Cu₇₅)_0.4 alloy powders produced by rod milling. X-Ray diffractometry (XRD), transmission electron microscopy, differential scanning calorimetry, vibrating sample magnetometry, and superconducting quantum interference device magnetometry were used to characterize the as-milled and leached specimens. After 400 h of milling, only the b.c.c. phase of the intermetallic compound γ-Al_3.892Cu_6.10808 was detected by XRD. After annealing the leached specimen at 600 °C for 1 h, the nanoscale crystalline phase was transformed into the f.c.c. Cu phase, and this was accompanied by a change in the magnetic properties. The peaks of the magnetization shifted towards lower temperature with increasing external field. The temperature behavior at T_f (45 K) for direct current (d.c.) magnetic susceptibility measurements was quite different for field cooling and zero-field cooling. After cooling the leached specimen from 800 °C, magnetization increased gradually.     

降低丙烯酰胺晶体中水份的探讨

本文介绍了如何通过控制结晶时间和离心速率获得低水分的丙烯酰胺晶体，给出了最佳生产工艺条件。     

An experimental study of heat transfer characteristics of a pair of longitudinal vortices using color capturing technique

The flow and heat transfer characteristics of a pair of embedded counter-rotating vortices are studied experimentally. In order to control the strength of longitudinal vortices, angle of attack of the vortex generators is varied from ±20° to ±45°, and the spacing between the vortex generators is 4 cm apart. The heat transfer measurements using thermo-chromatic liquid crystal are made to provide the local surface distributions of heat transfer coefficients. The following conclusions are obtained from the present experiment. For the common-flow-down cases, two maximum values in the local heat transfer distributions exist for the three angles of attack. With the common-flow-up cases, only one maximum value exists. The common-flow-down cases show better heat transfer characteristics than the common-flow-up cases.