Hybrid integrator backstepping control of robotic manipulators driven by brushless DC motors

In this paper, a hybrid integrator backstepping controller is proposed for robotic manipulators actuated with brushless DC motors in the presence of arbitrary uncertain inertia parameters of the manipulator and the electrical parameters of the actuators. The main features are: 1) the design, requiring at most the joint velocities and stator currents feedback; 2) the semiglobal asymptotic stability of the controller being established in the Lyapunov sense; and 3) suitability of the scheme for multijoint robots. Simulation results are included to demonstrate the tracking performance.     

Instability of diatomic deuterium in fcc palladium

To clarify some of the solid-state aspects of cold fusion in deuterated transition metal electrodes, we have carried out first-principles self-consistent total energy calculations for various configurations of atomic and diatomic deuterium inside fcc palladium. We find that the stability of the Pd+D system is controlled by the relative position of the deuterium-inducedantibonding level with respect to the Fermi energy. The equilibrium D-D distance in dense PdD up to =3 is found to be much larger than the free space value. The calculated Born-Oppenheimer energy surface of diatomic D₂ in crystalline palladiuim is shown to have but metastable local minima whose internuclear separation is at least 0.2 Ålarger than that of the isolated D₂ molecule. We conclude that D₂ incrystalline Pd will have a substantially lower tunneling probability than hitherto thought and that explanation for fusion mechanisms should be sought elsewhere.     

A conditional classification recurrent RBM for improved series mid-term forecasting

In the context of human-robot and robot-robot interactions, the better cooperation can be achieved by predicting the other party’s subsequent actions based on the current action of the other party. The time duration for adjustment is not sufficient provided by short term forecasting models to robots. A longer duration can by achieved by mid-term forecasting. But the mid-term forecasting models introduce the previous errors into the follow-up forecasting and amplified gradually, eventually invalidating the forecasting. A new mid-term forecasting with error suppression based on restricted Boltzmann machine(RBM) is proposed in this paper. The proposed model can suppress the error amplification by replacing the previous inputs with their features, which are retrieved by a deep belief network(DBN). Furthermore, a new mechanism is proposed to decide whether the forecasting result is accepted or not. The model is evaluated with several datasets. The reported experiments demonstrate the superior performance of the proposed model compared to the state-of-the-art approaches.

     

混沌信号的主要测量特性分析

初步分析了混沌信号(以Logistic为例)应用于测量中的主要特性。仿真分析了Logistic信号的频谱特性、相关特性、模糊函数。说明了混沌信号在具有较高的距离速度分辨力,同时具备强抗干扰性。对比分析了混沌码和伪随机码的多普勒容限能力。初步分析Logistic信号的抗干扰特性。     

CHARAC TERIZATION OF TiAl POWDER PRODUCED BY MECHANICAL ALLOYING

The microstructure,alloying reaction and sintering behavior of the powder produced by Mechanical Al-loying(MA)for 8 h from 64 wt.-% Ti powder and 36 wt.-% Al powder were studied by scanning electronmicroscopy,optical microscopy,X-ray diffractometry,differential scanning calorimetry(DSC)and dilatometry.The mechanically alloyed powder partictes are Ti-Al composite particles.Thus,titanium aluminides can formeasily in the powder through diffusion during heat treatment.It is shown that the sintering behavior of this pow-der,different from the behaviors of TiAl alloy powder and mixed powder of 64 wt.-% Ti powder and 36 wt.-%Al powder,changes from expansion at temperatures below 1000℃ to shrinkage at temperatures above 1000℃.Homogeneously alloyed TiAl material with a density over 96% of the theoretical density can be produced fromthe mechanically alloyed powder by compaction-sintering.     

通过细乳液聚合方法制备自交联型有机硅乳液

苯乙烯与甲基丙烯酸-3-三甲氧基硅丙酯(M PS)经细乳液聚合,制得了稳定的自交联型的水分散涂料,用透射电子显微镜(TEM)、动态光散射仪(DLS)和红外光谱(IR)表征了乳胶粒的形态和结构。发现与传统乳液聚合相比,细乳液聚合法可显著提高乳液的稳定性,且M PS加入量的增加会导致乳液稳定性降低。     

Use of mesoporous SBA-15 for nanostructuring titania for photocatalytic applications

SBA15–TiO₂ samples prepared by introducing titanium with a grafting method and having TiO₂ loadings below 15 wt.% have been characterized by XRF, XRD, IR, porosimetry, SEM, HRTEM, and UV–Visible diffuse reflectance. Differently from the samples reported in the literature characterized by a high TiO₂ loading, no evidences have been found for the presence of titania particles inside or outside the mesopores of SBA-15. Three different titanium species were instead evidenced to be present. The first two derive from the reaction of titanium with silanol groups in the corona area of inner SBA-15 walls leading to the formation of either TiO₄ tetrahedral sites (by reaction by hydroxyl nests of surface defect sites) and/or pseudo-octahedral surface sites anchored by two (or more) Si or Ti ions through bridging oxygens. The third species derives from the reaction of titanium in the regions with high sylanol density, e.g. in the micropores located in the corona of SBA-15 channels, leading to the formation of TiO₂-like nanoareas (probably Si-doped) with dimensions of around 1–2 nm maximum. The potential interest of these materials as photocatalysts, for the presence of a TiO₂-like nanoareas highly accessible by reactants, is discussed.     

Water-soluble and amphiphilic polymers

Summary Three PEO-PSt-PEO triblock polymers and their parent ho-nopolystyrene have been studied by means of light scattering technique in chloroform, toluene and ethyl acetate. It has been found that the weight average molecular weights calculated by using the equation Mapp- were unbelievable negative values; and the largest deviation appeared for the sample with PEO mole content of about 50%. Data of PSt-PEO-PSt triblock polymers in literature have been quoted and discussed.     

Industrial TiO2 based nacreous pigments as functional building materials: Photocatalytic removal of NO

In this paper, the photocatalytic activity of industrial titanium dioxide (TiO₂) based nacreous pigments was researched as functional building materials for photocatalytic NO remove. Three industrial TiO₂ based nacreous pigments were selected to estimate the photocatalytic activity for NO remove. This study is a good proof that pearlescent pigments can eliminate NO, and its performance is positively correlated with its titanium dioxide content. And this research will widen the application of nacreous pigments in functional building materials, and provide a new way to eliminate in door nitric oxide pollution.     

熔融石英耐火材料

阐述了熔融石英耐火材料的主要性能与应用领域。