Backstepping control for output-constrained nonlinear systems based on nonlinear mapping

In this paper, nonlinear mapping (NM)-based backstepping control design is presented for a class of strict-feedback nonlinear systems with output constraint. By mapping output value set onto the set of all real numbers, the constrained system is transformed into a new strict-feedback unconstrained system to employ the traditional backstepping control while simultaneously preventing the constraint from being violated. It is proved that the original system has the similar convergence and bounded properties with the new one. Besides the nominal case where full knowledge of the plant is available, we also tackle scenarios wherein parametric uncertainties are present. Furthermore, the comparison with barrier Lyapunov function-based algorithm reveals the advantages of NM algorithm. The closed-loop system is guaranteed to be stable in the sense that all signals involved remain bounded, and the tracking error converges to zero asymptotically. Simulation studies illustrate the performance of the proposed control.     

Effect of Pretreatment Atmosphere on CuO/TiO2 Activities in NO + CO Reaction

Using TiO₂ as carrier, CuO/TiO₂ catalysts with different CuO loading were prepared by the impregnation method. The catalytic activities in NO+CO reaction were examined with a micro-reactor gas chromatography reaction system and the methods of TPR, XPS and NO-TPD. It was found that the catalytic activities were affected by pretreatment atmosphere, i.e. H₂ atmosphere > reduction–reoxidation > 10%CO/He > reaction gas (fresh sample). NO decomposition was better by low-valence Cu species than by high-valence Cu species, i.e. Cu⁰>Cu⁺>Cu²⁺. The XPS results indicated that Cu species on CuO/TiO₂ were Cu⁰, Cu⁺, normal Cu²⁺(Cu²⁺(I)) and chain-structured Cu²⁺(Cu²⁺(II)) as –Cu–O–Ti–O–. The activities of Cu²⁺(II) were much higher than that of Cu²⁺(I), but both species were very unstable in the reaction atmosphere and easily reduced by CO, which accounted for the variable activities of fresh catalysts with increasing reaction temperature. In NO+CO reaction, the redox process was a cycle of Cu⁺–Cu²⁺(I) at low reaction temperature but was a cycle of Cu⁰–Cu⁺ at high reaction temperature. As shown by NO-TPD, high catalytic activities could be attributed to the following factors, e.g. oxygen caves on the catalyst’s surface after pretreatment with H₂ and reduction–reoxidation, formation of Cu⁰ after pretreatment with H₂, and increment of Cu species dispersion and formation of Cu²⁺(II) after pretreatment with reduction–reoxidation.     

多尺度空间特征提取的脊柱图像拼接算法

针对脊柱图像视野有限,提出一种基于优化MSFE的脊柱图像自动拼接算法。设计出一种基于尺度因子变化的高斯卷积模板尺寸自适应调整以及双向配对办法;相似性度量采用城市距离;利用RANSAC算法去除错配,从而确定待拼接图像之间的变换参数,最后利用加权平均对图像融合。对实际取得的多幅脊柱图像拼接结果表明该算法具有很好的实时性和鲁棒性。     

细胞固定化催化生产精细化学品的研究进展Q

摘要：细胞固定化技术具有流程简单、生物相容、操作稳定等优点，可有效保证细胞活性，实现高效的细胞催化生产精细化学品。本文介绍了表面附着、凝胶包埋、聚电解质层层自组装膜等多细胞固定化方法，及其在二元醇、生物乙醇、乳酸、酯、多糖等精细化学品生产中的研究现状和进展，并分析讨论了各种方法存在的问题。同时，总结了近年来新发展的单细胞纳米涂层固定化方法的机理、趋势及应用于精细化学品生产的可能性。最后对细胞固定化催化生产精细化学品面临的技术挑战及研究方向做出展望，以期为精细化学品生产提供一定的技术支持。     

等离子硅刻蚀及其工艺参数的多尺度优化

用CFD-ACE+和CFD-TOPO分别对容性耦合等离子体反应腔室放电和等离子硅刻蚀过程进行仿真,讨论不同射频电压和腔室条件对等离子体特性的影响.结果表明:随着射频电压的升高,离子的通量增大;在低射频电压时,离子通量随腔室压强的升高而减小,而在高射频电压时趋势则相反.用Kriging模型对影响刻蚀形貌的参数(腔室压强和射频电压)进行优化,结果表明该优化方法可以为工艺条件相近的刻蚀机设备的设计提供参考.     

不同分子量聚酯的羟值分析方法

用醋酐／高氯酸／乙酸乙酯法，醋酐吡啶回流法，分别对相对分子质量为１１００－１２０００的聚酯进行了羟值的测定，并用气压渗透法和析出物溶解重滴法进行了核对。结果表明醋酐／高氯酸／乙酸乙酯法对于Ｍ〈５０００的聚酯是适用的，而高分子量的聚酯则必须用醋酐／吡啶回流法，才能获得满意的结果。     

Synthesis and characterization of a new water-soluble endohedral metallofullerene for MRI contrast agents

Water-soluble amino acid derivatives of gadolinium (Gd) endohedral metallofullerenes (AAD-EMFs), Gd@C₈₂O_m(OH)_n(NHCH₂CH₂COOH)_l (m ≈ 6, n ≈ 16 and l ≈ 8) are synthesized by a direct reaction of the pure endohedral metallofullerene Gd@C₈₂ with an excess of alkaline solution of β-alanine. The structure of the AAD-EMFs is characterized by FTIR, XPS and laser-desorption time-of-flight (LD-TOF) mass spectrometries. Water proton relaxivity analysis indicates that the longitudinal relaxivity R₁ (the effect on 1/T₁, 9.1 mM⁻¹ s⁻¹) of AAD-EMFs is higher than that of the commercial MRI contrast agent, Magnevist (gadolinium-diethylenetriaminepentaacetic acid, Gd-DTPA, 5.6 mM⁻¹ s⁻¹). The MRI phantom studies are performed to confirm the high efficiency of this sample as MRI contrast agents.     

Morphologic study of electrochemically formed lead dioxide

Various electrochemical methods with different conditions were used to prepare lead dioxide (PbO₂). The observation revealed that the morphology of deposited PbO₂ could be controlled by simply changing deposition parameters. Under the condition of oxygen evolution, which dominates the electrode process, uniformly distributed high porous structured PbO₂ was formed. The results indicated that large current density or high potential polarization should be one of the most important and necessary factors for forming high surface area PbO₂ deposit. Only β-PbO₂ was identified by X-ray diffraction measurement for the deposit prepared by present methods and solution. One potential application of this method is to prepare nanoscaled PbO₂ parallel lines.     

油田废水电解杀菌研究

采用电解杀菌技术处理油田废水，研究了电解时间、电流强度、极板间距以及电极联结方式等因素对废水中硫酸盐还原菌杀灭效果的影响。结果表明，油田废水经3min电解杀菌，硫酸盐还原菌杀灭率高达99．90％。随着电解时间的增加，硫酸盐还原菌的杀菌率进一步提高；电流强度增加，硫酸盐还原菌的杀灭率升高。在电流强度保持不变的情况下，随着极板间距增加，极板之间电压升高，更有利于杀灭硫酸盐还原菌。在极板间电流强度相同的条件下，两种电极联结方式的杀菌率差别不大，杀菌率均在99．9％以上。     

Coupling-and-decoupling: A hierarchical model for occlusion-free object detection

Handling occlusion is a very challenging problem in object detection. This paper presents a method of learning a hierarchical model for X-to-X occlusion-free object detection (e.g., car-to-car and person-to-person occlusions in our experiments). The proposed method is motivated by an intuitive coupling-and-decoupling strategy. In the learning stage, the pair of occluding X?s (e.g., car pairs or person pairs) is represented directly and jointly by a hierarchical And–Or directed acyclic graph (AOG) which accounts for the statistically significant co-occurrence (i.e., coupling). The structure and the parameters of the AOG are learned using the latent structural SVM (LSSVM) framework. In detection, a dynamic programming (DP) algorithm is utilized to find the best parse trees for all sliding windows with detection scores being greater than the learned threshold. Then, the two single X?s are decoupled from the declared detections of X-to-X occluding pairs together with some non-maximum suppression (NMS) post-processing. In experiments, our method is tested on both a roadside-car dataset collected by ourselves (which will be released with this paper) and two public person datasets, the MPII-2Person dataset and the TUD-Crossing dataset. Our method is compared with state-of-the-art deformable part-based methods, and obtains comparable or better detection performance.