Robust adaptive control of robotic manipulators without the regressor matrix

A new adaptive controller is presented here for rigid-body robotic manipulators. It is stable and robust with respect to a class of external disturbances. The robustness of the adaptive controller is established without the ‘slow-varying’ assumption and the computationally demanding regressor matrix. The control law consists of a non-adaptive PD control part and an adaptive control part. It uses two adaptive matrices to compensate two uniformly bounded coefficient matrices derived from the original dynamics. A α σ|q?|-modified adaptive law is designed to adjust the adaptive matrices. A Lyapunov-type stability analysis indicates that the closed-loop system is uniformly ultimately bounded. The tracking error and compensation error will eventually converge into a closed region, which can be made arbitrarily small by adjusting the controller parameters. Simulation results are included to demonstrate the performance of the proposed controller.     

Fluidised pellet bed bioreactor: a promising technology for onsite wastewater treatment and reuse.

A pilot-scale fluidised pellet bed (FPB) bioreactor, which combines chemical coagulation, biological degradation, particle pelletisation and separation in one unit, was applied for onsite wastewater treatment and reuse. As a result of rational use of inorganic coagulant and organic polymer and moderate mechanical agitation, spherical particles were generated in the upflow column and a well-fluidised bed was formed. With a continuous supply of dissolved oxygen through a recycling loop, an aerobic condition was kept in the bottom section of the FPB column. Under such conditions the pellets in the FPB column showed the following characteristics: (1) compact structure and high density; (2) rich in microorganisms; and (3) high MLSS and MLVSS concentrations. Therefore, the FPB bioreactor achieved more than 90% removal of SS, COD, BOD and TP from raw domestic wastewater within a total hydraulic retention time (HRT) of only about 30 minutes. It also showed nitrification and denitrification ability and the TN removal could be about 50% as the recycling ratio was increased to 1:1. The treated water quality is generally competitive with the secondary effluent from a conventional activated sludge process. With these advantages the FPB bioreactor is recommendable as a compact system for onsite wastewater treatment and reuse.     

Facile synthesis of nitrogen and oxygen co-doped hierarchical porous carbon materials for high performance super capacitors

Journal of Porous Materials - Nitrogen and oxygen co-doped hierarchical porous carbons (NOPCs) is prepared by the pyrolysis of polyethylene glycol-200 (PEG) and triazine carbon forming agent (CFA)...     

Effect of supports on the redox performance of pyrite cinder in chemical looping combustion

Chemical looping combustion (CLC) is a clean and efficient flame-free combustion technology,which combust the fuels by lattice oxygen from a solid oxygen carrier with inherent CO2 capture.The develop-ment of oxygen carriers with low cost and high redox performance is crucial to the whole efficiency of CLC process.As the solid by-product from the sulfuric acid production,pyrite cinder presented excellent redox performance as an oxygen carrier in CLC process.The main components in pyrite cinder are Fe2O3,CaSO4,Al2O3 and SiO2 in which Fe2O3 is the active component to provide lattice oxygen.In order to sys-tematic investigate the functions of supports (CaSO4,Al2O3 and SiO2) in pyrite cinder,three oxygen car-riers (Fe2O3-CaSO4,Fe2O3-Al2O3 and Fe2O3-SiO2) were prepared and evaluated in this study.The results showed that Fe2O3-CaSO4 displayed high redox activity and cycling stability in the multiple redox cycles.However,both Fe2O3-Al2O3 and Fe2O3-SiO2 experienced serious deactivation during redox reactions.It indicated that the inert Fe-Si solid solution (Fe2SiO4) was formed in the spent Fe2O3-SiO2 sample,which decreased the oxygen carrying capacity of this sample.The XPS results showed that the oxygen species on the surface of Fe2O3-CaSO4 could be fully recovered after the 20 redox cycles.It can be concluded that CaSO4 is the key to the high redox activity and cycling stability of pyrite cinder.     

无芯胶管的研制、工艺现状和发展建议

20世纪60年代初,我国胶管领域自主开发创新研制了无芯胶管制造技术,并且形成定型技术,一直沿用至今,笔者参与、见证了该产品从试验到投产的全过程。本文对该产品的工艺进行了新旧对比,提出了今后发展的建议。     

细胞激动素Kinetin合成的改进

介绍了用糠胺与腺嘌呤在催化条件下反应合成细胞激动素kinetin,该法原料易得,反应条件温和,产品收率及纯度都较高。     

Reciprocating flow ion exchange part II: Application to saline water softening

The “hardness” components in sea water can be considerably reduced by means of a new economical fixed bed technique called “Reciprocating Flow Ion Exchange”, when used in conjunction with a closed cycle exchanger-evaporator system. Removal of 87.9% of the calcium and 54.5% of the magnesium in sea water has been obtained with an overall flow rate of 5.0 U. S. g. p. m./sq. ft. Results from bench scale and a 5,000 g. p. d. pilot plant were identical. The virtually continuous cyclic steady-state process requires a small amount of exchanger (0.5 to 2% of the usual ion exchange methods, such as conventional fixed beds or fluidized beds). The effects of variation in operating parameters are discussed.     

气化炉复合炉衬的传热计算

新型 (多喷嘴对置 )水煤浆气化炉拟采用水冷管和耐火浇铸料组成的复合炉衬结构 .炉内的高温高压对复合炉衬的高温侵蚀十分严重 ,是影响其寿命的重要因素 ,因此合理设计气化炉复合炉衬的结构对充分发挥其材质的作用具有十分重要的意义 .建立了气化炉复合炉衬的传热计算的数学模型 ,同时编制了模型求解的计算程序 ,并用某工艺条件对复合炉衬的温度分布进行了计算 .结果表明 ,该方法可有效计算出复合炉衬的温度分布情况 ,为复合炉衬的设计、运行和维护提供理论依据     

TiB2的SHS合成过程理论分析

在ＴｉＢ２陶瓷材料的自蔓延高温合成（简称ＳＨＳ）过程中，通过改变原料的起始温度，稀释剂的含量和原始颗粒的尺寸等都可以调节合成过程的绝热温度，产物中熔融相的含量，以及燃烧波蔓延的速度，人而最终影响合成产物的结构和性质。本文对上述各种关系进行了理论计算和分析，其结果对实际合成与制备过程将有着重要的指导作用。