Unlike a fully-actuated manipulator, the position-posture control of a planar underactuated manipulator (PUM) is more difficult, but the research on it is significant due to the wide practical applications. The existing control methods consider no external disturbance and are involved in the staged control idea, bringing the problems of nonsmooth control torque and time-consuming. A novel one-stage control approach is proposed in this paper for the position-posture control of a three-link PUM with the first free joint under the external disturbance. By analyzing the coupling relationship between its active joints and free joint, the position-posture control is transformed into the trajectory tracking control. Unlike the general trajectory planning, the trajectories of the active joints are planned to include several parameters. Meanwhile, the parameters are solved using a chaos particle swarm optimization algorithm to guarantee that all joint angles can reach to their desired angles. Then, to obtain the high trajectory tracking accuracy at every moment under the external disturbance, the nonlinear disturbance observer is constructed and a nonlinear fast terminal sliding mode tracking controller is designed. Finally, the feasibility and superiority of this strategy are verified via two simulations.
Discarded train brake shoes mainly consist of steel-backed friction material. To be better reutilized, its essential features and its interaction in cement-based material need to be studied. Consequently, particle size analysis, SEM, IR and TGA were used to investigate two types of waste brake shoes, i e, mechanical grinding friction reclaimed material of waste brake-shoe (G-FRMWBS) and pyrolysis-friction reclaimed materials of waste brake-shoe (P-FRMWBS). The latter exhibited less organic content, larger range of particle size distribution and smaller medium particle diameter. Both types contained inorganic particles of spherical and irregular shapes, striped with steel fiber. Upon isometric substituting fine aggregates, G-FRMWBS lifted the strength of mortar effectively that was increased by 16.6% and 17.5% when the replacing rate was 5%; the value went up to 19.2% and 19.2% when the replacing rate was 10%. Moreover, inclusion of FRMWBS enhanced the chloride penetration resistance, and optimized the pore characteristic and ITZ (interfacial transition zone) as well. 相似文献
In order to improve the oxidation resistance of Ti Al alloy, silicide coatings were prepared by pack cementation method at 1273, 1323, and 1373 K for 1-3 hours. Scanning electron microscopy(SEM), energy dispersive spectrometry(EDS) and X-ray diffraction(XRD) were employed to investigate the microstructures and phase constitutions of the coatings. The experimental results show that all silicon deposition coatings have multi-layer structure. The microstructure and composition of silicide coatings strongly depend on siliconizing temperatures. In order to investigate the rate controlling step of pack siliconizing on Ti Al alloy, coating growth kinetics was analyzed by measuring the mass gains per unit area of silicided samples as a function of time and temperature. The results showed that the rate controlling step was gas-phase diffusion step and the growth rate constant(k) ranged from 1.53 mg~2/(cm~4·h~2) to 2.3 mg~2/(cm~4·h~2). Activation energy(Q) for the process was calculated as 109 k J/mol, determined by Arrhenius' equation: k = k0 exp[–Q/(RT)]. 相似文献
Indium doped Zn O films were grown on quartz glass substrates by radio frequency magnetron sputtering from powder targets. Indium content in the targets varied from 1at% to 9at%. In doping on the structure, optical and electrical properties of Zn O thin films were studied. X-ray diffraction shows that all the films are hexagonal wurtzite with c-axis perpendicular to the substrates. There is a positive strain in the films and it increases with indium content. All the films show a high transmittance of 86% in the visible light region. Undoped Zn O thin film exhibits a high transmittance in the near infrared region. The transmittance of indium doped Zn O thin films decreases sharply in the near infrared region, and a cut-off wavelength can be found. The lowest resistivity of 4.3×10~(-4) Ω·cm and the highest carrier concentration of 1.86×10~(21) cm~(-3) can be obtained from Zn O thin films with an indium content of 5at% in the target. 相似文献
To measure miss distance for antiaircraft projectile,a radial velocity identification and positioning method with a single radar is proposed.By analyzing the spatial resolution of multi-frequency ranging radar,the discrimination and testing model of this radar for multi-targets (projectile and target) is established to analyze the systematic error of antiaircraft miss distance.Then through the aerial target flight test and contrast test with optical test equipment,the validity of the measurement method is verified.This new method has the potential to be used in the measurement of antiaircraft projectile miss distance. 相似文献
Gamma-aminobutyric acid (GABA) contributes substantially to neurocognitive function as an important inhibitory neurotransmitter in the human cerebral cortex. However, the pathophysiology of disorders such as epilepsy are not well understood, since GABA agonists are not quite effective in treating epilepsy. Knowledge of the mechanism of action of GABA would contribute to review previously proposed anti-epileptic processes by GABA agonists. In this study based on recent experiments on GABAergic astrocytes, we developed a modified GABAergic astrocyte model, and successfully simulated a long-lasting Ca2+ oscillation in astrocytes after 0.5-s stimulation of GABAergic transmission. We then incorporated this GABAergic astrocyte model into a classical Ullah-Schiff seizure model and surprisingly found that this GABAergic astrocyte model functions to hinder the anti-epileptic action of GABA agonists, thereby explaining their low efficiency in previous experiments. These results also update our knowledge of the mechanism of action of GABA and the effects of astrocytes on physiological and pathological functions of the brain. 相似文献