Neural network impedance force control of robot manipulator

The performance of an impedance controller for robot force tracking is affected by the uncertainties in both the robot dynamic model and environment stiffness. The purpose of this paper is to improve the controller robustness by applying the neural network (NN) technique to compensate for the uncertainties in the robot model. NN control techniques are applied to two impedance control methods: torque-based and position-based impedance control, which are distinguished by the way of the impedance functions being implemented. A novel error signal is proposed for the NN training. In addition, a trajectory modification algorithm is developed to determine the reference trajectory when the environment stiffness is unknown. The robustness analysis of this algorithm to force sensor noise and inaccurate environment position measurement is also presented. The performances of the two NN impedance control schemes are compared by computer simulations. Simulation results based on a three-degrees-of-freedom robot show that highly robust position/force tracking can be achieved in the presence of large uncertainties and force sensor noise     

智能机理与软计算

随着计算机科学技术,特别是人工智能及其它相关学科的发展,关于人脑智能机理的研究引起越来越多的注意。与此同时、出现了关于软计算的研究.旨在研制出高机器智商系统(High Maehine Intelli-gene。Qt,,:sen:、产tom)[,〕。本文将初步探索智能机理与软计算两者间的关系以及把它们结合起来解决问题的可能性和途径。     

二氧化碳增油技术在孤岛油田的应用

介绍了二氧化碳增油机理和二氧化碳增油技术在孤岛油田的应用情况。现场应用表明 ,二氧化碳非混相驱油是封闭小断块油田的有效增产措施 ,二氧化碳酸化 (压裂 )助排能起到缩短排液时间 ,保护油气层的作用     

The zinc-rich corner of the Zn-Fe-Ni-Si quaternary system at 450 °C

Following up on recent studies of the Zn-rich corners of the Zn-Fe-Ni and Zn-Fe-Si ternary systems, a 450 °C isothermal section of the Zn-Fe-Ni-Si quaternary phase diagram with the Zn composition being fixed at 93 at.% was determined experimentally using optical microscopy, scanning electron microscopy (SEM) coupled with energy dispersive x-ray spectroscopy (EDS), and x-ray diffractometry (XRD). FeSi was found to be in equilibrium with almost all phases in the section, including the T, ζ, Ni-δ, NiSi₂, and FeSi₂ phases, as well as the liquid phase (L). Silicon solubilities in the T, ζ, and Ni-δ phases were rather limited. However, the solubilities of Fe and Zn in the NiSi₂ phase, at 4.5 at.% and 7.2 at.%, respectively, were appreciable. The existence of the (L+NiSi₂+Ni-δ) three-phase equilibrium state apparently prevents other Ni-Si compounds from entering equilibrium with the liquid at 450 °C. No true quaternary compound was found in the study.     

Trypsin Inhibitor Activity In Vitro Digestibility and Sensory Quality of Meat-Like Yuba Products as Affected by Processing

ABSTRACT: :
Soybeans ( Glycine max ) were soaked and ground to obtain soymilk. The soymilk was cooked in an open tank and held at 85 to 90 deg;C. Yuba films were picked up in 20 min intervals and dried for 20 min. Yuba films were soaked in chicken-flavor solutions (25% and 35%), and baking soda (BS) solutions (0%, 1%, 2%, and 3% BS), and cooked at 100 °C for 30 min, 60 min, and 90 min. TIA decreased (p < 0.05) with the increase of heating time and BS concentration. In vitro protein digestibility (IVPD) decreased with heating time and BS concentration (p < 0.05). Sensory characteristics were affected by flavor concentration. By using 0% BS, 25% of the chicken flavor concentration, and a short heating time method, meat-like products with low TIA, high IVPD, and good sensory characteristics were obtained.     

关于统计调查方法改革的探讨

统计调查是统计工作的最基本环节，统计工作的质量在很大程度上取决于统计调查的质量。我国原有的统计调查方法体系已不再适应社会主义市场经济的新形势。鉴于面临着改革的新问题，论述了统计调查方法体制改革的目标模式和原则，提出了科学合理的统计调查体系，使统计工作更发适应社会主义市场经济体制的需求。     

沸石加氢处理催化剂的制备方法

考察了渣油加氢处理催化剂制备过程中引入一种低硅铝比沸石的情况，它不仅提高催化剂的酸性，而且由于引入的分子筛孔径集中，最终使催化剂具有集中的孔分布，弥补了制备高活性催化剂采用混捏法的不足，制备出来的催化剂性能更优异。     

换热站容积式加热器管束失效原因及防护

对换热站容积式加热器管束失效原因进行了分析 ,指出主要是由于汽蚀和电化学腐蚀所致。从操作工艺和采用 12Cr2AlMoV材质两方面进行改进 ,可使管束的使用寿命由 4个月延长到 2年