Trajectory Control of Snake‐Like Robots in Natural Oscillation

A class of body movement patterns called natural oscillation has been revealed to mimic the gaits observed in many animals. In this paper, we introduce an additional higher level control loop that is capable of manipulating a robot's motion orientation. With such a new orientation turning functionality, a snake‐like robot is able to achieve trajectory tracking while maintaining its body in a natural oscillation gait. The effectiveness of the control design is illustrated by some case studies with various trajectories.     

Mean-square exponential stability of impulsive stochastic time-delay systems with delayed impulse effects

This paper is concerned with the mean-square exponential stability problem for a class of impulsive stochastic systems with delayed impulses. The delays exhibit in both continuous subsystem and discrete subsystem. By constructing piecewise time-varying Lyapunov functions and Razumikhin technique, sufficient conditions are derived which guarantee the mean-square exponential stability for impulsive stochastic delay system. It is shown that the obtained stability conditions depend both on the lower bound and the upper bound of impulsive intervals, and the stability of system is robust with regard to sufficiently small impulse input delays. Finally, two examples are proposed to verify the efficiency of the proposed results.     

陆水枢纽工程局在工程项目中的质量管理措施

介绍了陆水枢纽工程局进行质量管理的基本原则,总结了质量管理的主要措施及其效果.     

分数阶区间系统的鲁棒稳定性分析

由于实际的物理系统常会存在各种不确定结构,这些不确定结构给系统的稳定性分析带来了困难和一定的影响,因此对这类带有不确定结构的分数阶系统控制问题的研究,具有广泛的实际应用意义。本文主要针对带有区间不确定性的分数阶控制系统,分析了该系统的鲁棒稳定性问题,首先将区间矩阵用分式线性变换(LFT)表示,然后基于分析得出了此类系统鲁棒稳定的充分必要条件。并给出两个数值算例阐释该方法,仿真结果表明了该方法的有效性。     

基于Delphi的新老中国标准书号转换设计

介绍了国际标准书号的相关知识,分析了10位及13位中国标准书号的组成结构及其校验码的生成方法,并利用Delphi实现校验码生成及不同位数中国标准书号之间相互转换的程序。     

基于声表面波实现数字微流体的产生

数字微流体的产生是压电材料为基片的微流控芯片进行微流分析的前提,报道了在压电基片上应用声表面波技术产生数字微流体的方法.在128°旋转Y切割X传播方向的LiNbO3基片上集成PDMS微通道,在微通道出口一侧为经疏水处理的铝薄片,注射泵产生恒定流量的微流体经PDMS微通道到达铝薄片并聚集,当聚集的微流体体积足够大时,微流体克服表面张力作用下滑到达压电基片,并在中心频率为27.7 MHz叉指换能器激发的声表面波作用下输运,实现微流体的数字化.同时,理论分析了微流体在铝薄片表面上受力状况,并以水为实验对象,进行微流体数字化实验.结果表明,声表面波作用下能精确产生微升量级数字微流体,为压电微流控芯片提供了一种新的微流体引入方法.     

CAD/CAE公共服务平台中资源共享智能型系统研究

在产业技术公共服务平台的影响和带动下,随着其用户规模不断扩大和信息技术的发展,越来越要求平台服务向智能化发展,有必要对其中之一的资源共享智能型系统建设进行探讨。     

阻抗匹配原理分析

分别对低频电路（包括纯电阻电路和电抗电路）和高频电路进行了较为详细的阻抗匹配原理分析,得出了各自在不同条件下的阻抗匹配条件,为功率放大电路的设计提供了一定的参考依据。     

Study of diffusion mobilities of Nb and Zr in bcc Nb–Zr alloys

On the basis of the available thermodynamic parameters, the atomic mobilities of Nb and Zr in bcc Nb–Zr alloys are critically assessed as functions of temperatures and compositions by the CALPHAD method, where self-diffusion coefficients, impurity diffusion coefficients, tracer diffusion coefficients, interdiffusion coefficients and concentration curves are simultaneously optimized. Comparisons between the calculated and experimentally measured diffusion coefficients are made, where good agreement is evident. In addition, the obtained mobility parameters can reproduce a reasonable concentration profile for the Nb/Zr diffusion couple annealed at 1868 K for 5400 s.