Stability and stabilization for discrete-time singular systems with infinite distributed delays and actuator failures

In this paper, a reliable H_?? controller is designed for discrete-time singular systems with infinite distributed delays. Firstly, a stability criterion is obtained based on linear matrix inequality (LMI). Then a controller is designed to ensure the singular time-delay system to be regular, causal and stable with disturbance attenuation level ?? for possible actuator failures. A numerical example is given to illustrate the validity of the proposed approach.     

跨越数据类型的重重陷阱

本文是《学习MISRA-C》系列连载讲座之二,共六讲。第一讲：“‘安全第一’的C语言编程规范”,简述MISRA-C的概况,第二讲：“跨越数据类型的重重陷阱”,介绍规范的数据定义和操作方式,重点在隐式数据类型转换中的问题。第三讲：“指针,结构体、联合体的安全规范”,解析如何安全而高效地应用指针、结构体和联合体。第四讲：“防范表达式的失控”．剖析MISRA—C中关于表达式、函教声明和定义等的不良使用习惯,最大限度地减小各类潜在错误。第五讲：“准确的程序流控制”。表述C语言中控制表达式和程序流控制的规范做法。第六讲;“构建安全的编译环境”,讲解与编译器相关的规范编写方式,避免来自编译器的隐患。[编者按]     

TLP－18型激光热导仪计算机辅助测试与管理系统的研究

本文介绍了实现ＴＬＰ－１８型激光热常数测试仪计算机辅助测试与管理系统的设计方案、开发方法以及系统的主要功能操作步骤，为开发动态数据的采集、实时处理系统以及其它类似的物性测试仪计算机辅助测试系统提供了实践经验．     

Dynamic characteristics and stability criterion of rotary galloping gait with an articulated passive spine joint

Based on the simplified planar quadruped model with a passive spine joint, this paper focuses on studying the effect of the spine joint on the dynamic performance and the stability of the rotary galloping gait. The stable, periodic, and symmetric rotary galloping gait is achieved by the particle swarm optimization method without any parameter symmetry for leg motion and without any limitation for spine motion. By analyzing the symmetric pattern of the rotary galloping gait, the stability criterion is derived: the closer to zero is the pitching angle at peak time of the center of mass, the better is the stability of the galloping gait. Then, we study the effect of rear leg touchdown angle and spine stiffness on the stability. Moreover, the unstable rotary galloping gait can be stabilized by adjusting one or more of the touchdown angle, spine stiffness, and leg stiffness. Furthermore, the effect of the spine stiffness on the key kinematic and kinetic properties is also studied for different initial values and mechanical parameters. The presented stability criterion and the achieved dynamic performance analysis results will be instructive for the design and control of the quadruped robot.     

移动数据库技术及其在军事领域的应用研究

首先介绍了移动数据库和移动计算的基本原理,接着讨论了该技术在军事领域应用时应解决的关键技术,给出了军事应用的硬件性能、信息实时性及数据安全性等技术要求,最后归纳了该技术在军事领域的典型应用,并指出了该领域的一些热点和难点问题。     

变电站不锈钢金属膨胀节泄漏原因分析

从化学成分、断口电镜扫描、X射线能谱和金相试验等方面,分析了沧州供电公司某变电站电流互感器不锈钢膨胀节泄漏的原因,认为泄漏是不锈钢膨胀节外表面点状电化学腐蚀所致,而该膨胀节表面状态的不连续性,周围潮湿的空气介质及空气介质中富含S、Cl等元素,是造成膨胀节外表面点状电化学腐蚀的主要原因。