Adaptive robust posture control of a parallel manipulator driven by pneumatic muscles

Rather severe parametric uncertainties and uncertain nonlinearities exist in the dynamic modeling of a parallel manipulator driven by pneumatic muscles. Those uncertainties not only come from the time-varying friction forces and the static force modeling errors of pneumatic muscles but also from the inherent complex nonlinearities and unknown disturbances of the parallel manipulator. In this paper, a discontinuous projection-based adaptive robust control strategy is adopted to compensate for both the parametric uncertainties and uncertain nonlinearities of a three-pneumatic-muscles-driven parallel manipulator to achieve precise posture trajectory tracking control. The resulting controller effectively handles the effects of various parameter variations and the hard-to-model nonlinearities such as the friction forces of the pneumatic muscles. Simulation and experimental results are obtained to illustrate the effectiveness of the proposed adaptive robust controller.     

一种基于知识发现的拓展型竞争情报系统

目前,制约竞争情报发展的一个关键问题就是情报的收集与分析手段比较落后,远远不能胜任竞争情报系统所蕴含的特点和功效。本文将竞争情报作为一种特殊的知识,吸纳知识发现理论成果和方法,提升现有竞争情报系统的构造技术,真正做到快速、全面、准确和智能化的竞争情报生成和利用。     

考虑天然气混氢的园区综合能源系统电制氢优化配置

电制氢和天然气混氢技术在促进可再生能源消纳、降低系统碳排放量方面具有良好的理论研究和工程应用前景。面向含高比例可再生能源的园区综合能源系统,提出一种计及天然气混氢及跨季节存储的电制氢优化配置方法。首先梳理了含氢园区综合能源系统的运行框架和能量流动关系,建立园区内部能源生产、转换与存储设备的数学模型,其次以设备的年化投资成本、园区综合能源系统的年度运行成本和碳交易成本最优为目标,提出电制氢优化配置模型。最后通过算例分析表明电制氢及天然气混氢技术的引入可提升可再生能源的消纳能力,降低系统的整体经济成本和碳排放量,并分析了电解槽投资成本、混氢体积分数上限以及经济性和低碳性成本权重系数变化对规划运行结果的影响。关键词：园区综合能源系统;电制氢;天然气混氢;碳交易;跨季节储氢;优化配置 中图分类号：TM732     

车牌识别嵌入式系统的软硬件设计

作为交通信息服务系统的重要手段,车牌识别技术避免了人工操作存在的各种弊端。文中设计了车牌识别嵌入式系统的软硬件,该系统的整体框架主要包含3个模块,分别是OV7670摄像头、STM32单片机和TFT显示屏。为满足任务需求,设计了最小系统和电源模块等硬件;为解决传统投影法误差较大的问题,该系统在字符分割前会先对车牌区域进行识别,并采用上下投影的方式在有效区域内进行字符分割。实验表明,该系统可以实现车牌识别功能,且精确度较高。     

In Situ Polymerizing Internal Encapsulation Strategy Enables Stable Perovskite Solar Cells toward Lead Leakage Suppression

Despite the outstanding power conversion efficiency (PCE) of perovskite solar cells (PSCs) achieved over the years, unsatisfactory stability and lead toxicity remain obstacles that limit their competitiveness and large-scale practical deployment. In this study, in situ polymerizing internal encapsulation (IPIE) is developed as a holistic approach to overcome these challenges. The uniform polymer internal package layer constructed by thermally triggered cross-linkable monomers not only solidifies the ionic perovskite crystalline by strong electron-withdrawing/donating chemical sites, but also acts as a water penetration and ion migration barrier to prolong shelf life under harsh environments. The optimized MAPbI₃ and FAPbI₃ devices with IPIE treatment yield impressive efficiencies of 22.29% and 24.12%, respectively, accompanied by remarkably enhanced environmental and mechanical stabilities. In addition, toxic water-soluble lead leakage is minimized by the synergetic effect of the physical encapsulation wall and chemical chelation conferred by the IPIE. Hence, this strategy provides a feasible route for preparing efficient, stable, and eco-friendly PSCs.     

Low-rank tensor completion via combined Tucker and Tensor Train for color image recovery

Applied Intelligence - In recent years, low-rank tensor completion has been widely used in color image recovery. Tensor Train (TT), as a balanced tensor rank minimization method, has achieved good...     

数控机床操控器人机界面优化设计研究

目的控制器和显示器共同组成数控机床控制面板的整体界面,是机床接受与执行命令的交互平台。从人机交互角度,聚焦于控制器的界面布局进行优化设计。方法基于人机工程学理论的优化流程,采用现场访谈、现场观察等方法,将人机工程学的理论转化为具体考核指标。结论从人机工程学的研究角度出发,结合工业设计、用户体验设计学等内容,从功能区域分区、操纵器色彩设计等方面优化数控机床控制器的界面,提高系统整体效能及使用者满意度,为数控机床系统开发设计提供参考。     

发动机进气系统高通量富氧膜的研制

采用交联改性的方法对较低分子量的乙烯基硅橡胶进行了改性研究,制备了高通量的富氧膜,结合单因素实验法和Design-expert正交实验设计,考察了原料配比、交联反应时间、固化温度和固化时间等因素对富氧膜性能的影响,确定了最佳富氧性能膜的制备条件:原料配比4.3,反应时间2.15h,固化温度86.25℃,固化时间1.75h;获得了富氧浓度为28.68%,透气量为4696.33 barrer的富氧膜,该膜的富氧浓度与常规商品化膜相当,透气量为常规商品化膜的2~4倍,有应用于发动机富氧进气系统的前景。通过扫描电镜检测、机械性能检测等手段对复合膜进行了进一步表征。