Robust adaptive control of robotic manipulators without the regressor matrix

A new adaptive controller is presented here for rigid-body robotic manipulators. It is stable and robust with respect to a class of external disturbances. The robustness of the adaptive controller is established without the ‘slow-varying’ assumption and the computationally demanding regressor matrix. The control law consists of a non-adaptive PD control part and an adaptive control part. It uses two adaptive matrices to compensate two uniformly bounded coefficient matrices derived from the original dynamics. A α σ|q?|-modified adaptive law is designed to adjust the adaptive matrices. A Lyapunov-type stability analysis indicates that the closed-loop system is uniformly ultimately bounded. The tracking error and compensation error will eventually converge into a closed region, which can be made arbitrarily small by adjusting the controller parameters. Simulation results are included to demonstrate the performance of the proposed controller.     

球形容器自增强最优化设计

本文以弹性失效准则及强度理论为基础，按Ｔｒｅｓｃａ屈服条件，给出了球形容器自增强处理的最优化设计方法，同时符合：ｍａｘ、ｍｉｎＫ和ｍｉｎ（σｅｑ）ｍａｘ３个优化目标，并满足（σｅｑ）ｍａｘ≤ ［σ］和（ σθ＇－σｒ＇）ｒ＝Ｒｉ＞－σｓ两个约束条件。该优化设计方法可达用于工程设计。     

温度,压力对漂移室气体增益的影响

研究了温度及气体压力对漂移室（工作于正比区）气体放大倍数的影响，温度和气体压力的变化范围分别是５￣４０℃及９０￣１０５ｋＰａ。用实验数据拟合得到了函数关系并测量了几种饱和度下函数中的参数值。     

RADIOACTIVE OR NATURAL TRACER。TECHNIQUES FOR LEAK DETERMINING OF DAM ABUTMENT

Infiltration and localization of preferential infiltration zones at the dam abutment are measured using radioactive tracer tests of flow in boreholes,meanwhile interconnection between boreholes and the energing water points is analysed.The theory and practice of radioactive tracer synthetic detective method are described to give methods and calculation formulae used under the condition of stable flow in single well to measure permeability coefficient and hydrostatic heads.Major single hole techniques including measurement for seepage line,velocity,rate of seepage flow and relationship of recharge of groundwater in aquifers are introduced briefly.The possibilities offered by natureal tracers are analysed,uincluding electric-conduct,pH-value and temperature of water as well as stable isotopes(D,^18O) and tritium.Furthermore,the sensibilities of this theory and methods were confirmed by detecting seepage flow field of Xinanjiang Dam.     

A conditional classification recurrent RBM for improved series mid-term forecasting

In the context of human-robot and robot-robot interactions, the better cooperation can be achieved by predicting the other party’s subsequent actions based on the current action of the other party. The time duration for adjustment is not sufficient provided by short term forecasting models to robots. A longer duration can by achieved by mid-term forecasting. But the mid-term forecasting models introduce the previous errors into the follow-up forecasting and amplified gradually, eventually invalidating the forecasting. A new mid-term forecasting with error suppression based on restricted Boltzmann machine(RBM) is proposed in this paper. The proposed model can suppress the error amplification by replacing the previous inputs with their features, which are retrieved by a deep belief network(DBN). Furthermore, a new mechanism is proposed to decide whether the forecasting result is accepted or not. The model is evaluated with several datasets. The reported experiments demonstrate the superior performance of the proposed model compared to the state-of-the-art approaches.

     

Intrinsically patterned electrical systems: physical requirements and experimental demonstration

Microsystem Technologies - This paper introduces a method of replicating electrical circuits through a series of specific requirements as part of a design methodology referred to as Intrinsically...     

Scaling effects on flow hydrodynamics of confined microdroplets induced by Rayleigh surface acoustic wave

This paper reports an experimental and numerical investigation on the scaling effects in the flow hydrodynamics for confined microdroplets induced by a surface acoustic wave (SAW). The characteristic parameters of the flow hydrodynamics were studied as a function of the separation height, H, between the LiNbO₃ substrate and a top glass plate, for various droplets volumes and radio-frequency powers. The ratio of the gap height to attenuation length of the SAW, H/l _SAW, is shown to be an important parameter affecting the streaming flow induced in this confined regime. The reported numerical and experimental results are in good agreement over the range examined in this study and demonstrate that, at a lower gap heights of H?≤?100?μm, a significant decrease in streaming velocity or Reynolds number is induced, with the velocity approaching zero when the gap height is decreased to ~50?μm. An increase in the gap height results in an increased streaming velocity; however, if the gap height exceeds 70?% of the SAW attenuation length, any further increase in the gap height induces a drop in the streaming velocity.     

A step towards unification of syntactic and statistical pattern recognition

The problem of pattern recognition is discussed in terms of single-entity representation versus multiple-entity representation. A combined syntactic-semantic approach based on attributed grammars is suggested. Syntax-semantics tradeoff in pattern representation is demonstrated. This approach is intended to be an initial step toward unification of syntactic and statistical approaches to pattern recognition.     

在Fe-Al-C系统中合成优质Ⅱa型宝石级金刚石单晶

和优质Ib型宝石级金刚石单晶生长相比，作为当今高温高压晶体生长的一种高精尖技术，优质1／a型宝石级金刚石单晶对合成技术提出了更高更苛刻的要求：枢研究从晶体的生长速度出发，发现一开始阶段（大约几个小时）的晶体生长速度对优质宝石级金刚石单晶的后期生长争关重要。埘Fe-Al-C系统（Al含量不大于2．5wt％）来说，采用多品种法将晶体开始阶段的晶体生长速度由1．5mg／h降至0．5mg／h后，对生长过程中金属包裹体的进入有了明显的抑制作用，晶体的质量有了很大提高。从晶体中包裹体的存任形式来看，为了获得优质Ⅱa型宝石级金刚石单晶，在触媒中人为地添加除氮剂给晶体生长过程中的排杂过程带来了很大的难度：为了更好的实现排杂，必须很好的处理晶体表面的径向平铺生长速度和晶体轴向的堆积生长速度之间的火系。