Adaptive recurrent neural network control of uncertain constrained nonholonomic mobile manipulators

In this article, motion/force control problem of a class of constrained mobile manipulators with unknown dynamics is considered. The system is subject to both holonomic and nonholonomic constraints. An adaptive recurrent neural network controller is proposed to deal with the unmodelled system dynamics. The proposed control strategy guarantees that the system motion asymptotically converges to the desired manifold while the constraint force remains bounded. In addition, an adaptive method is proposed to identify the contact surface. Simulation studies are carried out to verify the validation of the proposed approach.     

Design and evaluation of a high throughput QoS-aware and congestion-aware router architecture for Network-on-Chip

This paper proposes a novel QoS-aware and congestion-aware Network-on-Chip architecture that not only enables quality-oriented network transmission and maintains a feasible implementation cost but also well balance traffic load inside the network to enhance overall throughput. By differentiating application traffic into different service classes, bandwidth allocation is managed accordingly to fulfill QoS requirements. Incorporating with congestion control scheme which consists of dynamic arbitration and adaptive routing path selection, high priority traffic is directed to less congested areas and is given preference to available resources. Simulation results show that average latency of high priority and overall traffic is improved dramatically for various traffic patterns. Cost evaluation results also show that the proposed router architecture requires negligible cost overhead but provides better performance for both advanced mesh NoC platforms.     

ZAG100－1000／35型全自动压滤机的研制与应用

介绍了ＺＡＧ１００－１０００／３５型全自动压滤机的研制与应用情况．表明机组主机结构、生产能力、自控水平均比引进产品有所提高，整机性能良好。     

Detecting changes of the Yellow River Estuary via SAR images based on a local fit-search model and kernel-induced graph cuts

The Yellow River Estuary area of China is under great pressure from both human intervention and natural processes. For analysis of the changes in this area, this article presents a novel change-detection method based on a local fit-search model and kernel-induced graph cuts in multitemporal synthetic aperture radar images. Change detection involves assigning a label to every pixel. This task is naturally formulated in terms of energy minimization, which can be effectively solved by graph cuts. The difference image is transformed implicitly by a kernel function so that an alternative to complex modelling of the original data makes the piecewise constant model become applicable for graph cuts formulation. An issue is that graph cuts are sensitive to the initial estimate. The local fit-search model is proposed to approximate to the local histogram while selecting an optimal threshold for the initial labelling, which leads to an effective constraint for graph cuts and computational benefits as well. Visual and quantitative analyses obtained on the Yellow River Estuary data set confirm the effectiveness of the proposed method and that it outperforms the other state-of-the-art methods of change detection.     

Estimation bias of ocean current measured by along-track interferometric synthetic aperture radar and its compensation methods

In previous works on current measured by along-track interferometric synthetic aperture radar (ATISAR), the decorrelation function of an ocean-surface backscattering signal was usually assumed to be a real Gaussian function, i.e. the phase term was omitted. In this study, it is proved that the omission of the phase term included in the decorrelation function results in a significant estimation bias that can be modelled by a higher-order function of time lag and that the coefficients of this higher-order function can be expressed as a series of higher-order Doppler spectral moments. This model is validated by the scatterometer data obtained from an experimental wind-wave tank. The estimation bias especially needs to be considered for the ATISAR system with a long time lag. Simulation results show that if the time lag is equal to the coherence time, the estimation bias of the current can reach about 0.2 m s^?1, which is not insignificant in high-precision current-retrieving applications. However, because most real-life ATISAR systems, including TerraSAR-X, operate with time lags significantly shorter than the expected coherence time, the estimation biases in these systems are relatively small or even negligible. Finally, four possible compensation methods for the estimation bias are proposed and discussed.     

Prelaunch calibration and primary results from in-orbit calibration of the atmospheric correction microwave radiometer (ACMR) on the HY-2A satellite of China

The atmospheric correction microwave radiometer (ACMR) is one of the main payloads for correcting atmospheric path delay in the radar altimeter on the Haiyang-2A (HY-2A) satellite. The ACMR is a three-band microwave radiometer operating at 18.7, 23.8, and 37.0 GHz. Calibration of the ACMR is important for applying its measurements to correct for atmospheric effects on the HY-2A altimeter signal transmission in the air. Therefore, a detailed introduction to the principles and specifications of the ACMR system is given first. The thermal vacuum calibration method of the ACMR is discussed and analysed, and the microwave transfer functions and related coefficients are given, especially the nonlinear coefficients derived from a test for correcting nonlinear responses between the input of antenna temperature and the output of voltage at each channel of the ACMR. Furthermore, antenna pattern correction algorithms for removing the effects of side lobe and cross-polarization are derived and their coefficients are used for in-orbit data processing. Primary calibration results are given by comparing with the similar spaceborne Jason microwave radiometer (JMR) on the Jason-1 satellite and with the advanced microwave radiometer (AMR) on Jason-2. The results of this comparison show that the data from the ACMR match well to those from the JMR and AMR.     

Distinguishing the adoption of business intelligence systems from their implementation: the role of managers’ personality profiles

For decades, the marketing guidelines of enterprise software providers have focused on those managers who are likely to be more innovative in adopting new information systems. The current study argues that this approach demands improvements for two reasons: (1) this tactic may be biased, since past studies have only examined the single trait of innovativeness and its impact on an individual adoption intention and (2) the organisational implementation intention might be more important than the individual adoption intention, but the former has been largely ignored in the existing literature. Based on the case of business intelligence (BI) systems and data from 62 senior managers, this study is a pioneer in that it empirically reveals that managers’ individual adoption intention is distinct from their organisational implementation intention. Further, while managers’ innovativeness may be a significant determinant of their individual adoption intention towards BI systems, the issue of whether managers actually implement BI systems in their organisations is dominated by their involvement characteristics. Fruitful suggestions are proposed for practitioners and scholars.     

填充母料及其他常用塑料母料

塑料母料对推动塑料工业的迅猛发展起了很大作用，其主要特点是：可以简化生产工艺过程：原料混合方便，混炼质量均匀，提高生产效率及制品性能指标；减少粉尘飞扬及对设备的磨损；降低制品在换色时清洗螺杆的用料量；延长原料储存的保质期等。     

Phase Assemblages of Pr α-sialon Derived from SHS-ed Powders and TEM Study on the Nucleation of Pr α-sialon

The Pr α-sialon powders prepared by self-propagating high-temperature synthesis (SHS), consisting of 55 wt% Pr α-sialon and 45 wt% of β-sialon (abbreviated as α' and β'), were hot-pressed at 1800°C for 1 h. The results showed that Pr α' phase would transfer to β' with the appearance of JEM phase (Pr(Si_{6− z} Al _z )(N_{10− z} O _z )) after sintering, thus resulting in the increase of β' phase to 86 wt%. The addition of Y₂O₃ into SHS-ed Pr α' powders as the starting materials restrains the transformation of α' to β' and prevents the formation of JEM phase as well. The nucleation mechanism of Pr α' grain during hot-pressing was investigated in terms of transmission electron microscope and energy-dispersive spectrometer analysis. Two nucleation modes of Pr α' grains were found, i.e., nucleating on the undissolved Pr α' grains and on the nuclei of (Pr, Y) α' grains precipitated from liquid phase.     

射流流化床内流体力学行为的模拟研究

以流化床应用为代表的气固流动系统是许多化工过程中的重要组成部分 ,CFD( computational fluid dynamics)方法能够为其优化设计和放大提供所需要的信息 .本文采用双欧拉模型 ,与 Gidaspow等的实验结果进行了对比 ,模拟了二维射流流化床内气泡的形成规律 ,得到了带锥型分布器的流化床内瞬时空隙率和气固相速度分布等流体力学参数 .对锥型分布器流化床的实验结果表明 ,模拟得到的气泡的形状与实验现象相接近 .