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31.
32.
Jing Yuan Yury Stepanenko 《International Journal of Adaptive Control and Signal Processing》1992,6(2):111-126
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. 相似文献
33.
A pilot-scale fluidised pellet bed (FPB) bioreactor, which combines chemical coagulation, biological degradation, particle pelletisation and separation in one unit, was applied for onsite wastewater treatment and reuse. As a result of rational use of inorganic coagulant and organic polymer and moderate mechanical agitation, spherical particles were generated in the upflow column and a well-fluidised bed was formed. With a continuous supply of dissolved oxygen through a recycling loop, an aerobic condition was kept in the bottom section of the FPB column. Under such conditions the pellets in the FPB column showed the following characteristics: (1) compact structure and high density; (2) rich in microorganisms; and (3) high MLSS and MLVSS concentrations. Therefore, the FPB bioreactor achieved more than 90% removal of SS, COD, BOD and TP from raw domestic wastewater within a total hydraulic retention time (HRT) of only about 30 minutes. It also showed nitrification and denitrification ability and the TN removal could be about 50% as the recycling ratio was increased to 1:1. The treated water quality is generally competitive with the secondary effluent from a conventional activated sludge process. With these advantages the FPB bioreactor is recommendable as a compact system for onsite wastewater treatment and reuse. 相似文献
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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。 相似文献
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压缩感知理论提供了一种新的数据获取和压缩思路,能有效地把计算负担从编码端转移到解码端.高光谱数据具备数据稀疏性、空间相关性和谱间相关性,结合这3类先验知识,提出了一种基于复合正则化的高光谱图像压缩感知投影与重构方法.该方法的编码端只需要一个简单的投影操作;在重构算法实现中,基于变量分裂的思想,把具备多个正则项的优化问题转化成多个简单的优化问题,并用迭代方式求解.实验结果表明,本文算法在高光谱图像重构上能获得更高的峰值信噪比和更好的重构效果.该方法具备极低的编码复杂度,适用于资源受限的机载和星载高光谱成像平台. 相似文献
38.
随着高校信息化建设的推进,特别是数字化校园的广泛应用,重要数据越来越多地集中存储于学校数据中心。如何保障数据的安全成为亟待解决的问题。数据备份是确保数据安全的重要措施,本文分析了数据备份面临的挑战及应对方法,介绍了数据本地、异地备份的常用方法,设计了一套实用的异地数据灾备体系,并对未来的技术发展进行了展望。 相似文献
39.
Chemical looping combustion (CLC) is a clean and efficient flame-free combustion technology,which combust the fuels by lattice oxygen from a solid oxygen carrier with inherent CO2 capture.The develop-ment of oxygen carriers with low cost and high redox performance is crucial to the whole efficiency of CLC process.As the solid by-product from the sulfuric acid production,pyrite cinder presented excellent redox performance as an oxygen carrier in CLC process.The main components in pyrite cinder are Fe2O3,CaSO4,Al2O3 and SiO2 in which Fe2O3 is the active component to provide lattice oxygen.In order to sys-tematic investigate the functions of supports (CaSO4,Al2O3 and SiO2) in pyrite cinder,three oxygen car-riers (Fe2O3-CaSO4,Fe2O3-Al2O3 and Fe2O3-SiO2) were prepared and evaluated in this study.The results showed that Fe2O3-CaSO4 displayed high redox activity and cycling stability in the multiple redox cycles.However,both Fe2O3-Al2O3 and Fe2O3-SiO2 experienced serious deactivation during redox reactions.It indicated that the inert Fe-Si solid solution (Fe2SiO4) was formed in the spent Fe2O3-SiO2 sample,which decreased the oxygen carrying capacity of this sample.The XPS results showed that the oxygen species on the surface of Fe2O3-CaSO4 could be fully recovered after the 20 redox cycles.It can be concluded that CaSO4 is the key to the high redox activity and cycling stability of pyrite cinder. 相似文献
40.
非线性滤波在射线图像降噪增强中的应用 总被引:1,自引:2,他引:1
射线数字成像是当前射线检测与诊断技术发展的方向,图像降噪增强是提高射线成像检测灵敏度和分辨力的关键。重点探讨以排序滤波为代表的非线性滤波图像降噪增强方法,对射线图像的处理表明,线性滤波在降噪的同时会引起较大的边级模糊,而排序滤波不仅降低噪声且能保持图像细节,提高图像质量效果明显。 相似文献