Output chattering attenuation between two tracking controllers

In this paper, an output chattering attenuation scheme is proposed for two tracking controllers. The controllers have integral actions and are used to eliminate the steady-state tracking errors. By designing a compensator and reducing the discontinuous switching, the output chattering at the switching points can be attenuated significantly. Moreover, combining with the generalized Kalman-Yakubovich-Popov (KYP) lemma and the parameter-dependent Lyapunov function method, this problem can be characterized in terms of linear matrix inequality (LMI) formulation. Finally, the simulation results demonstrate the effectiveness of the proposed method.     

未知环境下机器人障碍物检测技术

未知环境下地面的不平坦性和机器人相对障碍物位姿的不确定性会造成障碍物特征提取困难,为了准确检测障碍物特征,采用3维相机获取机器人周围环境的灰度图像和距离信息。在此基础上,提出基于灰度信息和3维信息的"阈值法"进行障碍物区域的提取,并针对3维信息"阈值法"剔除的地面与障碍物过渡区域过多,以及机器人相对斜坡方位的不确定性引起的障碍物特征检测不准确,提出区域的恢复算法和表面法线坡度计算。实验结果表明,所提出的算法具有简单、有效、准确和鲁棒性强的优点。     

Ammonium Accumulation Caused by Reduced Tonoplast V-ATPase Activity in Arabidopsis thaliana

Plant vacuoles are unique compartments that play a critical role in plant growth and development. The vacuolar H⁺-ATPase (V-ATPase), together with the vacuolar H⁺-pyrophosphatase (V-PPase), generates the proton motive force that regulates multiple cell functions and impacts all aspects of plant life. We investigated the effect of V-ATPase activity in the vacuole on plant growth and development. We used an Arabidopsis thaliana (L.) Heynh. double mutant, vha-a2 vha-a3, which lacks two tonoplast-localized isoforms of the membrane-integral V-ATPase subunit VHA-a. The mutant is viable but exhibits impaired growth and leaf chlorosis. Nitrate assimilation led to excessive ammonium accumulation in the shoot and lower nitrogen uptake, which exacerbated growth retardation of vha-a2 vha-a3. Ion homeostasis was disturbed in plants with missing VHA-a2 and VHA-a3 genes, which might be related to limited growth. The reduced growth and excessive ammonium accumulation of the double mutant was alleviated by potassium supplementation. Our results demonstrate that plants lacking the two tonoplast-localized subunits of V-ATPase can be viable, although with defective growth caused by multiple factors, which can be alleviated by adding potassium. This study provided a new insight into the relationship between V-ATPase, growth, and ammonium accumulation, and revealed the role of potassium in mitigating ammonium toxicity.     

Crystallographic structure- and texture-dependent fracture behavior of polycrystalline lead zirconate titanate ceramics

Journal of Electroceramics - The effect of crystallographic structure and texture on the fracture behavior of lead zirconate titanate (PZT) ceramics was investigated. PZT ceramics with Zr/Ti ratio...     

接触疲劳过程中的诱发相变和冷作硬化SCIEI

研究了三种丝杠钢的接触疲劳性能。利用TEM和背散射Mossbauer谱研究了三种钢在接触疲劳前后的显微组织结构;测量了接触区中心线下显微硬度随层深的变化。结果表明:接触应力诱发A_R→M相变,并导致一定深度的冷作硬化。讨论了诱发相变和冷作硬化对接触疲劳性能的影响。     

圆柱体平板镦粗应力场的有限元分析

应用刚粘塑性有限元法对圆柱体在两平板间镦粗时的应力场进行了分析 ,给出了毛坯在不同初始高径比时的心部应力随压下量的变化曲线。由此得出 :在变形过程中 ,圆柱体心部存在两向拉应力 ;并且在墩粗过程中 ,当瞬时高径比约为 1 .0时 ,心部σθ、σr 由拉应力转变为压应力。     

基于文献计量学的水资源承载力研究进展综述

为分析水资源承载力研究发展状况与趋势,本研究以WOS核心合集和中国科学引文数据库文献作为原始数据,利用CiteSpace程序绘制知识图谱,梳理总结了学科知识基础、研究热点.研究结果揭示了水资源承载力领域的演变特征与发展趋势,有助于加深对该领域的整体认识,为我国水资源承载力领域开拓新的研究前沿提供理论参考和借鉴的意义.     

10 kV绝缘横担的轻量化设计及应用研究

为充分发挥绝缘横担轻质高强的特点,提高绝缘横担的使用寿命,满足腐蚀严重区域的使用需求,引进高强铝合金材料对10 kV绝缘横担进行轻量化设计及应用研究.从横担芯体、中间固定金具及配套附件三个方面对绝缘横担进行了轻量化的结构设计,采用有限元软件进行了详细的计算分析,为试制提供技术支撑.采用高强铝合金材料对方棒和T形绝缘横担的中间固定金具和配套抱箍进行了试制,并进行了抗弯、抗拉和抗扭测试,结果均满足要求.为了验证铝合金材料金具在绝缘横担中使用的稳定性,对方棒绝缘横担进行了热机循环试验,然后对两端金具进行抗拉试验,结果表现良好.经统计,高强铝合金材料在10 kV绝缘横担中的应用,大幅降低了整体质量(减轻近40％),可大大减少安装运输成本.     

电力系统测控装置中功率频域算法优化

无功功率根据定义的不同,有多种不同的算法,但适合测控装置的频域算法计算过程复杂,引入误差的环节也较多.对此提出一种优化的频域算法,以减少计算环节,简化频域算法.首先,分析了频域算法中某固定频次下,有功功率和无功功率的算法,分解了计算过程.然后,通过对频域算法计算过程的拆解及三角函数转换,得出了电压、电流的实部、虚部与功率间的关系,得到了频域算法的优化算法.最后,将优化频域算法放入测控装置中运行,从试验数据可看出优化后的频域算法明显地减少了运算环节,降低了运算量,运算时间较优化前减少了约一半,同时经优化后的频域算法计算得出的功率值也能满足测控装置行业标准5‰的精度要求.