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.     

XML发布/订阅数据流系统基于共享的多查询连接算法

XML的发布/订阅系统中的XML多查询连接,涉及到多个XML文件之间关系的订阅的处理,包括了对XPath路径模式的评测,对XML文档之间的比较计算以及对系统时间进行管理等方面。基于共享的连接算法,通过适当的组织,使得多个订阅之间相同的变量连接计算结果得以被重复利用,较大程度地减少了开销很大的连接计算,从而较大地提高系统效率。实验结果表明,基于共享的算法取得了良好的实际效果,能适合于百万以上订阅的场合。     

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。     

化工设备故障诊断仿真模型设计及计算分析

通过化工设备的结构模型、功能模型建立仿真模型,在对仿真模型分析的基础上得到症状与故障之间的数量关系并进行分析计算,推断出潜在的故障模式,为设计化工设备故障诊断专家系统奠定基础。     

An SPH-based mass transfer model for simulating hydraulic characteristics and mass transfer process of dammed rivers

Engineering with Computers - Aerated flow characterized by complex mass transfer processes with multiple hydraulic properties is a common enviro-hydraulics phenomenon, which have a variety of...     

Enhanced semantic representation learning for implicit discourse relation classification

Applied Intelligence - Implicit discourse relation classification is one of the most challenging tasks in discourse parsing. Without connectives as linguistic clues, classifying discourse relations...     

Finite element implementation of a thermo-damage-viscoelastic constitutive model for hydroxyl-terminated polybutadiene composite propellant

A thermo-damage-viscoelastic model for hydroxyl-terminated polybutadiene (HTPB) composite propellant with consideration for the effect of temperature was implemented in ABAQUS. The damage evolution law of the model has the same form as the crack growth equation for viscoelastic materials, and only a single damage variable \(S\) is considered. The HTPB propellant was considered as an isotropic material, and the deviatoric and volumetric strain-stress relations are decoupled and described by the bulk and shear relaxation moduli, respectively. The stress update equations were expressed by the principal stresses \(\sigma_{ii}^{R}\) and the rotation tensor \(M\), the Jacobian matrix in the global coordinate system \(J_{ijkl}\) was obtained according to the fourth-order tensor transformation rules. Two models having complex stress states were used to verify the accuracy of the constitutive model. The test results showed good agreement with the strain responses of characteristic points measured by a contactless optical deformation test system, which illustrates that the thermo-damage-viscoelastic model perform well at describing the mechanical properties of an HTPB propellant.     

动态公路自动衡器动态示值误差测量的不确定度评定

结合工作实际,阐述了在长期检测工作中发现一些影响其计量准确性的因素,它对动态公路车辆自动衡器单轴称量示值误差不确定度的影响。