Robustness of VS-MRAC with respect to unmodelled dynamics and external disturbances

A variable structure model reference adaptive controller (VS-MRAC) using only input and output measurements was recently proposed and shown to be globally asymptotically stable with superior transient behaviour and disturbance rejection properties. In this paper a singular perturbation approach is used in order to establish the robustness of the controller in the presence of unmodelled dynamics (parasitics) and disturbances. We develop a new Lyapunov-based technique to analyse the overall system and show that for sufficiently small parasitics the system remains stable and the output error is small in some sense.     

BYJ型防喷脱接器的设计与应用

本文介绍了BYJ型防喷脱接器的结构和工作原理。它既有抽油杆与大泵活塞脱接功能,又能实现不压井作业施工,是大型抽油泵理想的配套工具。现场应用表明,该防喷脱接器对接成功率较高,并实现了大泵井不压井施工。     

光纤模式噪声的研究

综述了光纤模式噪声的产生、计算，并介绍了减小它的一些方法。     

Steady-state torque control system with secondary-current feedback for three-phase squirrel-cage induction motors

This paper presents a highly stable steady-state torque control system with a feedback of a secondary current signal. The torque control system is constructed with a feedback of the secondary current (I₂) signal using a quick response magnetic-field sensor constructed with an amorphous core multivibrator bridge, which can solve the secondary resistance change problem for temperature variation in the IM. Moreover, we added a state feedback to the system to improve the response speed for the unit step function of a torque order. The I₂ sensor method has advantages especially at a low-speed range, in which conventional method using an integrator shows control errors.     

Robot Pose Estimation in Unknown Environments by Matching 2D Range Scans

A mobile robot exploring an unknown environment has no absolute frame of reference for its position, other than features it detects through its sensors. Using distinguishable landmarks is one possible approach, but it requires solving the object recognition problem. In particular, when the robot uses two-dimensional laser range scans for localization, it is difficult to accurately detect and localize landmarks in the environment (such as corners and occlusions) from the range scans.In this paper, we develop two new iterative algorithms to register a range scan to a previous scan so as to compute relative robot positions in an unknown environment, that avoid the above problems. The first algorithm is based on matching data points with tangent directions in two scans and minimizing a distance function in order to solve the displacement between the scans. The second algorithm establishes correspondences between points in the two scans and then solves the point-to-point least-squares problem to compute the relative pose of the two scans. Our methods work in curved environments and can handle partial occlusions by rejecting outliers.     

高强度烧结钢

为开拓粉末冶金材料新的应用领域，近年来对高强度烧结钢进行了大量的研究与开发。本文简要介绍Ｈｏｇａｎａｓ公司开发的一些高强粉末冶金材料及对一些高强度烧结材料尺寸变化的控制。     

强度型光纤传感器的信号检测系统

本文阐述了一种可提高强度型光纤传感器测量精度的检测系统。该系统利用同一检测电路交替检测信号、参考通道的输出信号，并将信号、参考两通道的检测结果相除，从而消除了因发光二极管光源波动及检测电路系统不稳定所带来的误差。采用同步相关技术抑制了噪声，提高了输出信噪比。实验证明，当时间常数ＲＣ为０．０５Ｓ时，采用该检测系统可获得优于千分之一的零点稳定性和优于２×１０３的输出信噪比。     

焦化防砂室内实验研究

油井防砂工艺技术的研究与发展对疏松砂岩油藏的正常开采至关重要.焦化防砂是通过向地层内注入热空气使原油在高温下发生氧化裂解生成焦炭从而将地层砂固结的一种防砂新技术.为了对该项技术进行全面系统的理论分析与评价,设计并制作了一套焦化防砂实验装置,利用该装置进行了焦化防砂室内实验研究.焦化效果以岩样的抗压强度进行评价,实验结果表明,影响焦化后岩样抗压强度的主要因素为空气最高温度、处理时间和空气流量.此外,对焦化处理后的岩样所作的岩样组成分析揭示出,稠油胶结机理为氧化作用使部分油分和胶质变成沥青质,沥青质受到高度的缩合作用而成为高分子量的甲苯不溶物.由于新生胶质的氧化比原生胶质的氧化困难得多,因此适合焦化防砂的油层,其原油必须含有一定量的原生胶质和沥青质.     

Design of a robust controller for a supersonic aircraft using H∞ approach

In this paper an H_∞ optimal, robust flight control system design for a supersonic aircraft has been described. Separate controllers are designed for longitudinal and lateral motions. A general two-degrees-of-freedom controller is proposed, where feedback control is designed for robust performance augmentation, while a series compensator is used to ensure that requisite handling qualities. Three alternative methods to achieve performance robustness have been discussed. The results obtained are very encouraging. It is hoped that this will equip the flight control engineers with an alternative to the conventional methods.     

几何造型的自由畸变方法

几何造型是计算机图形学的重要研究内容，ＣＡＤ／ＣＡＭ的核心技术，现行的许多造型系统仅限于造型二次曲面及旋转曲面，没有自由曲面造型能力，本文研究的自由畸变为法，很容易扩展这些系统的自由曲面造型功能，该方法已成功地用于扩展ＭＯＶＩＥ．ＢＹＵ系统的自由曲面造型功能。