基于Pro／E参数化斜齿轮建模技术

应用Pro／E软件的参数化造型功能，不需要二次开发，直接创建渐开线斜齿圆柱齿轮模型，对直齿、人字齿齿轮的建模具有借鉴作用。     

Design of a slave arm of a surgical robot system to estimate the contact force at the tip of the employed instruments

Acquisition of the contact force at the instrument tip can enable better performance, e.g. transparency of the haptic feedback in the surgical robot systems. It is, however, difficult to measure the contact force directly due to technical limitations in attaching sensors to the tip of the instruments. This paper proposes a method to estimate the forces by installing the sensors away from the instrument tip. The proposed method employs specially designed mechanical parts of the slave robot, i.e. a slider cover plate for the z-axis translational force along the insertion direction, and docking clamps for the rotational pivot torques around the fulcrum point. Strain gauges are attached to specially designed places with enhancing shapes. The simulation results of the force estimation are presented to confirm the strain concentration area. The proposed method is validated with quantitative experimental results. Calibrated weights are determined upon the comparison of the strain value with a calibrated 6-axis force/torque sensor. The percentage error in the force calibration is about 5~8% calculated by the root mean square error (RMSE) of force-sensing performance. In addition, it can be computed by considering only the bending phase of each sensor although the hysteresis is observed from the calibration graph.     

A new calculation method of feedback controller gain for bilinear paper-making process with disturbance

This paper presents a new method to calculate the feedback control gain for a class of multivariable bilinear system, and also applied this method on the control of two sections of paper-making process with disturbance. The robust H∞ control problem is to design a state feedback controller such that the robust stability and a prescribed H∞ performance of the resulting closed-loop system are ensured. The controller turns out to be robust with respect to the disturbance in the plant. Utilizing the Schur complement and some variable transformations, the stability conditions of the multivariable bilinear systems are formulated in terms of Lyapunov function via the form of linear matrix inequality (LMI). The gain of controller will be calculated via LMI. Finally, the application examples of a headbox section and a dryer section of paper-making process are used to illustrate the applicability of the proposed method.     

复杂体制雷达辐射源信号特征的集对分析

为解决复杂体制雷达辐射源信号特征的评价问题,提出了基于集对分析理论的复杂体制雷达辐射源信号特征分析模型.首先对复杂体制雷达辐射源信号特征评价指标体系的指标权重作层次分析,再通过集对分析理论对复杂体制雷达辐射源信号特征评估的决策矩阵进行同一度分析,最后联合指标权重矩阵和决策同一度矩阵对复杂体制雷达辐射源信号特征进行综合评判.仿真结果表明,该模型是有效、可行的,能够更好地实现对复杂体制雷达辐射源信号特征的分析和评估.     

三次样条构造的伪逆解法

为了提高三次样条构造的可行性, 基于矩阵的伪逆方法, 提出一种不依赖额外约束条件的三次样条构造的伪逆解法。该解法通过求解出三次样条二阶导数的最小范数解, 从而较好地构造出三次样条函数。理论分析及数值实验结果表明该三次样条构造的伪逆解法具有简单、有效等特点。综合分析各种构造解法的性质, 对各种三次样条构造解法进行归类比较, 为在实际工程计算应用中选择合适的三次样条构造解法提供了指导方向。     

基于粗糙集的焦炉加热工序控制规则提取

应用粗糙集(RS)理论对焦炉直行温度的控制规则进行了提取。首先收集人工成功控制直行温度的原始样本,添加可控与不可控参数,得到初始决策表;指出模糊控制方法因输入参数过少,从而会导致不确定性决策;然后利用RS理论对初始决策表进行约简,发现了关键影响因素及潜在规律,最终得到两组仅含有三个参数,简洁、一致、完备的控制规则,并经实际运行检验了规则的适用性。     

一种基于点集拓扑分形变幻的云计算登录认证方法

考虑到云服务登录安全性及便捷性的需求,针对单点登录认证模式,提出云计算的统一登录认证方法,并采用点集拓扑分形变幻方法生成随机密钥,提高登录认证的安全等级。首先对云计算登录认证系统结构进行分析,然后以网络公共数据库中的指纹图像为例,进行分形变幻环运算,生成伪随机序列,再将这些序列加密并通过UDP发送给服务器端进行认证,最后进行实例仿真。     

印刷哈萨克斯拉夫粘连字符的切分方法

哈萨克斯拉夫图像文本经过行切分和列切分后,存在水平方向接触和垂直方向重叠的粘连字符。为提高字符识别率,依据字符连通域的最小外接矩形切分开垂直方向重叠的粘连字符图像块;利用判决条件:字符宽度概率密度分布图、字符图像块垂直投影的波峰数目和字符图像块垂直投影波峰的对称性,分离初始粘连字符图像块中正确的单个字符图像块和实际接触的粘连字符图像块;在允许的字符宽度范围内,寻找粘连字符图像垂直投影图的极小值点,以切分实际接触的粘连字符。实验结果表明,该方法泛化能力较好且识别率有明显提高。     

一种降压型开关电源芯片电路的研究与设计

设计了一款PWM控制模式降压式（buck）直流一直流转换器芯片。该芯片为电压反馈控制模式,内部补偿使得反馈控制有很好的线性和很快的负载响应而无需通过外部设计。芯片采用CMSC0．5μm BCD工艺实现。PSPICE仿真结果表明,输出电压只有大约50mY的纹波,静态电流为3mA左右。输出电压在低于0．5V时,芯片具有短路降频功能,工作频率由81KHz降到23KHz左右,输出负载由0．2A跳变到2A时具有很好的负载调整率,大约为0．2％,转换效率可以达到85％以上。     

磁悬浮系统的控制方法研究

对于电磁吸浮型磁浮列车,悬浮控制是其关键部分,由于该系统的非线性和不稳定性,需要通过主动控制使其稳定悬浮。建立了磁悬浮列车悬浮系统模型,针对模型的非线性问题,采用精确反馈线性化将悬浮系统的非线性模型线性化,然后用闭环增益成形算法设计出非线性鲁棒控制器。用MATLAB的Simulink对具有扰动的非线性模型进行仿真,仿真结果表明控制效果没有静差和超调,调节时间快。