一种新的机器人手臂控制方法

从机器人手臂的关节电机力学出发，本文提出了一种独立于现行机器人关节控制器的离线补偿方法，通过对－２自由度机器人的数值研究，证明该法不仅能有效地克服由于惯性负载，关节间耦合与重力效应给控制系统带来的动态精度问题，而且还可以消除由于控制系统本身的固有特性所决定的系统的跟踪误差。     

Best L1 Piecewise Monotonic Data Modelling

Let us consider n data measurements of a univariate process that have been altered by random errors. We assume that an underlying model function has a substantially smaller number of turning points than the observed ones. We propose algorithms that make least the sum of the moduli of the errors by requiring k monotonic sections, alternately increasing and decreasing, in the sequence of the smoothed values. The main difficulty in this calculation is that the optimal positions of the joins of the monotonic sections have to be found automatically among so many combinations that it is impossible to test each one separately. Moreover, the calculation seems to be very intractable to general optimization techniques because O(n^k) local minima can occur. It is shown that dynamic programming can be used for separating the data into optimal disjoint sections of adjacent data, where each section requires a single L₁ monotonic calculation. This procedure is highly efficient, requiring at most O(kn²) computer operations and O(n) best L₁ monotonic calculations to subranges of data for a global minimum.     

聚醚酰亚胺热焓松弛的分子量依赖关系

采用ＤＳＣ对不同分子量的聚醚酰亚胺的等温及动态热焓松弛行为进行了研究，并以ＫＷＷ方程对实验数据进行了非线性拟合。结果表明，分子量对热焓松弛的影响是由高分子端基引起自由体积的差异所致。不同分子量的聚醚酰亚胺分子具有不同数量的端基，淬冷时端基数目的差异将产生不同数量的过剩自由体积，从而影响松弛热焓及松弛速率、低分子量的聚醚酰亚胺松弛相对较快，且起始热焓高，松弛的表观活化能亦较小。     

Practical method for generation expansion planning based on dynamic programming

This paper presents an efficient method which provides the optimal generation mix and the optimal generation construction process. The approximation method in which the dynamic programming technique and gradient method are combined is applied to determine the optimal generation mix with hydropower generation technologies. The successive approximations dynamic programming (SADP) technique, which is very suitable for high-dimensional multistage decision process problems, is used for obtaining the optimal generation construction process. The effectiveness and feasibility of the developed technique are demonstrated on a practical power system model which has five types of generation technologies including a hydropower generation technology.     

非串行生产线的建模,分析及设计

本文利用等效工作站理论和工件流平衡原理，推导出非串行离散事件生产线可以等价于串联系统，并归结为装配和拆卸两条定理，解决了系统的建模、分析与设计问题。     

Development and simulation studies of an unsteady state biofilter model for the treatment of cyclic air emissions of an α‐pinene gas stream

This paper describes the development and simulation of an unsteady state biofilter model used to predict dynamic behaviour of cyclically‐operated biofilters and compares it with experimental results obtained from three, parallel, bench‐scale biofilters treating both periodically fluctuating concentrations and constant concentrations of an α‐pinene‐laden gas stream. The dynamic model, using kinetic parameters estimated from the constant concentration biofilter, was able to predict the performance of cyclic biofilters operating at short cycle periods (ie, in the order of minutes and hours). Steady state kinetic data from a constant concentration biofilter can be used to predict unsteady state biofilter operation. At a 24 h cycle period, the dynamic model compared well with experimental results. For long cycle periods (ie, hours and days), removal efficiency decreased after periods of non‐loading: the longer the period of non‐loading, the poorer the biofilter's performance at the re‐commencement of pollutant loading. At longer time scales the model did not effectively predict transient behaviour, as adsorption and changes in kinetic parameters were not accounted for. Modelling results showed that similar biofiltration performance for the cyclic and constant concentration biofiltration of α‐pinene is expected for biofilters operating solely in the first order kinetics regime. Poorer performance for cyclic biofilters following Monod kinetics spanning the entire kinetics range is expected as the cycle amplitude increases. The most important parameters affecting the performance of a cyclically‐operated biofilter with short cycle periods are: amplitude of cyclic fluctuations, C_{g, max}/C_g, relative value of the half‐saturation constant in the Monod expression, K_s, and effective diffusivity of α‐pinene in the biofilm, D_e. Copyright © 2005 Society of Chemical Industry     

Displacement Discontinuity Method for Fracture Mechanics Analysis of Reissner Plates: Static and Dynamic

This paper is concerned with the displacement discontinuity method applied to the shear deformable plates (Reissner’s and Mindlin’s theories) with cracks subjected to static and dynamic loads. Fundamental solutions of dislocation are derived using the Fourier transform method and the Laplace transformation technique. Boundary integral equations are presented in terms of rotations/displacement on the crack surfaces. The Chebyshev polynomials of the second kind are used to evaluate the integral equations with hypersingular kernels on the crack boundaries and determine the stress intensity factors at the crack tips. Comparisons are made with other numerical solutions to demonstrate the proposed method is accurate both for static and dynamic problems.     

莱钢职业安全健康动态监控信息系统的建立及运行分析

以网络技术和信息技术为依托，建立职业安全健康动态监控信息系统，进行职业安全健康管理的监控和预警，提高安全管理的现代化水平。     

An accurate and practical buffer allocation model for the buffer cache based on marginal gains

A new dynamic buffer allocation strategy based on the notion of marginal gains is presented for the buffer cache that is used by the operating system to store frequently accessed disk blocks in main memory, and the performance of the proposed strategy is compared with those of previous allocation strategies. In the proposed strategy, marginal gain values are predicted by exploiting functions that approximate the expected number of buffer hits per unit time. Experimental results from both trace-driven simulation and an actual implementation in the FreeBSD operating system show that the proposed strategy accurately predicts the marginal gain values for various workloads resulting in significantly improved buffer hit ratios.     

Allocation of Scarce Water Resources Using Deficit Irrigation in Rotational Systems

On irrigation schemes with rotational irrigation systems in semiarid tropics, the existing rules for water allocation are based on applying a fixed depth of water with every irrigation irrespective of the crops, their growth stages, and soils on which these crops are grown. However, when water resources are scarce, it is necessary to allocate water optimally to different crops grown in the irrigation scheme taking account of different soils in the command area. Allocating water optimally may lead to applying less water to crops than is needed to obtain the maximum yield. In this paper, a three stage approach is proposed for allocating water from a reservoir optimally based on a deficit irrigation approach, using a simulation-optimization model. The allocation results with a deficit irrigation approach are compared for a single crop (wheat) in an irrigation scheme in India, first with full irrigation (irrigation to fill the root zone to field capacity) and second with the existing rule. The full irrigation with a small irrigation interval was equivalent to adequate irrigation (no stress to the crop). It is found that practicing deficit irrigation enables the irrigated area and the total crop production in the irrigation scheme used for the case study to be increased by about 30–45% and 20–40%, respectively, over the existing rule and by 50 and 45%, respectively, over the adequate irrigation. Allocation of resources also varied with soil types.