高空作业平台臂架伸缩运动的横向振动特性

为了探究高空作业平台做伸缩运动时变幅平面内的横向振动动力学特性,针对臂架的实际搭接和支承情况,将臂架等效为根部铰接、中间弹性支承且带有集中参数的变截面变长度梁. 基于牛顿第二定律建立各臂段的运动微分方程,采用模态叠加法、结合边界条件求解臂架一系列时刻的瞬态振型函数,曲线拟合时变参数以近似表示梁的振型,并依据伽辽金截断方法,得到广义坐标下的状态空间方程. 在Matlab/Simulink环境下进行动态仿真,得到伸缩过程中臂架头部的变幅平面横向振动动态响应. 结果表明,就横向振动振幅而言,搭接简化会带来15.63%计算结果误差;支承简化会加大臂架整体刚度、减小臂架振动响应,不可取。     

高温混合障碍空间中的移动机器人路径规划

为了解决高温场景中移动机器人全局路径规划所面临的安全与效率问题,提出高温热源虚拟障碍的定义,建立混合障碍空间模型,将高温场景中的路径规划问题转化为高温混合障碍空间中考虑路径温度代价和长度代价的多目标优化问题. 改进NSGA-Ⅱ算法,通过选取优秀非可行解扩展种群,提高了种群多样性和进化效率,提出新的交叉和变异概率计算方法. 根据种群进化进程和个体代价函数值调整概率,实现了种群前期搜索能力和后期收敛性的平衡. 仿真所得的最优路径结果表明,该改进算法的路径长度代价虽然比原算法和其他改进算法略有增加,但温度代价大幅降低,更有效地避免了陷入局部最优.     

渠首水位实时调控模型——以船行灌区一支渠为例

很多大中型灌区在输配水过程中存在水位衔接不当的问题,加之田面高程存在起伏,使得灌溉时往往存在部分田面不能上水或受淹等问题。本文提出了空间灌溉率的概念,并利用GIS的三维分析功能研究了其与渠道渠首水位之间的关系。分析表明,空间灌溉率与渠首水位之间的关系符合Logistic曲线;针对船行灌区一支渠,得到该Logistic曲线的参数,并确定了一支渠渠首和干渠渠首不同空间灌溉率所需的水位,为灌区水位实时调控提供基础数据。     

State space model predictive fault-tolerant control for batch processes with partial actuator failure

This paper presents a state space model predictive fault-tolerant control scheme for batch processes with unknown disturbances and partial actuator faults. To develop the model predictive fault-tolerant control, the batch process is first treated into a non-minimal representation using state space transformation. The relevant concepts of the corresponding model predictive fault-tolerant control is thus introduced through state space formulation, where improved closed-loop control performance is achieved even with unknown disturbances and actuator faults, because, unlike traditional model predictive fault-tolerant control, the proposed control method can directly regulate the process output/input changes in the design. For performance comparison, a traditional model predictive fault-tolerant control is also designed. Application to injection velocity control shows that the proposed scheme achieve the design objective well with performance improvement.     

遥感器像移与图像参数的分析建模研究

卫星平台运动会产生恶化像质的像移,像移是影响遥感图像质量的重要因素.针对这种情况,建立了像移和图像参数的关系模型,可通过卫星生成图像的内在特征定量研究卫星成像过程中产生的像移,而不必通过产生像移的卫星平台等因素建立物理模型来研究像移.首先模拟了遥感器在轨成像过程,通过人工制造出影响因素的干扰获得了仿真图像数据,然后定量分析了像移与图像参数之间的相关性,选出了相关性较强且适合建模的图像参数,最后通过对这些图像参数构成的向量的降维得到了反映图像质量的综合参数,并建立了综合参数与像移的关系模型,以通过图像综合参数来计算像移.实验结果表明,这种模型能够很好地反映图像综合指标与像移之间的关系.该研究通过图像参数定量研究像移,为在轨运行卫星的遥感器像移与外景条件下的遥感图像要素的相关建模研究提供了部分技术支持.     

不同重力环境的空间机械臂自抗扰轨迹跟踪控制

针对空间机械臂在地面装调与空间应用时,由于重力环境变化导致机械臂模型发生变化的问题,提出了一种自抗扰控制算法,用于完成空间机械臂轨迹跟踪控制的任务.该算法通过将系统模型及未知外扰作为系统的总和扰动,并利用扩张状态观测器对该扰动进行观测且给予补偿,从而提高了系统抗扰的性能.当机械臂模型随重力环境变化而发生变化时,使用同一个自抗扰控制器对其末端轨迹进行控制,均能取得较好的控制效果.通过对系统的稳定性进行分析,证明了所设计控制器的有效性.将仿真结果与PD控制及自适应鲁棒控制做比较,结果表明该控制算法不仅能适应机械臂模型的变化而且还能有效抵抗系统的扰动,从而使系统具有较强的鲁棒性.     

Study on the polymerization of ϵ‐caprolactam in the interlamellar spaces of [TEACOOH]–montmorillonite intercalations complex and its characterization

The polymerization of ?‐caprolactam between the interlamellar spaces of the [TEACOOH]–montmorillonite intercalations complex was attempted using Na–montmorillonite and 10‐carboxy‐n‐decyltriethylammonium bromide to achieve [TEACOOH]–polycaprolactam–montmorillonite, in which montmorillonite (inorganic polymer) is chemically bonded with the polycaprolactam (organic polymer). The results of X‐ray and IR analysis for the samples obtained after polymerization showed that the polymerization reaction has been successfully accomplished. For the purpose of studying the polymeric reaction product more precisely, we have isolated the polymerized product from the silicate layers and analyzed it with X‐ray diffractometer and IR spectrometer. Comparison of the results of X‐ray and IR analysis between the isolated polymer and the polymer that was synthesized by the reaction of ?‐caprolactam only with the organic cation without montmorillonite showed that both obtained polymers are the same compounds. © 2003 Wiley Periodicals, Inc. J Appl Polym Sci 88: 1904–1910, 2003     

相空间重构在语音情感识别中的研究

为了更为全面地表征语音情感状态,弥补线性情感特征参数在刻画不同情感类型上的不足,将相空间重构理论引入语音情感识别中来,通过分析不同情感状态下的混沌特征,提取Kolmogorov熵和关联维作为新的情感特征参数,并结合传统语音特征使用支持向量机（SVM）进行语音情感识别。实验结果表明,通过引入混沌参数,与传统物理特征进行识别的方案相比,准确率有了一定的提高,为语音情感的识别提供了一个新的研究途径。     

Phosphorus availability from phosphate rock and sewage sludge as influenced by the addition of water soluble phosphate fertilizer

Phosphorus (P) inputs are required for sustainable agricultural production in most acid soils of the tropics and subtropics. Phosphate rocks (PR) and organic materials have been suggested as alternative P sources in these soils. Quantitative information on the P availability from sewage sludge (SL) is scanty. Methods to improve the effectiveness of PR such as partial acidulation and compaction with water-soluble P sources have been recommended. The objective of this greenhouse study was to evaluate the relative agronomic effectiveness (RAE) of Florida PR and sewage sludges (irradiated and non-irradiated) applied alone and in mixture with a water-soluble source (triple superphosphate, TSP) at two rates (50 and 150 mg P kg^–1 soil). The ³²P isotope dilution technique was utilised to determine the proportion of P in the plant taken up from the P fertilizer treatments. Wheat was grown on an acid loamy sand Dystric Eutrocrepts and harvested 6 weeks after planting. Results on total P uptake and the RAE of the P fertilizer sources tested indicated that the addition of 50 mg P kg^–1 soil as TSP was adequate in supplying P to the 6-week-old wheat plants as compared to PR and sewage sludge. Intermediate values were obtained for the mixtures. Similar responses were observed for the high P rate. For a given P rate, phosphorus uptake from PR and SL in presence of TSP was higher than P uptake from these sources alone, indicating an enhancement effect of TSP on the effectiveness of these non-readily available sources. With respect to P uptake from PR applied alone, the relative increases in P uptake from PR due to TSP influence were 52 and 67% for the low and high P rates, respectively. The relative increases in P uptake from SL due to TSP when compared to P uptake from SL alone were 102 and 59% for the low and high P rates of application. Application of a water-soluble P fertilizer together with a non-readily available P source shows an enhancement on the P uptake from the non-readily available P source by the wheat plants. In this experiment the estimated enhancement effects are very likely underestimated.