Neural network robust control of a 3-DOF hydraulic manipulator with asymptotic tracking

Multiaxial hydraulic manipulators are complicated systems with highly nonlinear dynamics and various modeling uncertainties, which hinders the development of high-performance controller. In this paper, a neural network feedforward with a robust integral of the sign of the error (RISE) feedback is proposed for high precise tracking control of hydraulic manipulator systems. The established nonlinear model takes three-axis dynamic coupling, hydraulic actuator dynamics, and nonlinear friction effects into consideration. A radial basis function neural network (RBFNN) is synthesized to approximate the uncertain system dynamics and external disturbance, which can greatly reduce the dependence on accurate system model. In addition, a continuous RISE feedback law is judiciously integrated to deal with the residual unknown dynamics. Since the major unknown dynamics can be estimated by the RBFNN and then compensated in the feedforward design, the high-gain feedback issue in RISE feedback control will be avoided. The proposed RISE-based neural network robust controller theoretically guarantees an excellent semi-global asymptotic stability. Comparative simulation is performed on a 3-DOF hydraulic manipulator, and the obtained results verify the effectiveness of the proposed controller.     

横风下高速列车系统动力学的平衡状态法

基于车辆-轨道耦合动力学和空气动力学提出了一种快速计算横风下高速列车系统动力学行为的平衡状态方法.首先,忽略轨道不平顺并利用流固耦合联合仿真方法计算横风下高速列车的平衡状态;然后,将平衡状态下的气动力加载到车辆-轨道耦合动力学模型并计算高速列车动力学响应.利用建立的平衡状态方法,研究了列车在速度为13.8 m/s的横风下以350 km/h速度运行时的流固耦合动力学行为.比较了平衡状态方法和联合仿真方法两种方法下列车姿态、安全性和舒适性指标的差异,计算结果差别在3.26%以内.研究结果表明:平衡状态方法计算横风下高速列车流固耦合的效率更高.     

磁悬浮飞轮储能系统机电耦合非线性动力学研究

针对磁悬浮飞轮储能系统的"磁悬浮飞轮-发电机"机电耦合非线性动力学特性进行研究.通过推导磁悬浮飞轮储能系统在偏心条件下的动能、势能、发电机系统的磁场能以及系统的耗散函数,由Lagrange-Maxwell方程建立磁悬浮飞轮系统和两相四极永磁发电机系统的机电耦合动力学方程.采用数值法对0.6MW磁悬浮飞轮储能系统进行了仿真分析,研究结果表明,系统机电耦合非线性方程存在稳定的与转速同频的基频和三倍频周期运动解,且基频振动幅值比三倍频振动幅值大.对于稳定的磁悬浮储能飞轮机电耦合系统,飞轮转速增大,或磁轴承系统刚度减小或阻尼增大,或磁场能(电枢反应磁场能或永磁励磁磁场能)减小,可使系统的非线性振动幅值减小.而增大磁轴承系统的刚度,或减小磁轴承系统的阻尼,或增大系统的磁场能有可能破坏机电耦合系统的稳定性,使飞轮失稳.     

某型直升机飞行性能仿真建模与验证

主要研究并建立直升机飞行性能仿真模型,在直升机动力学和运动学微分方程的基础上重点解算作用在直升机各部件上的气动力和力矩模型,建立旋翼和尾桨的气动仿真模型,对旋翼挥舞运动进行了分析研究,还考虑了平尾、垂尾、机身和重力的仿真模型。最后通过对各飞行性能指标及其验证原理方法的分析研究,验证了静态性能指标,应用标量指标法验证动态性能指标。     

A review of vision-based systems for soccer video analysis

This paper presents a survey of soccer video analysis systems for different applications: video summarization, provision of augmented information, high-level analysis. Computer vision techniques have been adapted to be applicable in the challenging soccer context. Different semantic levels of interpretation are required according to the complexity of the corresponding applications. For each application area we analyze the computer vision methodologies, their strengths and weaknesses and we investigate whether these approaches can be applied to extensive and real time soccer video analysis.     

Three dimensional numerical simulations of long-span bridge aerodynamics, using block-iterative coupling and DES

The design of long-span bridges often depends on wind tunnel testing of sectional or full aeroelastic models. Some progress has been made to find a computational alternative to replace these physical tests. In this paper, an innovative computational fluid dynamics (CFD) method is presented, where the fluid-structure interaction (FSI) is solved through a self-developed code combined with an ANSYS-CFX solver. Then an improved CFD method based on block-iterative coupling is also proposed. This method can be readily used for two dimensional (2D) and three dimensional (3D) structure modelling. Detached-Eddy simulation for 3D viscous turbulent incompressible flow is applied to the 3D numerical analysis of bridge deck sections. Firstly, 2D numerical simulations of a thin airfoil demonstrate the accuracy of the present CFD method. Secondly, numerical simulations of a U-shape beam with both 2D and 3D modelling are conducted. The comparisons of aerodynamic force coefficients thus obtained with wind tunnel test results well meet the prediction that 3D CFD simulations are more accurate than 2D CFD simulations. Thirdly, 2D and 3D CFD simulations are performed for two generic bridge deck sections to produce their aerodynamic force coefficients and flutter derivatives. The computed values agree well with the available computational and wind tunnel test results. Once again, this demonstrates the accuracy of the proposed 3D CFD simulations. Finally, the 3D based wake flow vision is captured, which shows another advantage of 3D CFD simulations. All the simulation results demonstrate that the proposed 3D CFD method has good accuracy and significant benefits for aerodynamic analysis and computational FSI studies of long-span bridges and other slender structures.     

A second-order analytic solution for oscillatory wind-induced flow in an idealized shallow lake

We present a second-order analytic solution to the nonlinear depth-integrated shallow water equations for free-surface oscillatory wind-driven flow in an idealized lake. Expressing the solution as an asymptotic expansion in the dimensionless wave amplitude (ζ/h), which is considered to be a small parameter, enables simplification of the governing equations and permits the use of a perturbation approach to solve them.This analytic solution provides a benchmark for testing numerical models. In particular, the main merit of this solution is that it accounts for advective effects, which are typically omitted from analytic solutions of two-dimensional free surface flow. In order to retain these effects in an analytic solution, we restrict our attention to forcing from a monochromatic wind stress, consider a constant depth rectangular lake, and simplify the governing equations by omitting the Coriolis and eddy viscosity terms and using a linearised friction factor. As such, the analytic solution is of limited use for considering real world problems. Due to the complexity of the analytic solution computer code for this solution is available online.Our solution is valid for cases where changes in the water surface level are small compared with the depth of the lake, and the advective terms in the momentum equations are small compared with acceleration terms. We examine the validity of these assumptions for three test cases, and compare the second-order analytic solution to numerical results to verify an existing hydrodynamic model.     

ZSM5-Y型分子筛催化剂复配体系裂化性能数值研究

采用流动和反应耦合模型模拟ZSM5-Y复配催化剂体系在提升管反应器内的催化裂化过程。结果表明,重油催化裂化反应主要发生在喷嘴附近,该处有45%的重油转化为汽油和柴油。对于ZSM5-Y型复配催化剂体系,ZSM5加入沸石催化剂的显然影响着汽油和液化气的产率,反应产物中柴油馏分及重油馏分的产率基本上不受影响。加入少量择形催化剂便大大降低提升管反应器汽油馏分收率,并提高液化气收率,但汽油与液化气产率显著变化仅发生在择形催化剂加量较小的时候,一旦超过10%以后,对气油和液化气的产率影响反而较小。     

Boundaries and roles: Positioning and social location in the Virtual Math Teams (VMT) online community

As research in Computer-Supported Collaborative Learning (CSCL) expands its understanding of joint knowledge building, new perspectives on how social reality is constructed become necessary. Our research concentrates on the longitudinal or diachronic trajectories of Virtual Math Teams (VMT) at The Math Forum, an online community supporting mathematical inquiry. We investigate how these virtual teams constitute themselves while engaged in building collaborative knowledge. We describe as well, through the lens of positioning theory, the interactional activities that allow participants to situate themselves, others, and their collective knowledge resources over time. Our analysis suggests that positioning work is central to constructing a sustained problem space and illustrates how the configurations of positions and resources that co-participants put forward through interaction might change across a team’s trajectory. These changes constitute and are sensitive to the participants’ evolving reasoning routines and other forms of joint participation uniquely related knowledge building. In addition, we show that the VMT activity system affords participants a level of disciplinary engagement which is partly illustrated by active engagement in positioning work. Finally, we suggest that an interactional approach to roles and participation provides a fruitful framework for researchers, designers, and practitioners interested in understanding and creating engaging CSCL interactions.