Noncertainty equivalent adaptive control of robot manipulators without velocity measurements

This paper presents a noncertainty equivalent adaptive motion control scheme for robot manipulators in the absence of link velocity measurements. A new output feedback adaptation algorithm, based on the attractive manifold design approach, is developed. A proportional-integral adaptation is selected for the adaptive parameter estimator to strengthen the passivity of the system. In order to relieve velocity measurements, an observer is designed to estimate the velocities. The controller guarantees semiglobal asymptotic motion tracking and velocity estimation, as well as L_∞ and L₂ bounded parameter estimation error. The effectiveness of the proposed controller is verified by simulations for a two-link robot manipulator and a four-bar linkage. The results are further compared with the earlier certainty-equivalent adaptive partial and full state feedback controller to highlight potential closed-loop performance improvements.     

Nonlinear multiobjective model-predictive control scheme for wastewater treatment process

A nonlinear multiobjective model-predictive control (NMMPC) scheme, consisting of self-organizing radial basis function (SORBF) neural network prediction and multiobjective gradient optimization, is proposed for wastewater treatment process (WWTP) in this paper. The proposed NMMPC comprises a SORBF neural network identifier and a multiple objectives controller via the multi-gradient method (MGM). The SORBF neural network with concurrent structure and parameter learning is developed as a model identifier for approximating on-line the states of WWTP. Then, this NMMPC optimizes the multiple objectives under different operating functions, where all the objectives are minimized simultaneously. The solution of optimal control is based on the MGM which can shorten the solution time. Moreover, the stability and control performance of the closed-loop control system are well studied. Numerical simulations reveal that the proposed control strategy gives satisfactory tracking and disturbance rejection performance for WWTP. Experimental results show the efficacy of the proposed method.     

纳米二氧化硅的生产及应用现状

介绍了纳米SiO2的生产原理、结构和特性，并对2种生产原理做了比较；综述了目前纳米SiO2在建筑业、化工、医药、特种材料、航天航空业的特种制品、农作物种子处理等方面的应用现状。     

超声波消除泡沫的研究

研究了超声波消除泡沫的原理，通过实验得出消泡时间、起泡剂浓度与频率之间的关系，从而为工业应用提供了重要的工艺参数。     

烧碱蒸发过程自动化控制原理

详细介绍了烧碱蒸发自动控制模型尤其是浓度数学模型建立的原理和具体方法，并指出了在实际运行中应注意的问题，使出料质量分数能平稳地控制在30.0%-30.5%之间。根据现有的浓碱冷却流程，制定了科学合理的浓碱冷却和冷却系统冲洗控制方案。     

多传感器数据采集系统中的数据融合研究

针对多传感器数据采集系统的准确性与可靠性的要求,提出了单传感器分批估计融合与模糊理论中的相关性函数与加权自适应算法相结合的数据融合方法。首先,对每一只传感器进行分批估计融合,得到了较为可靠的局部决策值。然后,利用模糊理论中的相关性函数,计算出每只传感器与其它传感器的相关程度,并剔除掉那些相关程度较低的传感器的局部决策值。最后,在权的最优分配原则下,利用加权自适应算法对剩下的局部决策值进行数据融合。该方法能在数据先验知识未知的情况下,客观地反映各个传感器的可靠程度。数据分析结果表明:与同类融合方法相比,该方法具有更高的精度。     

Stresses of cohesionless granular flows in liquids

We construct constitutive relations for friction stress, slide stress and collision stress of cohesionless granular flows. We propose that the friction stress and slide stress could be neglected when τ_c/τ_e < 0.02, where τ_c represents the interval time experienced by a given particle between two consecutive binary collisions and τ_e the particle relaxation time. We applied these constitutive relations to a simulation of solid-liquid flow in an inclined chute and found the simulation results agree with experimental data.     

Fenton氧化法处理废水的机理及应用

阐述了Fenton试剂的氧化机理 ,分析了各项因素对氧化效果的影响。介绍了光 -Fenton法、电 -Fenton法及Fenton -混凝法在废水处理中应用情况以及存在的问题 ,并展望了其发展趋势。     

艾立许混捏机在炭阳极生产中的应用

在预焙阳极生产中，卧式连续混捏机曾经大量应用，使用效果良好。目前艾立许混捏机以其简化机械设计、降低维修及操作成本等许多独特的优点，在铝电解炭阳极生产中也得到大量应用。通过对原有卧式混捏机设备增加艾立许冷却系统，可以使两种设备得到最佳组合，可提高阳极质量，取得良好效益。