Theoretical Investigation of Time Suboptimal Control of Industrial Manipulators Along Specified Paths

A method for the time suboptimal control of an industrial manipulator from an initial position and orientation to a final position and orientation as it moves along a specified path is proposed. Nonlinear system equations that describe the manipulator motion are linearized at each time step along the path. A method which gives the control inputs (joint angular velocities) for time suboptimal control of the manipulator is developed. In the formulation, joint angular velocity and acceleration limitations are also taken into consideration. A six degree of freedom elbow type manipulator is used in numerical examples to verify the method developed.     

Evaluation of a proper controller performance for maximum-power point tracking of a stand-alone PV system

In this paper the implementation of a suggested stand-alone PV system, for maximum-power point tracking (MPPT), is carried out. Also, this paper presents a comparative study, through experimental work, between the conventional PI controller and the fuzzy logic controller (FLC) under different atmospheric conditions. The implemented system with both the PI controller and the FLC gives a good maximum-power operation of the PV array, but the tracking capability for different optimum operating points is better and faster for the case of using the FLC compared to the case of using the PI controller.     

Sexual orientation-related differences in prepulse inhibition of the human startle response.

Prepulse inhibition (PPI) refers to a reduction in the startle response to a strong sensory stimulus when this stimulus is preceded by a weaker stimulus--the prepulse. PPI reflects a nonlearned sensorimotor gating mechanism and also shows a robust gender difference, with women exhibiting lower PPI than men. The present study examined the eyeblink startle responses to acoustic stimuli of 59 healthy heterosexual and homosexual men and women. Homosexual women showed significantly masculinized PPI compared with heterosexual women, whereas no difference was observed in PPI between homosexual and heterosexual men. These data provide the first evidence for within-gender differences in basic sensorimotor gating mechanisms and implicate the known neural substrates of PPI in human sexual orientation. (PsycINFO Database Record (c) 2010 APA, all rights reserved)     

Absence makes the adaptations grow fonder: Proportion of time apart from partner, male sexual psychology, and sperm competition in humans (Homo sapiens).

Sperm competition occurs when the sperm of multiple males concurrently occupy the reproductive tract of a female and compete to fertilize an egg. We used a questionnaire to investigate psychological responses to the risk of sperm competition for 237 men in committed, sexual relationships. As predicted, a man who spends a greater (relative to a man who spends a lesser) proportion of time apart from his partner since the couple's last copulation reported (a) greater sexual interest in his partner, (b) greater distress in response to his partner's sexual rejection, and (c) greater sexual persistence in response to his partner's sexual rejection. All effects were independent of total time since the couple's last copulation and the man's relationship satisfaction. Discussion addresses limitations of the current research and situates the current results within the broader comparative literature on adaptation to sperm competition. (PsycINFO Database Record (c) 2010 APA, all rights reserved)     

Gold Medal Award for Life Achievement in the Application of Psychology: Edwin A. Fleishman.

The 2004 Gold Medal Award for Life Achievement in the Application of Psychology was awarded to Edwin A. Fleishman, for his significant contributions to the science and applications of psychology, which he has sustained over his remarkable career. He is cited for his research, which has had a profound influence on our understanding of human capabilities, their measurement, their development, and their application in the world of work. Through his many influential leadership roles, as president of the International Association of Applied Psychology and three divisions of the American Psychological Association, and as editor of the Journal of Applied Psychology, he has helped shape our profession. (PsycINFO Database Record (c) 2010 APA, all rights reserved)     

Robust图像跟踪：强度—特征混合式目标定位

在像平面上确定目标的位置(由它的瞄准点位置表示)是图像跟踪技术的核心.目前研究的目标是图像定位方法多偏重于单一的工作模式,因而难以适应变化较大的使用环境.本文提出一种旨在综合利用强度相关和特征匹配的混合式目标图像定位方法.假定当前帧图像已经过预处理并完成分割,首先通过一种自适应门限SSDA并辅之以投影排序搜索,尽可能快速地剔除与参考图差别较大的子区;再用一种简便可靠并可具一定记忆能力的特征匹配法,在保留的子区集内,为目标精确定位——宣布瞄准点位置.利用实际序列图像所作实验表明:上述方法较之通常采用的单一工作模式的定位方法,有明显增强的Robust性以及更广的适应性,而增加的计算代价不大.     

机械臂的动态混合控制

本文研究当机械臂的终端受有约束时的控制问题,其中心内容是给出“任务规范投影算子”的概念,利用它首先将机械臂的动态方程解耦为两组方程,它们分别描述了运动与约束力,在此基础上给出了机械臂的控制律,使闭环系统跟踪期望的速度与约束力。     

星间激光通信技术进展与趋势

较详细地评述了目前国外卫星间光通信技术研究的现状．根据关键单元技术的进展情况，总结了未来星间光通信系统的发展趋势。     

Characterisation of a 300× photovoltaic concentrator system with one-axis tracking

A solar concentrator with one-axis tracking is being developed at our institute. This concentrator system achieves a high geometrical concentration ratio of 300 using a parabolic trough mirror and a three-dimensional second stage consisting of compound parabolic concentrators. The design of the system as well as the characterisation of the second stage is described in this paper.     

技术·环境·文化

本文以建筑技术的创新,人居环境的改善,地域文化的传承为主题展开论述,提出了理性地把握新技术的应用,选择资源节约型的发展模式以及优秀文化应扎根本土等见解。