Fuzzy PID control of space manipulator for both ground alignment and space applications

Considering gravity change from ground alignment to space applications, a fuzzy proportional-integral-differential (PID) control strategy is proposed to make the space manipulator track the desired trajectories in different gravity environments. The fuzzy PID controller is developed by combining the fuzzy approach with the PID control method, and the parameters of the PID controller can be adjusted on line based on the ability of the fuzzy controller. Simulations using the dynamic model of the space manipulator have shown the effectiveness of the algorithm in the trajectory tracking problem. Compared with the results of conventional PID control, the control performance of the fuzzy PID is more effective for manipulator trajectory control.     

浅谈汽车四轮定位检测与调整技术

四轮定位对汽车的正常行驶起着十分重要的作用。对汽车四轮定位参数进行检测和调整,不仅能确保汽车的正常行驶,还能延长轮胎的使用寿命,同时节省油耗。重点研究了汽车四轮定位的检测方法和调整技术。     

综采工作面初采初放期间矿压显现规律分析与总结

2903综采工作面是城郊煤矿二水平第一个单顺槽沿空掘巷综采工作面。项目针对该工作面初采、初放期间的矿压显现规律进行了数据采集、分析和总结。     

Reputation mechanism for e-commerce in virtual reality environments

The interest in 3D technology and virtual reality (VR) is growing both from academia and industry, promoting the quick development of virtual marketplaces (VMs) (i.e. e-commerce systems in VR environments). VMs have inherited trust problems, e.g. sellers may advertise a perfect deal but doesn’t deliver the promised service or product at the end. In view of this, we propose a five-sense feedback oriented reputation mechanism (supported by 3D technology and VR) particularly for VMs. The user study confirms that users prefer VMs with our reputation mechanism over those with traditional ones. In our reputation mechanism, five-sense feedback is objective and buyers can use it directly in their reputation evaluation of target sellers. However, for the scenarios where buyers only provide subjective ratings, we apply the approach of subjectivity alignment for reputation computation (SARC), where ratings provided by one buyer can then be aligned (converted) for another buyer according to the two buyers’ subjectivity. Evaluation results indicate that SARC can more accurately model sellers’ reputation than the state-of-the-art approaches.     

考虑重力影响的空间机械臂轨迹跟踪滑模控制

针对空间机械臂由地面装调到空间应用过程中重力环境发生变化的问题,使用滑模控制器对空间机械臂进行控制,通过将配置特殊的非线性结构-fal函数引入趋近律的设计中,提出一种新的基于趋近律的滑模控制方法,并基于李亚普诺夫理论证明了闭环系统的渐近稳定性。仿真结果表明该方法能够很好地完成不同重力环境下机械臂的轨迹跟踪控制任务,并具有较强的鲁棒性。     

基于A-VFSA粒子发生器的PSO算法的研究

对超快速模拟退火算法进行改进(A-VFSA),并以此为粒子发生器,提出了PSO-PG算法.该算法通过粒子发生器对搜索域内粒子进行改进,从而生成一个精英粒子池;并根据随机策略从粒子池中选择粒子,作为初始种群,采用PSO算法进行优化,得到全局最优解.相比于标准PSO算法和LDW算法,PSO-PG算法拥有更好的稳定性和优化精度,能够更加快速地收敛到全局最优解,在一定范围内几乎不依赖于初始参数的选择.     

抗地震结构的服役费用函数及其建立方法

讨论了服役工程结构的经济性问题 ,包括 :抗地震结构在服役过程中为完成预定功能所需要的经济花费、这些花费同结构抗震可靠度的函数关系以及它们的建立方法。形成的服役费用函数可以作为决策结构最佳抗震设防标准的依据。     

Shear-rate dependence of first normal stress difference of poly(isoprene-b-styrene) in solution near the order-disorder transition temperature

Viscoelastic properties of poly(isoprene-b-styrene) in dioctylphthalate under steady shear flow were measured near the order—disorder transition temperature. In ordered states, first normal stress difference N₁ is proportional to shear rate at low region, but becomes proportional to at the high region, similar to the N₁ behaviour of polymer blends undergoing shear-induced homogenization. Because the existence of microdomains was confirmed at the high region by the flow birefringence method, it is concluded that the above N₁ behaviour is not caused by shear-induced homogenization, but is probably caused by the shear-induced alignment of the microdomain structure.     

多无限远目标模拟装置光轴共面测试技术研究

提出一种基于激光准直五棱镜回转扫描和CCD技术的非接触检测方法,通过检测三块立板平面度来实现对多无限远目标模拟装置光轴共面度的高精度非接触测量。给出误差评定方法,同时对仪器精度进行分析,通过实验测得共面度为0.039mm,满足精度要求。     

起始水力梯度对真空预压下砂井地基固结过程的影响

针对粘土中孔隙水渗流存在起始水力梯度的现象,将考虑起始水力梯度的非Darcy渗流方程引入传统的砂井固结理论对其进行修正,并给出了真空预压下砂井地基固结近似解。探讨起始水力梯度对真空预压下砂井地基固结过程的影响,包括渗流前锋面的运动规律、孔隙水压力的分布变化规律和平均固结度的变化规律。结果表明,由于存在起始水力梯度,会延缓真空压力的传播,进而影响孔隙水的渗流和整个土层的固结速度。起始水力梯度越大,滞后现象越明显。此外,起始水力梯度的存在将使平均孔隙水压力逐渐趋于某一稳定值,但无法达到真空压力,所以最终平均固结度将小于100%,且其值随起始水力梯度的增大而减小。