超磁致伸缩作动器的率相关Hammerstein模型与H∞鲁棒跟踪控制

利用Hammerstein模型对超磁致伸缩作动器（Giant magnetostrictive actuators,GMA）的率相关迟滞非线性进行建模,分别以改进的 Prandtl-Ishlinskii（Modified Prandtl-Ishlinskii）模型和外因输入自回归模型（Autoregressive model with exogenous input,ARX）代表Hammerstein模型中的静态非线性部分和线性动态部分,并给出了模型的辨识方法. 此模型能在1～100Hz频率范围内较好地描述GMA的率相关迟滞非线性. 提出了带有逆补偿器和H∞鲁棒控制器的二自由度跟踪控制策略,实时跟踪控制实验结果证明了所提策略的有效性.     

Human tracking system based on adaptive multi-feature mean-shift for robot under the double-layer locating mechanism

Human tracking has been a challenging task for robot in the past decades. In this paper, to realize the human following in a cluttered environment, a human tracking system based on adaptive multi-feature mean-shift (AMF-MS) under the double-layer locating mechanism (DLLM) is proposed to solve the problem of distinguishing target, occlusion, and quick turning. The DLLM, considering the course location processing and fine location processing, is designed to estimate the person’s position using the fusion of heterogeneous data. As an ID tag attached on target can be detected by RF antennas, the course locating method can track the target easily and quickly. The Bayes rule is introduced to calculate the probability where the tag exists due to the instability of RF signals. In the fine locating step, the AMF-MS is proposed because it can reduce computational load and represent target by multi-feature histogram function. Meanwhile, we combine extended Kalman filter and AMF-MS to overcome MS’s inability of occlusion. To control the robot following the target person precisely, an intelligent gear shift strategy based on fuzzy control is implemented by analyzing the robot structure. Experiments demonstrate that the proposed approach is robust to handle complex tracking conditions, and show the system has an optimum performance.     

Detecting symmetries of rational plane and space curves

This paper addresses the problem of determining the symmetries of a plane or space curve defined by a rational parametrization. We provide effective methods to compute the involution and rotation symmetries for the planar case. As for space curves, our method finds the involutions in all cases, and all the rotation symmetries in the particular case of Pythagorean-hodograph curves. Our algorithms solve these problems without converting to implicit form. Instead, we make use of a relationship between two proper parametrizations of the same curve, which leads to algorithms that involve only univariate polynomials. These algorithms have been implemented and tested in the Sage system.     

Rheological properties of bitumen in water emulsions with added solids

Experimental work was carried out to investigate the rheological properties of bitumen in water emulsions containing solids of different shape and size. The bitumen volumetric concentration was varied up to 60%, solids free basis, and the solids volume fraction (total volume basis) was varied up to 0.2. Irregular-shaped silica sand (average diameter: 9 and 33 μm) and smooth spherical glass beads (average diameter: 27 and 44 μm) were used as the added solids. In the low shear stress range, shear thinning behavior was observed for bitumen in water emulsions. At high shear stress, the viscosity of the emulsions became fairly independent of the shear stress. The addition of solids to the bitumen emulsions increased the mixture viscosity. The addition of irregular-shaped silica sand gave a higher viscosity than a similar addition of the spherical glass beads. The viscosity of the emulsion/solids mixtures was influenced by the solids size as well; the smaller size particles gave a higher viscosity. The addition of solids to the bitumen emulsions also induced shear thickening (dilatancy) behavior at high solids volume fraction. The degree of the shear thickening increased with the oil concentration.     

Implementation of Web‐based argumentation in facilitating elementary school students to learn environmental issues

This research develops a Web‐based argumentation system named the Web‐based Interactive Argumentation System (WIAS). WIAS can provide teachers with the scaffolding for argumentation instruction. Students can propose their statements, collect supporting evidence and share and discuss with peers online. This research adopts a quasi‐experimental design, applying WIAS to the teaching of environmental issues, including mudslides, global warming and nuclear power. Fifty‐seven elementary school fifth graders from two classes participated in this research. With each class as a unit, they were divided into the WIAS group (n = 30) and the traditional argumentation instruction (TAI) group (n = 27). Before research, all students took the pre‐test of the ‘achievement test for environmental issues (ATEI)’ and the ‘environmental literacy scale (ELS).’ Then all students received argumentation training and six classes of argumentation instruction. Students in the WIAS group performed argumentation in the WIAS, while those in the TAI group performed argumentation in a traditional classroom. After the six‐class argumentation instruction, all students took the post‐test of the ATEI and ELS. The results show that students in the WIAS group have significantly better learning effectiveness than those in the TAI group. Students in the WIAS group also exhibited significantly better improvement in their environmental literacy.     

高性能自干型汽车用面漆的研制

用酯化法制得高性能丙烯酸改性醇酸树脂,并用该树脂配制成施工方便,干燥迅速,抗回黏性、耐沾污性、耐候性及耐油性好的单组分汽车涂料。介绍了该树脂及涂料的配方设计、生产工艺和产品性能。     

Pickup (critical) velocity of particles

This work presents experimental results on pickup velocity (critical velocity) measurements for a variety of particulate solids. The present experiments together with previously published experiments of a number of researchers encompass about 100 measurements of 24 materials for a wide range of particle sizes, shapes and densities. Based on the experimental results, three zones are defined by establishing simple relationships between the Reynolds and Archimedes numbers. The empirical relationships were further modified by taking into account the pipe diameter and particle shape (sphericity). The three-zone model was shown to reasonably correlate to Geldart's classification groups.     

基于概念设计阶段的解耦模式车门截面形状优化方法

为了提高车门静态刚度, 采用基于HDMR理论的多参数解耦优化方法与Morph技术结合, 对一款处于概念设计阶段车门的主截面形状进行优化。这种建模方法的特点在于通过少量的样本点识别形状变量之间的耦合关系, 进而将高维问题进行分解, 在保证精度的前提下提高计算效率。采用Kriging插值方法对Cut-HDMR的各项进行构造, 得到车门各刚度下的考察点位移和质量的近似模型, 进而利用非支配排序多目标遗传算法（NSGA-Ⅱ）对近似模型进行优化, 在车门静态刚度均达到设计要求的前提下合理进行减重, 使垂直刚度和扭转刚度得到了很大的提高。     

Measurement of the size, shape and orientation of convex bodies

Different types of solid bodies (particles) with specific shape and size are needed for industrial processes. For spherical particles, ‘sizer’ measurements are usually reported as sphere diameters. For non-spherical particles, particle shape and especially orientation must be taken into account. Particles of a specific shape will present different views when looked at from different directions.We have employed a Camsizer^® instrument to measure the distribution of projected area under different physical conditions for solid cylindrical particles:

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Under ‘ideal’ conditions, corresponding to a uniform distribution of particle orientation, measurements agreed with predictions. The celebrated theorem of Cauchy applies only to this case.

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For two other situations, measured and predicted results differed. However, from the experimental data it was possible to infer the particle orientations and hence theoretically predict the projected area distribution. Excellent agreement between theory and practice was then restored.

     

苯酚改性脲醛树脂合成工艺及性能的研究

用苯酚作为改性剂,采用高温(90℃)缩聚反应合成改性脲醛树脂胶粘剂,改进了合成工艺,缩短了反应时间。通过引入苯环改善了耐水、耐老化性能。分析了各因素对改性脲醛树脂的影响,得到甲醛、尿素、苯酚摩尔比为10:8:1时树脂性能最佳,胶合强度和木破率均达到GB／T 17656-1999标准规定值。