欠驱动系统Pendubot的模糊控制策略

本文针对欠驱动Pendubot机器人系统，提出一种简单可靠的摇起及平衡控制策略。通过利用模糊控制及全状态反馈控制技术来分别设计摇起控制器及平衡控制器，其中模糊摇起控制器的设计使得系统的摇起可靠性得到大大的加强，并缩短了响应时间，两个控制器的转换通过转换装置实现。最后的仿真结果验证了算法的有效性。     

Connecting the second exhaust-heat boiler to the operating first one under the conditions of flow circuits of combined-cycle plants with two gas-turbine units and one steam turbine

Problems arising with connecting the second exhaust-heat boiler to the first exhaust-heat boiler under load in the case of flow circuits of combined-cycle plants of type PGU-450 are considered. Similar problems exist for two-boiler single-turbine units of type PGU-325 and for two-boiler single-turbine units of traditional steampower plants with an output of 200–300 MW upon connection of the second furnace of a two-furnace boiler to the operating first furnace. Analysis of the temperature-induced stressed state and of the cyclic strength of thick-walled elements of the steam-water conduit of PGU-450 and of two-furnace boilers of two-boiler single-turbine units with an output of 200–300 MW (the check valve, the inlet header of the water economizer) is used for determining the steam temperature differences in the high-pressure conduits to the steam turbine and the order of connection of the second exhaust-heat boiler to the operating fist one. Modes of enabling a two-boiler single-turbine unit of a combined-cycle plant, which are most “rigid” from the standpoint of thermal strength, are determined. __________ Translated from élektricheskie Stantsii, No. 2, February 2006, pp. 11–17.     

Position synchronization of multiple motion axes with adaptive coupling control

A new control approach to position synchronization of multiple motion axes is developed, by incorporating cross-coupling technology into adaptive control architecture. The control strategy is to stabilize position tracking of each axis while synchronizing its motion with other axes’ motions so that differential position errors amongst axes converge to zero. The proposed adaptive controller and parameter estimator employ coupling control by feeding back position errors and differential position errors, and have been realized to guarantee asymptotic convergence to zero of both position and synchronization errors. Simulations conducted on a multi-axis motion control system demonstrate the effectiveness of the method.     

多台并行随机CIMS可靠性的扩散估计界

ＣＩＭＳ可靠性模型随机研究的突出特点是工作站的并行结构使系统的状态个数呈现指数级增大，同时，并行结构与有限的缓冲库相互交织在一起，这使系统状态呈爆炸趋势，显然，对系统作精确的分析与系统呈现的状态爆炸趋势构成了难以解决的矛盾，如何解决这一矛盾正是ＣＩＭＳ随机理论有待开发的重要课题。我们把扩散近似方法引入到多台并行的ＣＩＭＳ可靠性模型中，以简单的连续过程描述了具有状态爆炸趋势的复杂离散过程，给出了ＣＩ     

受控离散事件过程（CDEP）的一种代数分析方法

本文在文［１～３］的基础上，提出了受控离散事件过程（ＣＤＥＰ）的一种代数分析方法，弥补了Ｒａｍａｄｇｅ和Ｗｏｎｈａｍ［１～３］的理论对具体系统的应用缺乏可操作性的缺陷，使得对ＣＤＥＰ动态过程的分析变得更为直观，同时也使控制器的设计过程更具可操作性．     

非线性隔振理论初探

本文以线必阻尼，立方刚度非线性系统为例，对非线性隔振理论进行了初步探讨，导出了系统的无量纲运动响应和传递率，并与线性隔振系统进行了比较，着重讨论了非线性对它们的影响，获得了一些有用的结论。     

基于运动矢量的视频图象数字水印算法

数字水印技术是近年发展起来的一种用于数字产品版权保护和真伪性论证的新兴技术。与静止图象相比，视频水印技术要满足盲检的要求。本文根据运动矢量的特征值ρl，提出了一种视频图象水印新算法。实验结果表明，所提出的水印算法简单、快速，能满足视频编码的实时性要求；算法与现有的视频压缩标准有很好的兼容性；水印的提取具有盲检功能，无需原图象；水印的嵌入不影响I帧的图象质量，与嵌入水印前的原压缩图象相比，嵌入水印后的视频图象信噪比损失很小。     

限制市场中不定权益的定价

通过构造一族辅助风险溢价来确定不定权益的无套利价格，用这种方法 讨论了存在交易限制时欧式不定权益的定价问题，其结果与Davis的公平价格一致.     

给定拓扑结构的网络的可靠性设计

本文首先讨论了网络链路堵概率的加权平均值，提出了网络分配的一般准则，并在考虑了网络链路生存链路概率的因素后，提出了更一般的网络链路堵塞概率的加权平均值，以此为基础，分别讨论了网络在给定点的费用条件下，使得网络可靠性最大的网络设计问题，以及在给定网络可靠性指标的前提下，使得网络费用最小的网络设计问题。     

3D Motion Estimation and Motion Fusion by Affine Region Matching

In this paper,a new method is presented for 3D motion estimation by image region correspondences using stereo cameras.Under the weak perspectivity assumption.we first employ the moment tensor theory (Cyganski and Orr^[11]) to compute the monocular affine transformations relating images taken by the same camera at different time instants and the binocular affine transformations relating images taken by different cameras at the same time instant.We then show that 3D motion can be recovered from these 2D transformations.A space-time fusion strategy is proposed to aim at robust results.No knowledge of point correspondences if requred in the above processes and the computations involved are linear.To find corresponding image regions,new affine invariants,which show stronger invariance,are derived in term of tensor contraction theory.Experiments on real motion images are conducted to verify the proposed method.