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。     

On the relationship between parity space and approaches to fault detection

Parity space approach and H₂ approach are two important fault detection approaches. This paper studies the relationship between these two approaches, which reveals frequency domain characteristics of the optimal solution of the parity space approach on the one side and provides a numerical solution of the H₂-optimal design of residual generators on the other side.     

An analysis of the electrical conductivity in BaSO4-added Ag2SO4 solid electrolyte system

The compositions (1 −x)Ag₂SO₄−(x)BaSO₄, wherex=0·01 to 0·6, were prepared by slow cooling of the melt. The extent of the solid solubility of Ba²⁺ in Ag₂SO₄ was determined by X-ray powder diffraction and scanning electron microscopy. The bulk conductivity of each sample was obtained using a detailed impedance analysis. The partial substitution of Ba²⁺ results in the enhancement of conductivity in compliance with the classical aliovalent doping theory. A simplistic model based on lattice distortion (expansion) due to partial substitution of Ag⁺ by the bigger Ba²⁺ has been considered to explain enhanced conductivity. Beyond solid-solubility limit (5·27 mole%) the BaSO₄-dispersed Ag₂SO₄ conductivity follows the usual trend seen in binary systems. An increase in conductivity in this case is discussed in the light of interfacial reactions and surface defect chemistry. The maximum conductivity in 20 mole% BaSO₄ dispersed Ag₂SO₄ is due to percolation threshold.     

四维空间直线绕平面的旋转

本文对四维空间直线绕平面旋转的轨迹进行一投详尽的讨论，按照直线与“轴平面”的相对位置不同，该旋转轨迹分别为圆柱面、圆锥面和单叶回转双曲面，并认为这些回转曲面的轴线是过该直线的与“轴平面”垂直的超平面与“轴平面”的交线。     

Robot Pose Estimation in Unknown Environments by Matching 2D Range Scans

A mobile robot exploring an unknown environment has no absolute frame of reference for its position, other than features it detects through its sensors. Using distinguishable landmarks is one possible approach, but it requires solving the object recognition problem. In particular, when the robot uses two-dimensional laser range scans for localization, it is difficult to accurately detect and localize landmarks in the environment (such as corners and occlusions) from the range scans.In this paper, we develop two new iterative algorithms to register a range scan to a previous scan so as to compute relative robot positions in an unknown environment, that avoid the above problems. The first algorithm is based on matching data points with tangent directions in two scans and minimizing a distance function in order to solve the displacement between the scans. The second algorithm establishes correspondences between points in the two scans and then solves the point-to-point least-squares problem to compute the relative pose of the two scans. Our methods work in curved environments and can handle partial occlusions by rejecting outliers.     

认真创建服务型企业拓展老水电厂发展空间——湖北省白莲河水力发电厂发展问题的思考

根据对白莲河电厂历史的与现状的分析,提出该厂应当由生产型向服务型转变,在服务中提高职工素质,拓展老水电厂的发展空间.     

鄂尔多斯西缘前陆盆地巨厚黄土地区地震采集技术

鄂尔多斯西缘前陆盆地表层地质地貌极其复杂，有巨厚黄土区、黄土-沙漠区及山前砾石-黄土区，独特的黄土地貌使得地震采集面临着诸多技术难题。根据以往巨厚黄土地区地震采集经验，采用多种方法系统地开展黄土表层结构精细调查，深入研究黄土地球物理特征及激发因素与表层黄土结构之间的关系，优选激发井位和井深，确保了激发效果；采用小道距、三线小线距、高密度空间采样技术，获得了高信噪比、高分辨率地震资料。研究表明，巨厚黄土地区地震采集时应优选激发井位和岩性，合理选择激发井深；坚持多深井组合激发、单井药量不宜过大总药量要大两项基本原则；采用高密度采样技术，提高采集资料的覆盖次数和信噪比。图10表1参15     

Lateral space-charge effects on ballistic electron transport across graded heterojunctions

Hot electron transport across graded compound semiconductor heterojunctions has been explored using a two-dimensional formulation of the self-consistent ensemble Monte Carlo method. The Al_xGa_1-xAs/GaAs heterojunction imbedded into a vertical field effect transistor with two ohmic contacts (source, drain) and two lateral Schottky gates has been used as an example. Lateral space charges modulated by the gates are shown to control ballistic injection of electrons over the heterojunction under steady state conditions. The transient response to a gate pulse is found to be determined by carrier transit from the heavily doped source contact region into the channel. A conceptual one-dimensional section model is used to explain the Monte Carlo results.     

自干扰抵消盲空时DS-CDMA信号检测技术

针对传统单用户检测器存在远近效应和性能下界问题,近年来提出的一系列最大SINR准则盲空时RAKE接收机,可以较好地合并期望用户的多径分量,同时抑制多址干扰用户能量.本文对这类接收机进行了进一步的研究,提出了一种自干扰抵消方法,更有效地克服了单用户检测器存在的性能下界以及远近效应问题.仿真结果验证了本文方法的有效性.