An on-line learning neural controller for helicopters performing highly nonlinear maneuvers

This paper presents an on-line learning adaptive neural control scheme for helicopters performing highly nonlinear maneuvers. The online learning adaptive neural controller compensates the nonlinearities in the system and uncertainties in the modeling of the dynamics to provide the desired performance. The control strategy uses a neural controller aiding an existing conventional controller. The neural controller is based on a online learning dynamic radial basis function network, which uses a Lyapunov based on-line parameter update rule integrated with a neuron growth and pruning criteria. The online learning dynamic radial basis function network does not require a priori training and also it develops a compact network for implementation. The proposed adaptive law provides necessary global stability and better tracking performance. Simulation studies have been carried-out using a nonlinear (desktop) simulation model similar to that of a BO105 helicopter. The performances of the proposed adaptive controller clearly shows that it is very effective when the helicopter is performing highly nonlinear maneuvers. Finally, the robustness of the controller has been evaluated using the attitude quickness parameters (handling quality index) at different speed and flight conditions. The results indicate that the proposed online learning neural controller adapts faster and provides the necessary tracking performance for the helicopter executing highly nonlinear maneuvers.     

项目驱动式教学法在计算机基础课程中的应用

项目驱动式教学做为一种新兴的教学模式越来越多的应用于各门学科的教学应用当中。计算机基础这门课程由于其理论知识更新速度快,实践操作要求高的特点,将之与项目驱动式教学法相结合可以起到很好的教学效果。本文将传统教学方法和项目驱动式教学法进行对比,针对当前教学过程中存在的问题提出相应的解决方法。     

Motivational bases of the public goods problem.

Compared 2 motivational bases for not contributing to a public good, desire to "free ride" (or greed) and fear of being a "sucker," among 110 Japanese undergraduates. It was hypothesized that these 2 types of motivation would be activated under different situations. When a public good was provided conjunctively, fear would have a strong effect but greed would not; when a public good was disjunctively provided, greed would have a strong effect but fear would not. In addition, it was predicted that the greater mutual trust existing among friends would make them contribute more than strangers would in the conjunctive condition but would make no difference in the disjunctive condition. Three types of production rules, in which a public good was conjunctively, disjunctively, or additively produced on the basis of members' contributions, were experimentally created. Half of the groups in each condition consisted of total strangers, and the other half consisted of friends. The hypotheses were supported when the size of the public good (bonus points) was relatively large. Also, Ss responded similarly in the conjunctive condition and in the additive condition. (25 ref) (PsycINFO Database Record (c) 2010 APA, all rights reserved)     

中国耕地细碎化的理论解析与研究框架

基于演绎推理法和文献研究法,探索耕地细碎化的概念、过程、机制和效应,并构建耕地细碎化研究框架,为耕地细碎化研究提供理论指导。结果表明:①耕地细碎化是耕地在自然-人为双重因素驱动下,耕地地块在形态上不断分割、变小,耕地产权在主体上不断细分、多元的过程,并分别表现为相互关联又有所区别的耕地景观细碎化和耕地权属细碎化; ②耕地细碎化研究应遵循“诊断-机制-效应-治理”的理论框架,耕地细碎化诊断需从形态和权属两方面构建评价指标体系,形成机制可从自然切割力、利用切割力、设施切割力和管理切割力4个方面揭示不同因素的作用机制,效应需揭示不同尺度下耕地细碎化形态和产权的趋势性转折对经济、社会和生态的影响,治理研究应按照“问题识别治理潜力治理路径保障措施”的逻辑顺序构建。     

基于PCC-RBF网络的风电功率短期预测方法

风电功率预测对风电场安全平稳运行、电网调度具有重要意义。针对风电功率短期预测指标选择不合理、预测精确度偏低的问题,提出一种基于皮尔逊相关系数(PCC)和径向基函数(RBF)神经网络的风电功率短期预测方法。该方法利用PCC筛选出与风电功率密切相关的3个指标,即电流、温度、风速,然后以这3个指标作为预测模型的输入对风电功率进行RBF样本训练与短期预测。试验结果表明,所提的预测模型预测误差更小,预测精度更高,能够满足风电功率短期预测的要求,具有广泛的应用前景。     

矢功率谱与RBF网络结合在旋转机械故障诊断中的应用

与传统功率谱相比,矢功率谱融合了多通道的能量信息,反映的信息更全面.径向基函数网络具有良好的推广能力和分类能力.基于此,本文结合矢功率谱和径向基函数网络,提出了一种新的故障识别方法,该方法以矢功率谱为特征向量,径向基函数网络为分类器.并以转子裂纹、转子不对中、油膜涡动为例进行实验研究,实验结果表明,该方法是有效的.     

钢铁酸洗时氢致裂开危险性检测新技术的研究

研究了一种新型的原子氢渗透速率测量传感器在酸洗液中的测量信号与A3钢在相应体系中的强度/脆性之间的对应关系,为发展钢铁酸洗除锈除垢时在线检测氢致腐蚀裂开危险性的智能化新技术,提供了软件设计的部分关键参数与判据。     

橡胶密炼机混炼工艺瞬时功率控制法

橡胶密炼机混炼工艺瞬时功率控制法的理论由３部分组成：橡胶混炼过程的机理、密炼机流理论和混炼过程功率曲线与能量控制法不同，瞬时功率控制法实质上是控制混炼过程中胶料的粘度，确保混炼工艺过程保持最佳状态。因而瞬时功能控制法可监控生产过程，为密炼机混炼工艺的智能控制奠定了基础。     

新型呋咱(氧化呋咱)类炸药爆轰参数的理论计算

以3,4-二(氨基呋咱基)氧化呋咱(BAFF)为结构单元设计了一类新型呋咱(氧化呋咱)类炸药分子.运用预测炸药分解产物的BW法则、计算爆速的Rothsteine方法和计算C-J压力的库珀方法等对该类炸药的爆炸参数进行了理论计算,并与HMX等炸药的爆炸参数进行了比较.结果表明,该类炸药的密度大,爆速和爆压介于TATB和HMX之间,是一类新型高能量密度材料化合物.由于该类炸药分子中含呋咱环具有芳香性,预测其分子的稳定性良好.