一种由MCS—8098单片机构成的工业控制单元

该工业控制单元采用MCS—8098单片机及组态灵活的STD总线形式和光电隔离等技术,既可单独使用,又可作为下位机通过串行通讯的方式和上位机组成多级分布式控制系统。     

Decentralized energy supply: Suitability for the UK's industrial sectors

From the results reported here it is suggested that policy decisions about the potential contribution of decentralized energy supply systems to UK industrial energy requirements should be based on the suitability of individual sectors rather than averaged over all sectors. The suitability of decentralized energy sources is evaluated, based on a themodynamic match between source and demand. This suitability criterion is used to identify the most appropriate sector in manufacturing industries for the adoption of decentralized energy supply, leaving aside economic cost considerations and individual site requirements.     

空间机器人姿态与末端抓手协调运动的鲁棒自适应控制

本文讨论了载体姿态受控、位置不受控制的漂浮基空间机器人协调运动的控制问题。借助于虚拟扩展系统的输入与输出,得到了一组关于惯性参数呈线性函数关系的系统控制方程。以此为基础,针对空间机器人系统中不确定参数与未知参数并存的复杂情况,设计了载体姿态与末端抓手惯性空间轨迹协调运动的鲁棒自适应控制方案。利用两杆空间机器人系统进行了系统仿真运算,仿真结果证实了上述控制方案的有效性。由于对系统待估计参数作了分类,并充分利用系统信息对系统不确定参数采用保持鲁棒性而不是在线估计的方法,提到的控制方案具有计算量小的优点,有助于缓解机载计算机运算能力有限的矛盾。     

一种新的位置数据融合方法的研究

给出了一新的基于团队一致法的多传感器位置数据融合方法，该方法按传感器队中的每个成员的测量不确定性，构造团队期望效用函数（或密度），并基于该期望效用函数求得位置参数估计，其优点是可消除失效传感器和测量值为野值的传感器的影响，本文给出了仿真结果。     

Generation of adaptive gait patterns for quadruped robot with CPG network including motor dynamic model

This paper describes the generation of adaptive gait patterns using new Central Pattern Generators (CPGs) including motor dynamic models for a quadruped robot under various environments. The CPGs act as the flexible oscillators of the joints and adjust joint angles to required values. The CPGs are interconnected with each other and sets of their coupling parameters are adjusted by a genetic algorithm so that the quadruped robot can realize stable and adequate gait patterns. Generation of gait patterns results in the formation of the CPG networks suitable for the formation of not only a straight walking pattern but also of rotating gait patterns. Experimental results demonstrate that the proposed CPG networks are effective for the automatic adjustment of the adaptive gait patterns for the tested quadruped robot under various environments. Furthermore, the target tracking control based on image processing is achieved by combining the general gait patterns. © 2006 Wiley Periodicals, Inc. Electr Eng Jpn, 155(1): 35–43, 2006; Published online in Wiley InterScience ( www.interscience.wiley.com ). DOI 10.1002/eej.20225     

The Influence of Gravity on Trajectory Planning for Climbing Robots with Non-Rigid Legs

In this paper questions related to the occurrence of departures of a legged climbing robot from the given trajectory are considered. The basic idea of the paper is to show that, if there are slackness and non-rigidities, the legged climbing robot moving upon an inclined or vertical plane, departs systematically from the planned trajectory. It is demonstrated that these departures result from the gravity and are of systematic character. It is also shown how the inclusion of torsion effect changes substantially the nature of systematic errors arising from robot's movement along the inclined surface.     

步行机攀登横杆的受力模型及分析

针对４足步行机器人的横杆攀登过程，在考虑弹性变形的基础上利用刚度矩阵建立其受力模型，并通过计算机仿真对攀登过程的不同情况进行了分析，其结果为具有攀登功能的步行机构结构设计及控制算法确定提供了理论依据。     

Action strategies for strengthening industrial clusters in southern Taiwan

For the past decade, the Taiwanese government has applied the policy of “North heavy, South light” to put more emphasis on development in northern Taiwan instead of the south. This has resulted in uneven development between the northern and southern regions, especially when introducing, developing, and supporting high technology and resource allocation in education. Industry clusters have become the centerpiece of economic development policy in many parts of the world. In this study, it is assumed that there are two categories of less-advantaged regions in Taiwan: (1) older industrialized regions dominated by labor-intensive/capital-intensive industries, and (2) industrial regions that have merged with potential high-technology small firms but still lack infrastructure. This study discusses the following points: (a) How do industrial clusters work in action? (b) What barriers do less-advantaged industrial clusters face? (c) What action strategies promote less-advantaged industrial clusters?     

调整我国产业结构的若干思考

在国有企业产权制度改革中，改革不合理的产业结构是主要内容之一。不合理的产业结构带来了资产流量与存量产出效益的巨大损失，并放大了市场信号的失真度。因此强化产业结构的调整，是深化经济体制改革，使国民经济持续发展的保证。本文在分析产业结构不合理现状的基础上，提出了对调整我国产业结构的见解。