Microwave Communication to Moving Parts Inside Machines

Cables to moving parts on a linear actuator in production machines, such as pick-and-place machines, are a source of unreliability owing to the possible breaking of a cable. They further reduce the positioning precision of the actuator owing to additional forces. Slotted waveguide systems for rail vehicles based on 2.4 GHz transmission frequency are well known, but transmitters/receivers and waveguides are bulky. The paper reports on the reduction in size of the equipment, adapted to 5.8 GHz using a commercial off-the-shelf RadioLan communication module. Further, the efficient termination of the wave-guide and a new way to reduce standing-wave effects is also discussed.     

Efficient mixed Timoshenko–Mindlin shell elements

The precise representation of rigid body motions in the displacement patterns of curved Timoshenko–Mindlin (TM) shell elements is considered. This consideration requires the development of the strain–displacement relationships of the TM shell theory with regard to their consistency with the rigid body motions. For this purpose a refined TM theory of multilayered anisotropic shells is elaborated. The effects of transverse shear deformation and bending‐extension coupling are included. The fundamental unknowns consist of five displacements and eight strains of the face surfaces of the shell, and eight stress resultants. On the basis of this theory the simple and efficient mixed models are developed. The elemental arrays are derived using the Hu–Washizu mixed variational principle. Numerical results are presented to demonstrate the high accuracy and effectiveness of the developed 4‐node shell elements and to compare their performance with other finite elements reported in the literature. Copyright © 2002 John Wiley & Sons, Ltd.     

遥操作工程机器人系统临场感技术研究-6自由度临场运动感觉反馈技术的研究进展

 研究开发出一种遥操作工程机器人系统，可以应用于诸如火灾现场的修复作业等广阔的领域．该系统由伺服控制的工程机器人、2根从远处操纵工程机器人的操纵杆、视频系统和6自由度运动模拟器组成．操作者坐于座椅上，座椅固定于运动模拟器的上方． 该系统需要解决的一个关键问题是如何使操纵者高质量地获得工作现场的临场运动感觉． 提出了一种6自由度临场运动感觉反馈方法，其信号源来自工程机器人上安装的6个加速度传感器． 该方法的有效性已为实验所证明，即应用6自由度运动模拟器不但可以高质量地模拟工程机器人单个自由度的运动：滚动、俯仰、转动以及前后、左右、上下的平移，而且可以高质量地模拟工程机器人的各种复合运动．     

一种在Kalman滤波中引入径向速度测量的新方法

研究在距离和径向速度测量噪声统计相关的情形下把径向速度测量引入Kalman滤波的新方法。分析了径向速度测量噪声与位置测量更新后状态滤波误差的统计相关性,根据Gauss-Markov定理导出了对应于径向速度测量的滤波方程由此而得到一种序贯滤波算法。两个不同的蒙特卡罗仿真表明,通过采用这一新算法引人径向速度测量,不仅可以大大提高状态估计的精度,而且其估计性能和计算效率优于传统的EKF。     

A continuum-based modeling of MEMS devices for estimating their resonant frequencies

A continuum-based modeling of coupled electrostatics-structure interactions is presented for the frequency computations of MEMS devices. The present general formulation of electrostatics accounting for free space is validated first by specializing it to one-dimensional uniform motion of conducting surfaces and comparing the resulting electrostatics to conventional lumped models. The general coupled electrostatics-structure interactions are then applied for the prediction of resonant frequencies of MEMS devices due to bias-voltage changes and temperature variations. Comparisons of predicted resonant frequencies obtained by the present coupled electrostatics-structure interaction models with experimental results available in the literature demonstrate that the proposed continuum-based interaction modeling yields high-confidence predictions of resonant frequencies of MEMS devices.     

Fuzzy Weirstrass theorem and convex fuzzy mappings

The convexity and continuity of fuzzy mappings are defined through a linear ordering and a metric on the set of fuzzy numbers. The local-global minimum property of real-valued convex functions is extended to convex fuzzy mappings. It is proved that a strict local minimizer of a quasiconvex fuzzy mapping is also a strict global minimizer. Characterizations for convex fuzzy mappings and quasiconvex fuzzy mappings are given. In addition, the Weirstrass theorem is extended from real-valued functions to fuzzy mappings.     

立井钢丝绳罐道的特点及使用

介绍了钢丝绳罐道的特点,从《煤矿安全规程》的要求出发,考虑钢丝绳罐道的形式、 刚度、定位张紧、布置方式、钢丝绳数目等因素,分析了钢丝绳罐道的选择要点,并指出了钢丝绳罐 道的使用和维护方法。     

Representation of shift-invariant operators onL 2 byH ∞ transfer functions: An elementary proof,a generalization toL p,and a counterexample forL ∞

We give an elementary proof of the well-known fact that shift-invariant operators onL ²[0, ∞) are represented by transfer functions which are bounded and analytic on the right open half-plane. We prove a generalization to Banach space-valuedL ^p -functions, where 1≤p<∞. We show that the result no longer holds forp=∞. This research was supported partially by the Weizmann Fellowship, and partially by the Air Force Office of Scientific Research under Contract F49620-86-C-0111.     

Solving the small sample size problem in face recognition using generalized discriminant analysis

The goal of face recognition is to distinguish persons via their facial images. Each person's images form a cluster, and a new image is recognized by assigning it to the correct cluster. Since the images are very high-dimensional, it is necessary to reduce their dimension. Linear discriminant analysis (LDA) has been shown to be effective at dimension reduction while preserving the cluster structure of the data. It is classically defined as an optimization problem involving covariance matrices that represent the scatter within and between clusters. The requirement that one of these matrices be nonsingular restricts its application to datasets in which the dimension of the data does not exceed the sample size. For face recognition, however, the dimension typically exceeds the number of images in the database, resulting in what is referred to as the small sample size problem. Recently, the applicability of LDA has been extended by using the generalized singular value decomposition (GSVD) to circumvent the nonsingularity requirement, thus making LDA directly applicable to face recognition data. Our experiments confirm that LDA/GSVD solves the small sample size problem very effectively as compared with other current methods.     

Average consensus in networks of dynamic agents with switching topologies and multiple time-varying delays

In this paper, we discuss average consensus problem in undirected networks of dynamic agents with fixed and switching topologies as well as multiple time-varying communication delays. By employing a linear matrix inequality method, we prove that all the nodes in the network achieve average consensus asymptotically for appropriate communication delays if the network topology is connected. Particularly, several feasible linear matrix inequalities are established to determine the maximal allowable upper bound of time-varying communication delays. Numerical examples are given to demonstrate the effectiveness and the sharpness of the theoretical results.