Decentralized adaptive coordinated control of multiple robot arms without using a force sensor

This paper presents a distributed adaptive coordinated control method for multiple robot arms grasping a common object. The cases of rigid contact and rolling contact are analyzed. In the proposed controller, the dynamic parameters of both object and robot arms are estimated adaptively. The desired motions of the robot arms are generated by an estimated object reference model. The control method requires only the measurements of the positions and velocities of the object and robot arms, but not the measurements of forces and moments at contact points. The asymptotic convergence of trajectory is proven by the Lyapunov-like Lemma. Experiments involving two robot arms handling a common object are shown.     

Optimization of support positions to maximize the fundamental frequency of structures

In this paper, the position optimization of simple supports is implemented to maximize the fundamental frequency of a beam or plate structure. Both elastic and rigid supports are taken into account. First, the frequency sensitivity with respect to the movement of a simple support is derived using the discrete method. By means of the shape functions of the finite element method, closed‐form sensitivity formulations are developed straightforwardly. Then, a heuristic approach, called evolutionary shift method, is presented for optimizing support positions with a fixed grid mesh scheme. Based on the design sensitivity analysis, the support with the highest efficiency is shifted in priority along the elementary edges with the interval (step) of the elementary size. To facilitate the convergence of the process, the interpolation technique is employed to evaluate the solution more accurately. Finally, three numerical examples are presented to demonstrate the validity of the sensitivity analysis and the effectiveness of the optimization method. Copyright © 2004 John Wiley & Sons, Ltd.     

Individual and structural origins of friendship and social position among professionals.

Friendship affects individual and organizational well-being through direct relations, social positions, and complex network structures. In this study, the authors use longitudinal data from 2 groups of master's of business administration students to increase understanding of how friendship networks develop. The authors propose and test a dynamic model in which attribute similarity facilitates dyadic friendship ties, as well as similar network centrality and social position; early friendship increases later similarity in structural position and centrality; and early structural similarity enhances the likelihood of future friendship. Findings largely supported the model, demonstrating how homophily and early social contacts can jointly shape maturing friendship networks. (PsycINFO Database Record (c) 2010 APA, all rights reserved)     

连铸钢坯质量的原位统计分布分析研究

采用原位统计分布分析技术得到与样品原位置相对应的数以万计原始信号并对其进行系统解析，实现不同质量连铸钢坯试样的疏松度、均匀度以及夹杂物含量的定量表征。准确计算了连铸钢坯试样疏松度、碳元素的最大偏析度。提出铸坯各原位置成分含量的权重比率方法用以表征材料的均匀度，并提供了统计分布允许差范围内（C0±R）所占权重比率以及权重比率为95%置信度时，中位值置信扩展率（K）等2种判断模式。该方法以测量信息的原始性、原位性及统计性为特征，反映了连铸钢坯较大尺度范围内各化学组成及其形态的定量统计分布规律。采用上述方法可以     

端电压比较法直接寻找无刷直流电动机换相点及其斩波调速

提供了一种利用端电压比较结合软件算法直接寻找直流无刷无位置传感器电动机换相点的方案，解决了直流无刷无位置传感器电动机控制的关键问题－转子位置检测，并以单片机PIC16C72为核心构成先进的数字控制系统，实现了软件斩波调速。     

氧气顶吹转炉溅渣护炉试验研究

采用水力模型研究方法 ,针对马钢 2 0t转炉进行溅渣护炉冷态模拟试验 ,得出最佳工艺参数为 :枪位 1680mm ,氮气流量为 110 0 0m3/h ,大流渣量 ,渣粘度适中。此外 ,在满足炼钢生产的条件下 ,采用夹角为 13°的喷头溅渣效果好     

Gorillas (Gorilla gorilla) and Orangutans (Pongo pygmaeus) Encode Relevant Problem Features in a Tool-Using Task.

Two important elements in problem solving are the abilities to encode relevant task features and to combine multiple actions to achieve the goal. The authors investigated these 2 elements in a task in which gorillas (Gorilla gorilla) and orangutans (Pongo pygmaeus) had to use a tool to retrieve an out-of-reach reward. Subjects were able to select tools of an appropriate length to reach the reward even when the position of the reward and tools were not simultaneously visible. When presented with tools that were too short to retrieve the reward, subjects were more likely to refuse to use them than when tools were the appropriate length. Subjects were proficient at using tools in sequence to retrieve the reward. (PsycINFO Database Record (c) 2010 APA, all rights reserved)     

Theoretical Investigation of Time Suboptimal Control of Industrial Manipulators Along Specified Paths

A method for the time suboptimal control of an industrial manipulator from an initial position and orientation to a final position and orientation as it moves along a specified path is proposed. Nonlinear system equations that describe the manipulator motion are linearized at each time step along the path. A method which gives the control inputs (joint angular velocities) for time suboptimal control of the manipulator is developed. In the formulation, joint angular velocity and acceleration limitations are also taken into consideration. A six degree of freedom elbow type manipulator is used in numerical examples to verify the method developed.     

Kanga(ROO): Handling the micro-DST of the BaBar experiment with ROOT

A system based on ROOT for handling the micro-DST of the BaBar experiment is described. The purpose of the Kanga system is to have micro-DST data available in a format well suited for data distribution within a world-wide collaboration with many small sites. The design requirements, implementation and experience in practice after three years of data taking by the BaBar experiment are presented.     

位置控制器与通用变频器APC系统

在每一周期的开始时的速度值V1预设定到传动装置上进行速度预控制，同时，反馈回来的实际值Sj与S1进行比较计算，得出当时偏差值△S，此偏差值△S乘以比例系数Ksp，得到Vk叠加在Vt上，得出传动装置应具有的速度控制信号V，然后V经速度／电压变换和D／A转换向传动系统的速度控制发出控制信号Uα控制执行机构的定位。调节Ksp的值使系统无超调无振荡。