Flight control of tethered kites in autonomous pumping cycles for airborne wind energy

Energy harvesting based on tethered kites benefits from exploiting higher wind speeds at higher altitudes. The setup considered in this paper is based on a pumping cycle. It generates energy by winching out at high tether forces, driving an electrical generator while flying crosswind. Then it winches in at a stationary neutral position, thus leaving a net amount of generated energy.The focus of this paper is put on the flight control design, which implements an accurate direction control towards target points and allows for a flight with an eight-down pattern. An extended overview on the control system approach, as well as details of each element of the flight controller, is presented. The control architecture is motivated by a simple, yet comprehensive model for the kite dynamics.In addition, winch strategies based on an optimization scheme are presented. In order to demonstrate the real world functionality of the presented algorithms, flight data from a fully automated pumping-cycle operation of a small-scale prototype are given. The setup is based on a 30 m² kite linked to a ground-based 50 kW electrical motor/generator by a single line.     

基于CPG的双足机器人多层步行控制器设计

针对双足机器人步行控制器的设计问题,基于生物学启发原理,提出一种基于中枢模式发生器(CPG)与稳定性分析相结合的多层次结构控制器设计方法。分析机器人的步行运动,给出双足运动描述。基于CPG理论设计多层次结构的步行控制器,应用极限环理论方法分析运动稳定性。在保证步行稳定的前提下,所提出的控制方法具有结构简单、通用性好、方便在线平滑修正等优点,步行仿真实验验证了所提出算法的有效性。     

Agro-ecosystem modeling can aid in the optimization of biomass feedstock supply

Recent European Directives promoted the development of biofuels, requesting mandatory limits to their emissions ot greenhouse gases (GHG). Second-generation biofuels based on lignocellulosic biomass are prime candidates but their GHG emissions are variable and uncertain. Agro-ecosystem modeling can capture them and the performance of biofuel feedstocks.This study aimed at optimizing feedstock supply for a bioethanol unit in France, from agricultural residues, annual and perennial crops. Their productivity and environmental impacts were modelled on a regional scale using geo-referenced data on soil properties, crop management, land-use and future weather data. Several supply scenarios were tested. Cereal straw was the most efficient feedstock but had a low availability, and only miscanthus could meet the bioethanol plant's demand. Sorghum combined poor yields and high GHG emissions compared by miscanthus and triticale. A mix of three biomass sources used less than 3% of the regional agricultural land while abating GHG emissions by 60%.     

新型水工混凝土表面防护涂层抗冻融性能研究

西部高寒地区地理位置独特,水文地质气候条件复杂,自然环境恶劣,造成该区域内水利工程混凝土材料易发生冻融劣化破坏。对此,选取课题组已研发的3种新型水工混凝土表面防护涂层材料(耐候型环氧涂层、不饱和聚酯树脂和聚脲涂层体系),进行室内加速冻融试验。试验结果表明,以环氧胶泥为底漆,聚脲材料为面漆的水工混凝土表面防护涂层的抗冻性能最优。随后在西藏地区水利水电工程进行了现场生产性试验,通过观测发现,新型聚脲材料起到了很好的抗冻防护效果。该材料有望应用于西部高寒地区水工建筑物的表面防护,提高水利水电工程建筑物的耐久性。     

基于变周期技术的自适应数据采集算法

在数据采集系统中,按需采集是平衡数据数量、提高数据质量的有效手段。本文所提出的自适应数据采集算法是基于有限采样点的一元线性回归拟合,通过实时地对采集到的数据进行分析,不断修正采样周期,使得采样周期能够快速、准确地适应被测对象的动态变化。MATLAB软件仿真表明,本方法对于被测量加速变化具有较强的动态捕捉能力,能够在降低平均采样频率的前提下减小采样失真度,且与同类方法相比失真度低,稳定性高,是测控系统中实时数据采集的一种较好的代替方案。     

INFORMATION LITERACY IN A RESEARCHER'S LEARNING LIFE: THE SEVEN AGES OF RESEARCH

This article uses data from research conducted in the course of writing a book on the needs, wants and characteristics of researchers to examine how researchers view themselves and the research process. As a result of this, the Seven Ages of Research model was developed which categorises a researcher's learning life into a series of discrete stages. The article explores learning needs relevant to each age in the learning life and links them to the development of information literacy. The authors explore the polarisation that exists between what researchers think research is about and what they believe the library can offer them, and suggest that information literacy needs to be seen as involving a change in understanding of, and attitude to, the world of information, as well as the nature of those information needs. Finally, they explore the librarian's role in an e-environment which has changed the way researchers work and identify some of the challenges facing library and information services professionals in the future in supporting researchers throughout their learning lives.     

瓦斯突变预警上限值确定方法的研究

针对现有煤矿安全监控系统采用超限原理,以瓦斯传感器测量值为判断依据,无法及时发现预定报警值以下范围内瓦斯异常变化的问题,提出了一种不超限瓦斯突变预警方法,介绍了静态预警和动态预警两种不超限瓦斯突变报警方法。结合余吾煤业N2202工作面探头数据,分别对不超限瓦斯突变预警基础数据的静态数据和动态数据进行了分层抽样及分布的验证和拟合,得出静态预警和动态预警的基础数据基本符合正态分布的结论。提出采用假设检验和区间估计等实时计算静态预警和动态预警上限值的方法,并采用N2202工作面探头数据进行了验证。     

广蓄B厂调相压水周期过长探讨及改进

分析了广州蓄能水电厂B厂由于高压气机及高压气系统效率降低导致调相压水周期过长,无法及时转入抽水调相（CP）工况运行的原因。通过处理压水管路漏气点、高压气机漏气、漏油点及将备用高压气机投入运行的技术改造,提高了高压气系统运行效率,满足及时启动CP工况的系统要求。该技术改造缩短单次CP启动高压气机运行时间,实现了高压气系统节能运行,具有一定工程有效性。     

松花江公路大桥所处环境条件调查及检测

在建松花江公路大桥位于东北寒冷地区,其易受冻融循环作用的影响,因此,对大桥所处地区的气温、湿度、降雪量、冰冻时间、年冻融循环次数等进行全面的调查和测试是十分必要的.为之,对大桥的腐蚀环境进行了详细调查,对大桥环境中的侵蚀性气体进行了检测,对大桥区域中的大气降水及松花江水质进行了分析,并对河床泥土侵蚀性离子进行了综合测试...     

核电站数字化反应堆保护系统停堆响应时间分析

为了评价出核电站数字化反应堆保护系统停堆响应的最大时间,根据数字化反应堆保护系统结构,分析出保护系统的响应过程须经过AI输入、IO总线通讯、CPU运算、网络通讯、DO输出处理。并基于DCS定周期扫描的运行方式,得出了各处理过程所需最大响应时间的计算方法,DCS停堆响应时间的评价值就是各部分最大响应时间的累加。最后提出了可缩短响应时间的改进方法。