基于压电陶瓷的柔性机械臂主动振动控制实验研究

柔性机构因其工作效率高,能量消耗低和结构简单等优点被广泛应用于机器人领域.但柔性机构由于刚度较低,易产生弹性振动,使机器人的定位精度和运动精度降低.为了验证在前期的工作中提出的柔性机械臂主动振动最优控制位置分析的正确性,搭建了一个基于Labview的测试系统.在柔性臂上不同位置粘贴压电片来实现对柔性臂不同位置的主动振动控制,通过测试系统得到最优控制位置处和最优控制位置附近的柔性机械臂振动的传感电压,根据控制前后传感电压的变化分析柔性臂抑制的强弱.根据实验结果显示,柔性臂在前三阶振动下,分别在其最优控制位置上获得最高的抑振率,从而验证了最优控制位置的有效性.     

Global output‐feedback stabilization for high‐order nonlinear systems with unknown growth rate

This paper considers the global stabilization via time‐varying output‐feedback for a class of high‐order uncertain nonlinear systems with rather weak assumptions. Essentially different from the existing literature, the systems under investigation simultaneously have more serious nonlinearities, unknowns, immeasurableness, and time‐variations, which are indicated from the unknown time‐varying control coefficients and the higher‐order and lower‐order unmeasured states dependent growth with the rate of unknown function of time and output. Recognizing that adaptive technique is quite hard to apply, a time‐varying design scheme is proposed by combining time‐varying approach, certainty equivalence principle and homogeneous domination approach. One key point in the design scheme is the selection of the design functions of time, in order to compensate/capture the serious unknowns and serious time‐variations, and another one is the design of a time‐varying observer to rebuild the unmeasured system states. With the appropriate choice of the involved design functions, the designed controller makes all the signals of the closed‐loop system globally bounded and ultimately converge to zero. Copyright © 2016 John Wiley & Sons, Ltd.     

基于蓝牙4.0的微型核辐射剂量计设计

针对目前个人核辐射剂量监测手段便携性差、实时性较差和持续监测能力不足等问题,设计了一种基于蓝牙4.0模块的微型低功耗核辐射剂量计;系统使用计数管探测辐射粒子,充分利用了MSP430混合信号处理器和蓝牙4.0模块的低功耗特性,体积小巧、续航能力强、运行稳定可靠;该剂量计配合手机APP即可单独使用,又可多台组网使用,可为人员提供持续可靠地实时剂量率监测和个人剂量分析,在核工业及核医学个人防护领域具有广阔的应用前景。     

改进萤火虫算法性能分析及其在WSNs网络覆盖中的应用

对改进萤火虫算法性能及其在WSNs网络覆盖优化中的应用问题进行了研究。分析了基本萤火虫算法的全局收敛性,针对其收敛效率低的缺陷,给出了算法改进策略,并证明了改进的萤火虫算法以概率1收敛于全局最优解,在此基础上,提出了基于萤火虫优化的网络覆盖算法,建立了以网络均匀度及网络覆盖率为准则的数学模型,推导了节点冗余度与网络覆盖率之间的关系,给出了节点休眠策略,并将节点部署划分成不同的阶段,在每个阶段,分别采用改进的萤火虫算法对模型进行求解,进而得到无线传感器网络最优覆盖,最后对经典测试函数和WSNs网络覆盖问题进行实验仿真,仿真结果表明改进的算法具有更加理想的运算结果,而且能有效地给出WSNs网络覆盖优化方案。     

基于PU2RC的下行多用户MIMO系统多模发送方案

针对有限反馈下行多用户多输入多输出（multiple-input multiple-output, MIMO）系统,提出了一种基于每用户正交码率控制（per user unitary rate control, PU2RC）的多模发送方案。该方案通过最大化系统的遍历和速率来自适应地选取发送模式,即系统同时传输的并行数据流数目。由于直接计算系统的遍历和速率比较困难,论文推导出它的一个上界,并以最大化该上界来简化发送模式的选取。仿真结果表明,所提方案的遍历和速率性能优于传统PU2RC方案,特别当系统中用户数不大或者信噪比较高时,性能有明显的改善。     

基于综合因子的H.264码率控制算法

针对H.264的JVT-G012算法在帧层对未编码的P帧采用平均分配比特、忽略了图像复杂度和P帧在图像组(Group of pictures,GOP)中的位置对码率控制影响的问题,提出了一种新的H.264码率控制算法,先利用P帧的图像复杂度和P帧在GOP中位置组成的综合因子来调整P帧的目标比特分配,再利用已编码帧的历史信息来调整当前编码帧的量化参数.通过实验表明,与JVT-G012算法相比,本文算法不仅提高了视频图像的质量,尤其是运动剧烈和纹理复杂的视频序列的图像质量,而且使得输出的实际码率更接近目标码率,提高了码率控制的精准性;与已有算法相比,在保持视频图像质量的情况下,进一步提高了码率控制的精准性.     

基于ESDA的山西省县域经济增长差异分析

采用ESDA技术,通过考察2001年~2010年山西省县域人均GDP增长率的空间分布特征及其动态变化,发现2001年~2010年山西省各地区人均GDP增长速度表现出显著的空间正相关。人均GDP增长速度聚集区的空间分布随时间的变化而变化,主要为HH类型和LL类型。     

Attainability of the minimum data rate for stabilization of linear systems via logarithmic quantization

This paper investigates the attainability of the minimum average data rate for stabilization of linear systems via logarithmic quantization. It is shown that a finite-level logarithmic quantizer suffices to approach the well-known minimum average data rate for stabilizing an unstable linear discrete-time system under two basic network configurations. In particular, we derive explicit finite-level logarithmic quantizers and the corresponding controllers to approach the minimum average data rate.     

Flow analysis of a ribbed helix lip seal with consideration of fluid–structure interaction

Ribbed helix lip seals for rotating shafts have been widely used to retain oil and exclude contaminants in many applications throughout the industry. The objective of this study is to better understand the basic flow behavior associated with the pumping process of a ribbed helix lip seal. The theoretical model consists of a flow analysis of the lubricating film of the hydraulic fluid in conjunction with a stress analysis of the lip seal distortion. The complicated mechanical interaction between the oil flow and rubber deformation was simulated using a coupled fluid–structure approach implemented in a commercial computational fluid dynamics (CFD) code ESI-CFD, ACE+®. The flow characteristics and rubber deformation around a ribbed helix lip seal were fully resolved in a pumping-rate test environment, where both air and oil sides were filled with oil initially. The three-dimensional pressure field solved by the model via the coupled flow-stress analysis was compared with the predictions obtained from the model via the nondeformable rubber assumption to elucidate the significant effect of the fluid–structure interaction on accurate simulation of the oil pumping behavior. In the rotating speed ranging from 1000 to 6000 rpm, both measured and calculated pumping rates increase with the shaft speed for a ribbed helix lip seal. As compared to the baseline case, calculations with considering the fluid–structure interaction at higher rotary speeds can result in thicker oil films, and in turn produce greater pumping rates.     

On detecting active worms with varying scan rate

Active worms have posed a major security threat to the Internet and many research efforts have focused on them. However, defending against them remains challenging due to their continuous evolution. In this paper, we study a new class of defense-oriented evolved worms, the Varying Scan Rate worm (the VSR worm in short). In order to circumvent detection by existing worm detection schemes, the VSR worm deliberately varies its scan rate according to these schemes’ weaknesses. To counteract the VSR worm, we design a new worm-detection scheme, the attack-target Distribution Entropy-based Dynamic detection scheme (DED detection for short). DED detection utilizes the attack-target distribution and robust statistical feature in conjunction with dynamic decision adaptation to distinguish worm-scan traffic from non-worm-scan traffic. We present a comparatively complete space of detection schemes and conduct extensive performance evaluations on the DED detection scheme compared with other schemes, using real-world Internet traces as background scan traffic. Our data clearly demonstrate the effectiveness of the DED detection scheme in detecting both the VSR worm and the traditional worm.