Fuzzy boundary layer tuning for sliding mode systems as applied to the control of a direct drive robot

Chattering in the control signal is a significant problem in sliding mode control (SMC). The boundary layer approach is one of the many modifications proposed in the literature to avoid the chattering. In this approach, instead of the discontinuous SMC, a continuous feedback control law is employed in a boundary layer around the sliding surface. The thickness of the boundary layer is an important design parameter. This paper proposes a fuzzy online tuning method to adjust the boundary layer thickness for the best system performance without chattering. The method features the measurement of the chattering in the control signal. The paper validates the performance of the algorithm by experiments on a direct drive robot with a range of different payloads.     

Uniform strength for large deflections of cantilever beams under end point load

Analysis is conducted for slender beams with a varying cross-section under large non-linear elastic deformation. A thickness variation function is derived to achieve optimal - constant maximum bending stress distribution along the beam for inclined end load of arbitrary direction. Closed form solutions are derived for the large deflections that correspond to the various loading conditions. The analysis is repeated for a beam with optimally varying width (for arbitrary end force) and the width variation function is also determined.     

网络资源的多层监测方法与实现

设计了针对网络资源不同层次进行监测的实现方法,这些层次包括：网络传输层对象（网络服务器性能、TCP、UDP实现过程）、应用层对象（主要是业务数据库）、表示层对象（页面及相关的脚本行为）、用户（浏览器）以及Web服务（HTTP协议实现过程）。对于不同层次的数据,采用了不同的采集方法,并实现了对不同监测资源的重新组合分析。在分层获取、分析、存储数据基础上进行了统一身份认证、统一展示标准和指标集成展示,从而实现了分布式监测系统的集成。     

一种卷板填充分层递归排样的优化算法

研究了卷板填充排样问题,提出了一种分层递归排样的优化算法。算法使用水平剪切线将卷板分层,每层的宽度和卷板宽度相同,高度和层最左端的主毛坯高度相同;通过调用递归过程确定卷板中层的排列,为各层选定主毛坯,并确定毛坯的排列方式;采用分支定界技术缩小搜索空间。实验结果说明该算法比文献中最近报道的几种算法都有效。     

回转体头部压力分布规律及其对转捩点的影响

以圆头回转体为研究对象,头部线型采用双参数椭圆曲线,利用面元法求解绕流势流流场,利用F.W.Scholkemeier的积分方法,确定该压力分布下的层流边界层,利用P.S.Granville方法求解边界层转捩点.通过变换头部线型参数,以最小压力系数绝对值的下降方向为搜索方向,研究不同头型压力分布的变化规律及其对转捩点的影响.结果表明:最小压力系数绝对值越小的头型其最小压力点离头部驻点的距离越近;不同头型的转捩点不光与其压力分布有关,而且还与其头部长径比有关.     

Microstructure and properties of (Sr, Ca)CuO2/(Sr, Ca)RuO3 multilayers

Epitaxial multilayer thin films of infinite-layer (Sr, Ca)CuO₂ and perovskite (Sr, Ca)RuO₃ have been prepared on (100) SrTiO₃ substrates by multitarget rf magnetron sputtering. X-ray diffraction analyses revealed that the multilayer structure of (Sr, Ca)CuO₃/(Sr, Ca)RuO₃ was successfully fabricated with a minimum layer thickness of 20 Å. Transmission electron microscopy measurements of the multilayers indicated that there was no dislocation which normally exists in single-layer films with an infinite-layer structure. Resistivities of multilayer films at room temperature ranged from 1 to 10 m cm and showed semiconductor-like dependence against the temperature.     

高压XLPE电缆缓冲层烧蚀故障机理分析与结构优化

高压交联聚乙烯(cross-linked polyethylene,XLPE)电缆缓冲层烧蚀故障频发,在行业内引起广泛关注。电缆结构优化有利于解决放电烧蚀问题,文中从缓冲层放电灼伤机理角度出发,建立电缆有限元模型进行电场仿真,分析讨论不同结构参数下气隙电场分布的变化,并开展模拟试验对结构优化方案进行研究。结果表明：在满足电缆设计要求的前提下,减小缓冲层厚度、减小轧纹深度、增加金属套和缓冲层的挤压深度有利于减弱接触不良导致的气隙电场畸变;平滑铝套结构与缓冲层的接触电阻较小,在抑制缓冲层放电烧蚀故障方面具有优势。     

FMQL45T900平台千兆以太网三层交换功能实现

随着以太网通信技术的发展,局域网子网间的通信业务增长迅速,而适用于子网间数据通信的传统路由器因为其转发速度慢、用户配置复杂等缺点,难以满足当前大量跨子网以及虚拟局域网之间通信数据量的需求。基于片上系统(System-on-Chip, SoC)平台FMQL45T900型号的FPGA芯片,采用VHDL硬件描述语言,自主研发了12端口的千兆以太网三层交换功能,并已在相应的硬件平台上进行了功能验证和性能测试。实验结果表明,基于固定长度链表的哈希查找方式实现简单、查找高效、复杂度低,该研究成果可在某些需要进行数据灵活交换的特殊的场景下进行应用。     

基于蝴蝶优化的配电线路双层迭代降损方法研究

为解决10 kV长配电线路损耗大、电压质量差及降损设备年投资回报率低等问题,提出一种结合蝴蝶优化的配电线路双层迭代降损增效方法。首先,考虑线路负荷三相不平衡,应用电力系统仿真软件OpenDSS建立目标配电线路分相潮流仿真模型。其次,增加10 kV线路无功补偿装置容量与位置以及调压器分接头挡位与位置为控制变量,建立以考虑全寿命周期成本(life cycle cost, LCC)的年投资回报率最大为目标的外层规划模型,以年有功损耗及年平均电压偏移量最小的多目标为内层运行模型。然后,利用蝴蝶算法通过Python调用OpenDSS潮流计算模型仿真,得到潮流结果和理论线损并求解降损模型。最后,以某供电公司线路为算例进行验证,结果表明该方法能为线路降损提供实用的实施方案。     

Self-Adhesive Polydimethylsiloxane Foam Materials Decorated with MXene/Cellulose Nanofiber Interconnected Network for Versatile Functionalities

Polydimethylsiloxanes (PDMS) foam as one of next-generation polymer foam materials shows poor surface adhesion and limited functionality, which greatly restricts its potential applications. Fabrication of advanced PDMS foam materials with multiple functionalities remains a critical challenge. In this study, unprecedented self-adhesive PDMS foam materials are reported with worm-like rough structure and reactive groups for fabricating multifunctional PDMS foam nanocomposites decorated with MXene/cellulose nanofiber (MXene/CNF) interconnected network by a facile silicone foaming and dip-coating strategy followed by silane surface modification. Interestingly, such self-adhesive PDMS foam produces strong interfacial adhesion with the hybrid MXene/CNF nano-coatings. Consequently, the optimized PDMS foam nanocomposites have excellent surface super-hydrophobicity (water contact angle of ≈159^o), tunable electrical conductivity (from 10⁻⁸ to 10 S m⁻¹), stable compressive cyclic reliability in both wide-temperature range (from −20 to 200 ^oC) and complex environments (acid, sodium, and alkali conditions), outstanding flame resistance (LOI value of >27% and low smoke production rate), good thermal insulating performance and reliable strain sensing in various stress modes and complex environmental conditions. It provides a new route for the rational design and development of advanced PDMS foam nanocomposites with versatile multifunctionalities for various promising applications such as intelligent healthcare monitoring and fire-safe thermal insulation.