Boundary Control of a Flexible Robotic Manipulator With Output Constraints

In this study, we consider a boundary control problem of a flexible manipulator with input disturbances and output constraints, achieving pre‐set performance attributes on position tracking error and the deflection error at the end of the beam. The dynamics of the system are represented by partial differential equations (PDEs). With the Lyapunov's direct method, a boundary controller with disturbance observer is designed to regulate the angular position and suppress elastic vibration simultaneously. The proposed control scheme allows the errors to converge to an arbitrarily small residual set, with convergence rate larger than a pre‐specified value. Numerical simulations demonstrate the effectiveness of the proposed scheme.     

声表面波器件的反射特性及性能

为了准确分析反射型声表面波器件参数对其性能的影响,基于耦合模理论和P矩阵方法建立了器件的耦合模模型,分析得到器件的电反射特性即反射系数S11曲线,并在128°Y-X LiNbO3压电基片试制了频率为90 MHz的多种参数的器件,分析与测试结果表明:单个叉指换能器器件的S11中心频率为91.26 MHz,幅值为-20.58 dB,与理论分析结果91.44 MHz和-19.21 dB相近;带有反射栅的器件比单个叉指换能器件在中心频率处S11幅值增大约8.5 dB,谐振峰增多,时域曲线有明显的反射峰信号,验证了反射栅的反射特性;叉指换能器叉指对数减小使器件中心频率处的S11幅值减小,时域中的回波信号更尖锐,信噪比明显增大,表明对数较多的IDT具有较强的反射特性,对回波信号干扰较大,过小的叉指对数对器件声电转换效率影响很大,会使器件性能下降;较大的反射栅指条数对回波信号影响不大,但过小的指条数会降低反射栅反射系数,使得回波信号信噪比减小,纹波增多.     

基于SiPESC.OPT的透平低压排汽缸优化设计

针对提高蒸汽透平机组效率的需求,基于SiPESC.OPT集成软件平台,集成SolidWorks,ICEM和CFX等多个软件构建透平低压排汽缸优化设计系统.系统采用参数化建模、三维黏性流体分析和蚁群算法等多种手段,对某型号透平低压排汽缸模型进行优化设计.结果表明,优化后平均压力恢复因数提升188.31%,出口气流不均匀分布因数明显下降.该优化设计系统能有效提高透平低压排汽缸气动性能.     

药物信息服务实践应用的信度与效度分析

为建立科学的药物信息服务评价体系,我们采用问卷调查法对新疆医科大学第四附属医院药房及患者信息进行系统性调查,利用Excel和SPSSStatistics进行数据整理分析,采用Cronbach＇sAlpha系数、因子分析等方法对问卷做了信度和效度评价分析,初步提出了医院药物信息服务的要素．结果,本次研究的过程和方法为他人在药物信息乃至其它信息分析中提供重要的参考依据．     

Road Friction Coefficient Real-Time Identification Based on the Tire Dynamic Friction Model

Road friction coefficient real-time estimation methods is an important issue and problem in automotive active safety con- trol system development. First a fixed feedback gain sliding mode observer of road adhesion coefficient is designed through the es-tablishment of tire/road dynamic friction model in this article. The simulation results shows that the observer can well real-time iden-tify the current road adhesion characteristics. And more importantly, the observer only need wheel speed signal and the braking torque （brake pressure） signal, so the system is low cost, and its adaptability is good. There is no doubt this estimation method has a good application prospect.     

An algorithm for automatic 2D finite element mesh generation with line constraints

In this study, an algorithm is designed specifically for automatic finite element (FE) mesh generation on the transverse structure of hulls reinforced by stiffeners. Stiffeners attached to the transverse structure are considered as line constraints in the geometry boundary. For the FE mesh generation used in this study, the line constraints are treated as boundaries and by that means the geometry domain attached to the line constraints is decomposed into sub-domains, constrained only by the closed boundaries. Then, the mesh can be generated directly on those sub-domains by the traditional approach. The performance of the proposed algorithm is evaluated and the quality of the generated mesh meets expectations.     

Self-similarity of parallel machines

Self-similarity is a property of physical systems that describes how to scale parameters such that dissimilar systems appear to be similar. Computer systems are self-similar if certain ratios of computational forces, also known as computational intensities, are equal. Two machines with different computational power, different network bandwidth and different inter-processor latency behave the same way if they have the same ratios of forces. For the parallel conjugate gradient algorithm studied in this paper, two machines are self-similar if and only if the ratio of one force describing latency effects to another force describing bandwidth effects is the same for both machines. For the two machines studied in this paper, this ratio, which we call the mixing coefficient, is invariant as problem size and processor count change. The two machines have the same mixing coefficient and belong to the same equivalence class.     

Dynamic consistency in process algebra: From Paradigm to ACP

The coordination modelling language Paradigm addresses collaboration between components in terms of dynamic constraints. Within a Paradigm model, component dynamics are consistently specified at various levels of abstraction. The operational semantics of Paradigm is given. For a large, general subclass of Paradigm models a translation into process algebra is provided. Once expressed in process algebra, relying on a correctness result, Paradigm models are amenable to process algebraic reasoning and to verification via the mCRL2 toolset. Examples of a scheduling problem illustrate the approach.     

A shape prior constraint for implicit active contours

We present a shape prior constraint to guide the evolution of implicit active contours. Our method includes three core techniques. Firstly, a rigid registration is introduced, using a line search method within a level set framework. The method automatically finds the time step for the iterative optimization processes. The order for finding the optimal translation, rotation and scale is derived experimentally. Secondly, a single reconstructed shape is created from a shape distribution of a previously acquired learning set. The reconstructed shape is applied to guide the active contour evolution. Thirdly, our method balances the impact of the shape prior versus the image guidance of the active contour. A mixed stopping condition is defined based on the stationarity of the evolving curve and the shape prior constraint. Our method is completely non-parametric and avoids taking linear combinations of non-linear signed distance functions, which would cause problems because distance functions are not closed under linear operations. Experimental results show that our method is able to extract the desired objects in several circumstances, namely when noise is present in the image, when the objects are in slightly different poses and when parts of the object are invisible in the image.     

紧密衔接工序组联动的综合调度算法

由于现有的工序间存在紧密衔接条件的复杂产品综合调度问题, 采用的移动交换算法不易于软件实现且没有考虑移动工序后产生的连锁反应引起较高算法复杂度的问题, 提出将具有紧密衔接约束条件的工序组进行统一联动的综合调度算法.该算法利用将具有紧密衔接约束条件的工序分组的扩展加工工艺树模型, 按路径上属于工序组的工序个数多少确定所在路径工序组调度的次序, 通过降低对工序组的限制要求降低算法复杂度; 对于被调度工序组中各工序的前序工序, 按工序组中工序的加工顺序确定调度次序, 对某个工序的前序工序采用复杂度较低的拟关键路径法确定工序的调度次序; 调度完所有紧密衔接工序组后, 剩余的标准工序按拟关键路径法确定调度顺序; 采取工序首次适应调度算法调度标准工序和工序组, 由于工序组中工序采取按序紧密衔接的联动调度方式确定工序组的开始时间, 避免了二次调整, 进一步降低了算法复杂度. 分析和实例表明, 所提出的综合算法比以往算法复杂度更低, 调度结果更优且更易于实现.