双机械臂协调：以运动学为基础的模型分析与动态补偿控制方法

本文建立了双机械臂协调系统的主从式控制的非结构模型，并针对两臂具有相同特性和不同特性这两种情形作了稳定性分析，提出特性校正的方法，本文还利用内模原理设计出动态补偿器来克服标定约束的不确定性对系统控制品质的影响，最后给出了实验结果。     

An object-oriented manufacturing control system

This paper presents the development of an event-driven control architecture and its implementation in a physical simulator of a computerized manufacturing system using object-oriented techniques. The architecture was developed to improve the efficiency of handling concurrent control events in the DOS environment. In the implementation, the control system of the physical simulator consists of four distinct layers of control devices: a PC/386 computer, a microcontroller, I/O modules and the system's control devices such as motors, solenoids and sensors. A control program residing in the PC/386 coordinates system-level tasks such as event scheduling, while a BASIC program running on the microcontroller handles all low-level control tasks such as sensor monitoring and motion control. The concepts and developments presented in this paper should help in implementing an efficient control system for both CIM systems and their physical simulators.     

An object-oriented product database using ROSE

A product database for a design and manufacturing enterprise serves as a repository for the data needed to manufacture a product. This paper discusses how an object-oriented persistent object manager named ROSE, under development at Rensselaer, has been used in the Rensselaer CIM program to develop a STEP/PDES-compliant product database for its research test bed. In so doing, it provides an overview of the requirements for a product database system in an integrated design and manufacturing facility, and it discusses how the chosen system meets these requirements.     

Categorical ML — Category-theoretic modular programming

We consider an extension of the functional programming language Standard ML with a modular structure based upon concepts in category theory such as categories, functors, natural transformations and adjunctions. In essence, we are following the categorical imperative of considering arrows as well as objects. This is intended to enforce a certain mathematical rigour on the programmer, so that the only programs that can be expressed are those with a categorical significance. The essentially algebraic nature of category theory means that we may generate equational correctness conditions for the modular structure of programs, thus separating the correctness of individual functions from that of modules. We describe this programming language, give examples of its use, and explain how it is implemented in a type system.     

Efficient prolog programming

This paper presents some basic programming strategies for Prolog programmers. The strategies are based on knowledge about the operational behaviour of the Warren Abstract Machine (WAM). The aim is to provide simple principles for making programs both faster and less space-consuming. The programming hints given are mostly local, i.e. only a single clause or procedure need be considered at a time.     

An extended minimax disparity to determine the OWA operator weights

This paper contributes to extend the minimax disparity to determine the ordered weighted averaging (OWA) model based on linear programming. It introduces the minimax disparity approach between any distinct pairs of the weights and uses the duality of linear programming to prove the feasibility of the extended OWA operator weights model. The paper finishes with an open problem.     

Integration of knowledge-based systems with data processing

Transaction Oriented Prolog-Online Environment is a multi-user, mainframe implementation of the logic programming language Prolog, specially designed and developed for the data processing environment. This article describes the background, functionality, implementation and use of TOP-ONE, stressing that applications of knowledge-based systems technology to data processing environments will achieve full success only when existing systems and existing conventional data are incorporated within the applications.     

动态矩阵控制系统稳定域的根轨迹分析

本文使用根轨迹技术从理论上分析了纯滞后工业过程参数变化对系统稳定性的影响,得到了一个与设计参数有关的稳定域,从而为设计参数自动整定提供了参考。     

基于窗口的面向对象的GUI设计

文中讨论了一种基于窗口的对象用户界面设计思想及方法，详细描述了各种类的定义。在ＤＯＳ环境下运用ＷａｔｃｏｍＣ＋＋语言在微机上开发运行。它可以使用户方便地进行再开发工作，界面运用事件处理方式由窗口、弹出菜单、图标、按钮等组成。效果良好。