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。     

Thermal characteristics of packed bed storage system

The thermal behaviour of a packed bed storage system charged with hot air is modelled using two partial differential equations representing the energy conservation in the air and solid phases constituting the bed. These two equations are coupled through the heat exchange process between the two phases. A fully implicit numerical scheme based on forward, upwind and central differencing for the time, first and second space derivatives, respectively, is used to solve the modelling equations. Marching technique is used for the air equation and a tri-diagonal matrix solver is employed to solve the solid equation. The solution yields the thermal structure of the bed, namely the air and solid temperature distribution inside the bed at any particular time, and the variation of total energy stored in the bed with time. The effect of bed length, solid diameter and void fraction on the thermal characteristics of the packed bed is studied. Further, the performance of the bed under variable inlet air temperature and mass flow rate is investigated.     

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。     

Multiobjective dynamic load-dispatching method for optimal operation of power systems

A new practical method is proposed which gives a quasi-optimal solution of the dynamic load-dispatching problem formulated by a multiconstraint multiobjective optimization problem. Here, the multiple constraints are rate reserve constraints and power flow ones, and the multiple objectives are fuel cost and CO₂ emission. The proposed method is an integration of the following three techniques: (1) “Group Dispatch Scheme,” which is developed by the authors, is used to satisfy a violated constraint easily. This scheme consists of three steps. The first step is to classify all generators into two groups. One is the group which should be more loaded to satisfy the violated constraint, and the other is the should-be less loaded group. The second step is to add some load to the former group, and to subtract the same load from the latter. The third step is to dispatch each group load to each groups generators, respectively; (2) the dynamic load-dispatching algorithm is used which provides, in practical time, quasi-optimal generation trajectories; (3) the conventional weighting parametric method is used to obtain a Pareto optimal solution of multiobjective problems. The effectiveness of the method is clarified by a computer simulation on the actual power system of Kansai Electric Power Company.     

A Video Server cost/performance Estimator tool

The Video Server Estimator (VSE) is an analytical tool which allows a user to perform a cost/performance analysis of video servers with hierarchical storage. The underlying model comprises multiple systems, main memory, expanded storage, disks and a tape library. The main objective of the tool is to optimally allocate the video files to different storage media based on the system parameters and the video file request probability distribution. The cost and the size of the video server that can accommodate a customer profile are determined. Furthermore, the impact of design parameters on the cost and performance are examined through a parametric analysis.     

34CrMoV结构钢动态再结晶行为研究

应用Gleeble-1500热模拟实验机进行等温压缩试验,研究了变形工艺参数对34CrMoV结构钢动态再结晶行为的影响.结果表明,其流变应力随变形温度升高而降低,随应变速率提高而增大;随着应变速率的降低,应变量的增加和变形温度的升高,动态再结晶速度加快且奥氏体晶粒得到细化.     

Analysis of low load transients for the Vandellòs-II NPP: Application to operation and control support

The Technical University of Catalonia (UPC) has been jointly working with the Asociación Nuclear Ascó-Vandellòs (ANAV) for a number of years in order to establish, qualify and use best estimate (BE) models for the reactors under the control of ANAV. ANAV is the consortium that is responsible for operation of the Ascó and Vandellòs-II reactors. The reactors are Westinghouse-design three-loop PWRs with an approximate electrical power of 1000 MW. The existing integral plant models for each plant are currently used for many different purposes among which are support of plant operation and control. Quite a number of studies have been done in order to improve both safety and plant competitiveness. Most of these dynamic analyses were carried out in relation to transients starting at nominal full power or at least, very close to full power. This paper develops a specific use of the Vandellòs-II plant model for operation and control support at low power involving new ranges of system actuation parameters. It also examines scenarios that are somewhat different from those typically analysed. The study starts showing the results of an assessment case, which is a start-up test and provides some additional qualification, and subsequently attempts to establish calculations to support both an improvement in feed water controls and to set up operating recommendations for low-load manual operation of feed water turbo-pump. Both results hopefully, will produce an outcome, which leads to an improvement in safety and reduces reactor trip probability.     

Monolithic Catalysts with Low Noble-Metal Content for Exhaust Purification of Small Gasoline Engines

A series of low noble-metal coment monolithic catalysts for exhaust purification of small gasoline engines was investigated, and it was found that the Pt/Rh-OSM/Al2O3 （where OSM was oxygen storage material） catalyst with Ce0.5Zr0.5-MnOx（3%MnOx） OSM held low light-off temperature for CO, HC, and NO; quite wide three-way window, and outstanding thermal stability. The catalyst could efficiently comrol exhaust emission of small gasoline engines.     

Binary rewriting and call interception for efficient runtime protection against buffer overflows

Buffer overflow vulnerabilities are one of the most commonly and widely exploited security vulnerabilities in programs. Most existing solutions for avoiding buffer overflows are either inadequate, inefficient or incompatible with existing code. In this paper, we present a novel approach for transparent and efficient runtime protection against buffer overflows. The approach is implemented by two tools: Type Information Extractor and Depositor (TIED) and LibsafePlus. TIED is first used on a binary executable or shared library file to extract type information from the debugging information inserted in the file by the compiler and reinsert it in the file as a data structure available at runtime. LibsafePlus is a shared library that is preloaded when the program is run. LibsafePlus intercepts unsafe C library calls such as strcpy and uses the type information made available by TIED at runtime to determine whether it would be ‘safe’ to carry out the operation. With our simple design we are able to protect most applications with a performance overhead of less than 10%. Copyright © 2006 John Wiley & Sons, Ltd.