Inverted pendulum stabilization: Characterization of codimension-three triple zero bifurcation via multiple delayed proportional gains

The paper considers the problem of stabilization of systems possessing a multiple zero eigenvalue at the origin. The controller that we propose, uses multiple delayed measurements instead of derivative terms. Doing so, we increase the performances of the closed loop in presence of system uncertainties and/or noisy measurements. The problem formulation and the analysis is presented through a classical engineering problem which is the stabilization of an inverted pendulum on a cart moving horizontally. On one hand, we perform a nonlinear analysis of the center dynamics described by a three dimensional system of ordinary differential equations with a codimension-three triple zero bifurcation. On the other hand, we present the complementary stability analysis of the corresponding linear time invariant system with two delays describing the behavior around the equilibrium. The aim of this analysis is to characterize the possible local bifurcations. Finally, the proposed control scheme is numerically illustrated and discussed.     

图象中心加权中值滤波的改进与应用

中心加权中值滤波具有较好的边缘保持特性及快速实现的特点，但滤噪能力低于其它中值滤波。此文探 讨对中心加权中值滤波的改进方法，提出了中心加权分级实现的思想，使之同时具有边缘保持、快速滤波和噪声去 除的理想效果。     

腐植酸用于中央空调定期水质稳定处理

通过对腐植酸的应用试验 ,阐述了腐植酸有良好的阻垢、缓蚀性能 ,应用于中央空调循环水系统能取得良好的经济效益。     

GaAsP混晶中Fe杂质能级的无序分裂

GaAsP混晶中Fe杂质基态与激发态的光离化截面的幅度比S(x)随组分x有规律地变化,本文提出一种理论估算,认为它是Fe能级无序分裂的结果.     

无线网络的分布式入侵检测模型研究

对无线网络安全方面的问题和无线网络的特点进行了概述,分析了无线网络的入侵检测模型进行了分析,提出了一个分分布式的无线网络入侵检测系统模型,并给出了具体的拓扑结构设计,通过实验,证明这个入侵检测系统的设计和实现具有很好的安全性,其安全保障具有一定的实用性,值得推广。     

Teleoperation to robotics at Langley Research Center

A popular conception of the evolution of remote manipulation is a progression from teleoperation to telerobotics and then to robotics. This is logical because in going from teleoperation to robotics there would appear to be a continuous decrease in manned workload, an increase in system complexity, and an increase in the amount of intelligence in the automated system. During the past 10 years NASA Langley Research Center (LaRC) has been involved in all three areas. The decision on which system is most suitable for a task depends not only on the task, but on the allocation of responsibility for intelligence or high level control. The operator may be responsible for all intelligence and control functions, they may be shared between the operator and the automated system, or they may be performed by an autonomous system. This paper discusses some of the experiences in each area in applications related to possible space tasks and some of the lessons learned.     

关于加快发展南通市家用纺织业的思考

立足国内家用纺织品发展的大环境,在重点考察了南通、上海、无锡等地家用纺织业现状的基础上,就加快南通家用纺织业的发展提出了打造“南通国际家用纺织品研发（设计）中心”的具体思路。     

基于PBIL算法的物流中心选址问题研究

介绍了基于种群竞争式学习的PBIL算法的基本原理和实现方法。比较了PBIL算法和遗传算法求解过程的异同点。分析了PBIL算法在物流中心选址问题中的应用,并且通过实例验证了算法的可行性和有效性,证明了PBIL算法比遗传算法具有更高的搜索效率。     

一种改进的激光光斑中心检测算法在路基沉降测量中的实现

通过检测激光光斑中心位置偏移的方法来监测路基沉降,是一种便携易布设的方法。而激光光斑中心的检测可以使用重心法、圆拟合、椭圆拟合、高斯曲面拟合。采用重心法运算简单精度低,而采用拟合法精度更高,由于光轴与靶面间存在夹角,光斑更近似看作一椭圆,应用椭圆拟合,辅之以亚像素精度分割,Canny边缘提取后获得了较为理想的沉降监测精度。     

基于MAS的加工中心协同开发系统框架及建模

构建具有一定智能响应特征的加工中心协同开发系统对于缩短产品开发周期具有重要作用。为实现加工中心分布式协同设计软件系统的构造,通过分析系统开发需求,利用目前分布式智能软件系统研究的主流技术——MAS（Multi-Agent System）技术建立了系统的框架。针对系统拟实现的总任务,将系统分为不同的功能模块,并构造具有不同功能的Agents组织,描述了系统的开发框架和网络体系结构,对Agents之间的交互进行定义,最后利用统一建模语言（UML）对系统进行建模。加工中心协同开发系统框架和模型的建立为真正实现具有完善功能的软件系统奠定了坚实的基础,可在很大程度上避免软件开发的失败。