How to Control Robots Interacting with Dynamic Environment

The goal of this paper is to shed light on the control problem of constrained robot motion from the aspect of the dynamical nature of the environment with which the robot is in contact. Therefore, the criticism of traditional hybrid control which allows position/force feedback loops to split into independent control with respect to position and force, is not the main point we want to make. Reference to the papers written by the founders of hybrid control and their numerous followers served only to better understand the reason and motivation for suggesting a different approach to control of robots interacting with environment.The paper has a predominantly review character, based on recently published work. It also contains some new, unpublished results in the framework of the unified approach to the position/force control of robots, proposed by the present author and his co-workers. By pointing to the possibility of introducing an environment dynamics in the contact tasks of the machining type, the author emphasizes that the proposed dynamically interactive control can be applied to a completely different class of tasks, in which a contact is made between the system (constructions or structure) and very specific kinds of dynamic environments.     

On the curing of a vinylester-urethane hybrid resin

Curing kinetics of a vinylester-urethane hybrid (VEUH) resin consisting of vinylester resin (VE) diluted in styrene and novolac type polyisocyanate (NPI) have been studied by differential scanning calorimetry (DSC). As VEUH is crosslinked via free radical polymerisation between the vinyl functions of styrene and VE, and polyaddition reaction between the secondary -OH groups of VE and -NCO of NPI, it was necessary to study these reactions separately. This was achieved by studying the curing with and without incorporating the NPI. The curing reaction was monitored by measuring the heat of reaction under isothermal and dynamic temperature conditions. Models describing the curing were developed, which are in good agreement with the experiments. A comparison between the curing of the VEUH and the VE resin without NPI leads to the conclusion that the curing of the VEUH as accessed by DSC is dominated by the radical polymerisation of styrene with VE although the two reactions are not time separated.     

计及PMU的混合非线性状态估计新方法

提出一种将同步相量测量单元（PMU）的直接电压相量量测变换为间接支路电流量测，并与监控与数据采集（SCADA）量测量一起进行混合迭代的非线性状态估计方法。对构造等效电流修正量而带来的间接量测误差进行了详细和定量的分析，并对该混合估计算法的精度进行了定性分析和定量计算。理论分析和算例表明，该方法可以获得较高的估计精度，在收敛次数和滤波效果上也有所改进。     

The Effect of Polymer Optoelectronic Properties on the Performance of Multilayer Hybrid Polymer/TiO2 Solar Cells

We report a study of the effects of polymer optoelectronic properties on the performance of photovoltaic devices consisting of nanocrystalline TiO₂ and a conjugated polymer. Three different poly(2‐methoxy‐5‐(2′‐ethylhexoxy)‐1,4‐phenylenevinylene) (MEH‐PPV)‐based polymers and a fluorene–bithiophene copolymer are compared. We use photoluminescence quenching, time‐of‐flight mobility measurements, and optical spectroscopy to characterize the exciton‐transport, charge‐transport, and light‐harvesting properties, respectively, of the polymers, and correlate these material properties with photovoltaic‐device performance. We find that photocurrent is primarily limited by the photogeneration rate and by the quality of the interfaces, rather than by hole transport in the polymer. We have also studied the photovoltaic performance of these TiO₂/polymer devices as a function of the fabrication route and device design. Including a dip‐coating step before spin‐coating the polymer leads to excellent polymer penetration into highly structured TiO₂ networks, as was confirmed through transient optical measurements of the photoinduced charge‐transfer yield and recombination kinetics. Device performance is further improved for all material combinations studied, by introducing a layer of poly(ethylene dioxythiophene) (PEDOT) doped with poly(styrene sulfonic acid) (PSS) under the top contact. Optimized devices incorporating the additional dip‐coated and PEDOT:PSS layers produced a short‐circuit current density of about 1 mA cm^–2, a fill factor of 0.50, and an open‐circuit voltage of 0.86 V under simulated AM 1.5 illumination (100 mW cm^–2, 1 sun). The corresponding power conversion efficiency under 1 sun was ≥ 0.4 %.     

混合集成型光学拾音器的设计与制作

通过混合集成型结构光学拾音器的光学设计和芯片设计，制作了包含微光学棱镜，光电探测器和信号放大电路的混合集成型光学拾音器。经过测试，发现有较好的信号输出特性，表明混合集成型光学拾音器已基本研制成功。     

Integrating scheduling and control functions in computer integrated manufacturing using artificial intelligence

Proper integration of scheduling and control in Flexible Manufacturing Systems will make available the required level of decision-making capacity to provide a flexibly-automated, efficient, and quality manufacturing process. To achieve this level of integration, the developments in computer technology and sophisticated techniques of artificial intelligence (AI) should be applied to such FMS functions as scheduling. In this paper, we present an Intelligent Scheduling System for FMS under development that makes use of the integration of two AI technologies. These two AI technologies — Neural Networks and Expert Systems — provide the intelligence that the scheduling function requires in order to generate goodschedules within the restrictions imposed by real-time problems. Because the system has the ability to plan ahead and learn, it has a higher probability of success than conventional approaches. The adaptive behavior that will be achieved contribute to the integration of scheduling and control in FMS.     

我国有线电视事业的现状和发展

本文详细系统地介绍了我国有线是视发展历史和现状，及其经营和管理方法。重点介绍了北美的ＣＡＴＶ技术发展动向。最后，指出我国ＣＡＴＶ事业发展中的应用重视的问题。     

信令网的核心--下一代信令转接点

本文在讨论了下一代信令转接点在满足传统信令网络功能的基础上，着重介绍了下一代的信令转接点上实现的号码携带、灵活路由等新业务，并如何实现传统STP面向下一代网络的平滑过渡。     

FAFFA加速的PO-MM研究复杂金属载体上线天线电磁特性

本文提出了一种快速远场近似(FAFFA)加速的混合物理光学矩量法(POMM),利用FAFFA加速计算矩阵方程中的矩阵矢量积,明显提高了计算效率.对物体表面上的远场组之间的耦合作用推导出了一组简洁的计算公式,并分析了计算复杂度.复杂金属组合体上线天线输入导纳、互导纳和方向性图的计算结果与文献结果一致.利用该方法分析计算了一个舰船模型上线天线的电磁特性.数值结果表明了这种方法的正确性和工程应用中的有效性.