Sliding-mode and proportional-derivative-type motion control with radial basis function neural network based estimators for wheeled vehicles

An obstacle avoidance problem of rear-steered wheeled vehicles in consideration of the presence of uncertainties is addressed. Modelling errors and additional uncertainties are taken into consideration. Controller designs for driving and steering motors are designed. A proportional-derivative-type driving motor controller and a sliding-mode steering controller combined with radial basis function neural network (RBFNN) based estimators are proposed. The convergence properties of the RBFNN-based estimators are proven by the Stone–Weierstrass theorem. The stability of the proposed control law is proven using Lyapunov stability analysis. The obstacle avoidance strategy utilising the sliding surface adjustment to an existing navigation method is presented. It is concluded that the driving velocity and steering-angle performances of the proposed control system are satisfactory.     

Older adults’ use of smart phones: an investigation of the factors influencing the acceptance of new functions

After adopting mobile phones, most older adults use them only for calling and SMS. The purpose of this study is to extend their usage of mobile phones to new functions. To understand older adults’ requirements of mobile phones, a questionnaire was constructed and 351 Chinese older adults were recruited to complete the questionnaires. Data collected through the questionnaires were analysed using explorative factor analysis. The results revealed that older adults’ requirements were composed of 10 factors: Find a Specific Function, Awareness and Attractiveness, Readability, Personal Concern, Soft Keys and Multi-tap, Hardware Capacity, Touch Screen, Concern of Learning, Connectivity, and Social Influence. Then, from the above 10 factors, the 6 most important factors were revealed using multiple linear regression analysis. The results imply that accepting new functions is different from accepting a product. Readability and Find a Specific Function, which are critical for older adults’ acceptance of feature phones, are not determinants of their acceptance of new functions in smart phones.     

轨迹空间中基于特征符号搜索算法的非刚体三维运动重建研究

现有研究一般是在正交约束条件下采用最小二乘法来求解三维运动轨迹基重建问题,然而这些算法的性能容易受噪声影响,产生不适定性。为此,通过利用离散线性的方法为三维运动搜索最优轨迹基系数和三维结构,建立了一种基于特征符号搜索算法的三维运动轨迹基重建方法。利用该方法,对一系列单目图像序列进行了重建实验研究,结果表明所提出的方法是可行的,并提高了重建算法的准确性。     

Bezier曲线到AH-Bezier曲线的升阶算法

关于曲线升阶,已有的结论往往限于同类曲线之间。为了突破这一限制,考虑不同类曲线间的升阶,关注代数多项式空间中的Bezier曲线到代数双曲多项式空间中的AH-Bezier曲线的升阶。研究从基函数入手,利用Bezier和AH-Bezier共有的求导降阶的特点,结合矩阵分块的思想,先给出AH-Bezier基到Bernstein基的转换矩阵,进而推出控制顶点的升阶公式,最后给出升阶算法。结果表明,任意n次Bezier曲线可以通过该算法升到n＋3阶（等同于n＋2次）的AH-Bezier曲线。算法实现了Bezier到AH-B＆#233;zier曲线模型的精确转换。     

Thermoplastic extrusion—the mechanism of the formation of extrudate structure and properties

Systems processed by thermoplastic extrusion can be regarded as heterophase polymer melts of incompatible water-plasticized biopolymers. In the process of thermoplastic extrusion, proteins and polysaccharides are melted at high pressure and temperature below the temperature region of their thermal decomposition. Dispersed particles of these systems can be deformed in flow. The mixed-melt anisotropic structure, formed in flow, is fixed by rapid conversion of the melt jet that lets the extruder die from a viscous state to a rubber-like state and then to a glassy state caused by cooling and drying. Incompatibility of proteins and polysaccharides in their water-plasticized melt mixtures impacts on structure formation and texturization during thermoplastic extrusion. Presented at the 20th ISF World Congress and 83rd AOCS Annual Meeting and Expo, May 10–14, 1992, Toronto, Ontario, Canada.     

一类含指数函数的Bézier型曲线的构造

曲线的设计与修改是CAD/CAM和数控技术研究的一个重要课题,具有广泛的应用背景.为了满足表示和设计复杂自由曲线的需求,论文构造了一类基于指数函数的曲线-E曲线,给出了基函数及E曲线的定义与性质.通过研究发现,所构造的E曲线具有Bézier曲线类似的一系列优良性质.     

股指期货套利管理系统

针对我国股指期货市场存在的问题——理论与实际应用脱节,造成股指期货市场的发展需求和实际发展条件不平衡,提出构建股指期货套利管理系统的策略. 依据实地调研资料进行系统设计,使用C#实现股指期货套利管理系统（SIFAM-System）. 系统实现了基于基差的跨期套利和基于无套利区间的跨期套利,以及与套利相关的信息管理功能. SIFAM-System利用计算机实现模型计算、行情监控、套利机会的判断及开平仓,达到了辅助投资者决策的目的,也为股指期货市场的发展问题提供了从理论到实现的解决策略.     

现场总线技术在非能动压水堆核岛中的应用

本文结合非能动压水堆核电控制系统结构,详细介绍Profibus现场总线和Modbus现场总线在非能动压水堆核电控制系统中的应用,包括两种现场总线技术的结构配置及和现场智能仪控设备的连接,并简要分析现场总线技术在核电行业应用的优点和需克服的技术问题。     

A sum of squares approach to backstepping controller synthesis for piecewise affine and polynomial systems

This paper develops a backstepping controller synthesis methodology for piecewise polynomial (PWP) systems in strict form. The main contribution of the paper is to formulate sufficient conditions for controller design for PWP systems in strict form as a sum of squares feasibility problem under the assumption that an initial control Lyapunov function exists to start the iterative backstepping procedure. This problem can then be translated into a convex SDP problem and solved by available software packages. The controller synthesis problem for PWP systems in strict feedback form is divided into two cases. The first case consists of the construction of a sum of squares polynomial control Lyapunov function for PWP systems with discontinuous vector fields. The second case addresses the construction of a PWP control Lyapunov function for PWP systems with continuous vector fields. One major advantage of the proposed method is the fact that it can handle systems with discontinuous vector fields and sliding modes. The new synthesis method is applied to several numerical examples. One of these examples offers the first convex optimization solution to piecewise affine (PWA) control of a benchmark circuit system addressed before in the literature using non‐convex PWA control solutions. Copyright © 2013 John Wiley & Sons, Ltd.     

高维力学系统的能量方程

在低维系统中,能量方程因其明晰的物理意义而得到广泛的应用,而研究高维力学系统的能量方程也同样具有理论价值和实际意义,如位移对时间的导数是速度,速度对时间的导数是加速度,这些具有明显的物理意义,而加速度的导数其物理意义就不是很清晰了,但具有理论上的意义.本文应用广义经典力学中关于广义拉格朗日函数、广义动量和广义哈密顿函数等概念,推导了高维系统的能量方程,文中举了实例具体说明新方程的应用,为力学数学系统能量方程的推广提供了一种途经.