Design and experimental evaluation of a robust force controller for an electro-hydraulic actuator via quantitative feedback theory

This paper presents the design and experimental evaluation of an explicit force controller for a hydraulic actuator in the presence of significant system uncertainties and nonlinearities. The nonlinear version of quantitative feedback theory (QFT) is employed to design a robust time-invariant controller. Two approaches are developed to identify linear time-invariant equivalent model that can precisely represent the nonlinear plant, operating over a wide range. The first approach is based on experimental input–output measurements, obtained directly from the actual system. The second approach is model-based, and utilizes the general nonlinear mathematical model of a hydraulic actuator interacting with an uncertain environment. Given the equivalent models, a controller is then designed to satisfy a priori specified tracking and stability specifications. The controller enjoys the simplicity of fixed-gain controllers while exhibiting robustness. Experimental tests are performed on a hydraulic actuator equipped with a low-cost proportional valve. The results show that the compensated system is not sensitive to the variation of parameters such as environmental stiffness or supply pressure and can equally work well for various set-point forces.     

一种复杂非线性系统的智能变结构控制方法

采用一种智能结构方法实现复杂非线性系统的控制,给出了设计原则,并用第四代歼击机飞行控制系统设计一个复杂实例来说明方法的有效性,实例系统中包含了两种控制律：增益调参和非线性动态逆控制律,两种控制律都包括了对发动机推力矢量喷管的控制。文中采用了一种基于状态的控制律切换算法进行两类控制律的切换,考虑了变结构系统切换瞬态问题和强迫振荡问题,并给出了简便的解决方法。     

扩展时间事件图的能达性与能控序列

利用图论方法在双子结构中研究扩展时间事件图的某些问题,获得了能达性的一个充分必要条件和基于能达性的标准结构。在此基础上,把监控理论中的能控序列的分量分为本质不同的３类,进而得到能控序列的简化求解方法。     

Development and validation of a biodynamic model for predicting multi-finger movements in cylinder-grasping tasks †

This article describes the development and validation of a model for predicting multi-finger movements in grasping activities. The model builds upon a newly proposed approach that incorporates forward dynamics and a system identification procedure, and is amenable to empirical tests. A database of multi-fingered grasping movements performed by 28 subjects was established and divided into four sets, one for model development and three for model validation. In the development phase, model parameter values were estimated by the iterative system identification procedure through a physics-based heuristic algorithm. The estimated parameter values were then statistically synthesised and integrated into the prediction model. In the validation phase, the model was applied to three novel datasets containing different grasping movements involving objects of varied sizes and different subjects. The results demonstrated the model's ability to predict hand prehensile movements with error magnitudes comparable to the inter-person variability in performing such movements. New insights into the control of multi-fingered hand prehensile movements at the systems and joint levels emerged from the model development and validation process. The current study contributes to building a foundation for long-term development of realistic biodynamic simulation of multi-finger hand movements. Such simulation capabilities will aid in design of hand-operated tools, devices or hand-intensive work for proactive ergonomics and in evaluation as well as treatment of functional impairment of the hand.     

大学生志愿服务现状调查与动力机制构建——基于江西部分高校的调查

就大学生志愿服务问题对江西部分高校展开调查,依据调查结果,运用系统动力学方法对大学生志愿服务进行因果关系分析,最后构建出大学生志愿服务的动力机制:完善信息管理系统;健全组织管理体系;构建基础培训和专业培训融合的培训体系;拓展服务活动的深度与广度;制订基于学生需求导向为动机的激励制度;改进经费筹管和法律保护。     

ZigBee在动态血压监测中的应用研究

我国已成为世界上高血压危害最严重的国家之一,在全国范围大力开展高血压病的防治,积极治疗高血压病患者,已经刻不容缓.通过研究ZigBee技术,提出了以ZigBee无线传感器网络为核心,以以太网为骨干网,采用CC2430芯片为血压传感器控制核心的动态血压测量方案,系统测量的收缩压、舒张压误差范围均小于5mmHg.试验证明,系统能够实时监测患者的血压变化,工作稳定可靠,具有较高的实用性和市场价值.     

基于遗传算法的关联议题并发谈判

基于遗传算法的并发谈判在电子商务应用中具有独特的优势,但已有的研究尚未考虑议题之间的相关性、动态权重的变化规则依赖于对手信息的获取,极大地限制了其使用价值.对此,提出议题分组的方法以解决议题的相关性问题,而议题权重的变化则采取从历史资源中发掘知识的方法进行动态调整.构建了基于遗传算法的关联性议题并发谈判模型,给出了模型的形式化描述、谈判算法设计和动态权重更新方案.通过对模型的实验和比较分析,证实了该方案能够更方便地满足用户谈判的多样性需求,解决谈判中议题关联性的问题,而且能够快速、有效地得出最优谈判结果.     

动态可重构环境下循环计算的位宽优化

动态可重构技术允许根据计算的运行时情况对硬件处理单元进行重构，使其位宽适合计算的需要。而且，对代表计算密集型任务的循环计算进行位宽的动态优化可达到提高处理性能，减少所消耗的芯片资源和功耗的目的。本文构造了一个处理框架对循环计算的位宽进行动态的优化，包括对循环计算的位宽变化情况进行理论和运行时的分析，以及构造1个位宽管理算法选择重构的时机和对配置文件进行调度。通过对实验结果的分析，证明了我们的方案具有较好的性能。     

提高变压器抗短路强度的措施

变压器对抗短路强度的要求是很高的。文中介绍了变压器短路时的电动力的作用情况，结合单位实际情况介绍了提高变压器抗短路能力的措施。     

Observation and computer simulation of multicomponent chemical short-range order （MCSRO） for the bulk metallic glasses

The atomic configuration of chemical short-range order (CSRO) for the Zr-base metallic glasses was investigated by using nano-diffraction and high resolution transmission electronic microscopy (HRTEM) technology with a beam size of 0.5 rim. It is illustrated that the pattern of atomic configuration of CSRO might have various compound counterparts because of the chemical interaction of bonding atoms. Some atomic configuration of MCSRO is similar to the icosahedral structure with 10-fold symmetry of very weak spots. In deed, the nano-beam technology could clearly detect the evolution of atomic configuration in nanometer scale during the transformation from the metallic melt to the primary crystallization. The local atomic configuration of CSRO is also investigated by molecular dynamics simulation (MD) for the Zr2Ni compound in a wider temperature range. The CSRO in the melt could be pictorially demonstrated as distorted coordination polyhedron of the compound structure and/or the structure similar to cubo-octahedron analogs. The MD simulation illustrates that the atomic packing of long-range order disappears just above the melting point, but the chemical interaction of bonding atoms still exists that leads to form the various CSRO with the atomic configuration similar to stable or metastable unit cell of Zr2Ni compound. The icosahedral polyhedron became more abundance as the overheating temperature was raised.