一种新的机器人手臂控制方法

从机器人手臂的关节电机力学出发，本文提出了一种独立于现行机器人关节控制器的离线补偿方法，通过对－２自由度机器人的数值研究，证明该法不仅能有效地克服由于惯性负载，关节间耦合与重力效应给控制系统带来的动态精度问题，而且还可以消除由于控制系统本身的固有特性所决定的系统的跟踪误差。     

Best L1 Piecewise Monotonic Data Modelling

Let us consider n data measurements of a univariate process that have been altered by random errors. We assume that an underlying model function has a substantially smaller number of turning points than the observed ones. We propose algorithms that make least the sum of the moduli of the errors by requiring k monotonic sections, alternately increasing and decreasing, in the sequence of the smoothed values. The main difficulty in this calculation is that the optimal positions of the joins of the monotonic sections have to be found automatically among so many combinations that it is impossible to test each one separately. Moreover, the calculation seems to be very intractable to general optimization techniques because O(n^k) local minima can occur. It is shown that dynamic programming can be used for separating the data into optimal disjoint sections of adjacent data, where each section requires a single L₁ monotonic calculation. This procedure is highly efficient, requiring at most O(kn²) computer operations and O(n) best L₁ monotonic calculations to subranges of data for a global minimum.     

Practical method for generation expansion planning based on dynamic programming

This paper presents an efficient method which provides the optimal generation mix and the optimal generation construction process. The approximation method in which the dynamic programming technique and gradient method are combined is applied to determine the optimal generation mix with hydropower generation technologies. The successive approximations dynamic programming (SADP) technique, which is very suitable for high-dimensional multistage decision process problems, is used for obtaining the optimal generation construction process. The effectiveness and feasibility of the developed technique are demonstrated on a practical power system model which has five types of generation technologies including a hydropower generation technology.     

双辊薄带钢连铸在线自动检测系统

介绍了双辊薄带钢连铸工艺,设计了双辊连铸机的计算机在线自动检测系统,通过采取正确的抗干扰措施提高了检测的精度,系统在双辊薄带钢连铸试验中应用效果良好.     

复射线展开法分析圆柱面对平面波散射的精度问题

讨论了用复射线展开法计算圆柱面对入射平面波散射时的计算误差特性，提出了控制其计算精度的复射线展开参数选择方法，证实了通过恰当选择展开参数可以有效地提升计算精度、实现误差控制。     

100吨转炉设备安装

针对100吨转炉设备安装过程中设备重量超载，超高，无法直接采用行车安装的情况，采用了设备分体移位吊装，现场整体组合焊接的施工工艺方案，设计专用安装工装，确保了设备安装精度并一次安装到位。     

对炮位侦校雷达精度评价的探讨

当前炮位侦校雷达精度评价存在两种计算方法，通过分析这两种精度计算方法的原理，就如何选用计算方法对雷达精度进行合理评价等问题进行了探讨，并在实践运用效果的基础上对提高产品研制质量提出了建议。     

Extremes of random fields over arbitrary domains with application to concrete rupture stresses

To find the exact probability distribution of the global maximum or minimum of a random field within a bounded domain is a pending problem even for Gaussian fields. Except for very special examples of fields, recourse must be taken to approximate reasoning or asymptotic considerations to be judged with respect to accuracy by simulations. In this paper, the problem is addressed through a functional equation that leads to the definition of a class of distribution functions that depend solely on process or field characteristics and domain quantities that can be calculated explicitly. This distribution function class is studied for Gaussian processes in earlier works by the author and it has been obtained explicitly for Gaussian fields on rectangular domains in the plane. Simulation studies show that rather good predictions are obtained for sufficiently smooth wide band Gaussian processes and fields. In this paper, the distribution function is obtained in general for Gaussian fields over arbitrary bounded domains with piecewise continuous and differentiable boundaries, and as in earlier works the distribution function is tested against empirical distribution functions obtained by simulation of sample functions of a smooth approximately Gaussian field, herein called a broken line Hino field. For completeness this particular field type is defined in appendix a and appendix b. The paper concludes with a statistical application on data for plain concrete tensile strength.     

Numerical Modeling of Silicon Photodiodes for High-Accuracy Applications Part I. Simulation Programs

The suitability of the semiconductor-device modeling program PC-1D for high-accuracy simulation of silicon photodiodes is discussed. A set of user interface programs optimized to support high-accuracy batch-mode operation of PC-1D for modeling the internal quantum efficiency of photodiodes is also described. The optimization includes correction for the dark current under reverse- and forward-bias conditions before calculating the quantum efficiency, and easy access to the highest numerical accuracy available from PC-1D, neither of which is conveniently available with PC-1D’s standard user interface.     

Thermomechanical stress fields in high-temperature fibrous composites. I: Unidirectional laminates

This two-part paper presents a closed-form procedure for evaluation of estimates of local thermomechanical stress fields in two-phase fibrous composites and laminates. The first part is concerned with a unidirectional elastic laminate subjected to uniform mechanical loads and to uniform changes in temperature. Both phases are assumed to be elastic, with temperature-dependent moduli and expansion coefficients; the solution reflects the influence of thermomechanical interactions. Exact solutions are not possible for any real system, because the local geometry is not known in detail. Instead, estimates of the fields are found from a modified Mori-Tanaka approximation. Examples are presented for two SiC/Ti---Al---Nb composites. Local stresses of interest are found after cooling from fabrication to room temperature. The presence of local yielding, and the influence of coupling terms on the local stress magnitudes are examined. Extension of the results to laminated plates is presented in Part II (Dvorak, G.J., Chen, T. & Teply, J., Composites Science and Technology, 43 (1992) 359–368, this issue).