一类不确定连续状态非线性系统的保性能控制

针对状态不完全可测的一类不确定连续状态非线性系统的保性能控制问题,采用T-S模型对其进行建模。根据李雅普诺夫稳定性理论,基于线性矩阵不等式(LMI),利用分散化并行分布补偿(PDC)的方法设计了基于观测器的控制器,给出了实现该非线性系统保性能控制的充分条件。     

Inverse kinematic optimal design of 6-DOF parallel manipulators

To obtain the required articular velocities as lower as possible for the given kinematics of the moving platform, this paper focuses on this kind of articular velocities optimization of 6-DOF parallel manipulators. Based on the inverse kinematic analysis, the H∞ norm of the weighted Jacobian matrix was adopted as the performance index to minimize the articular velocities, and then the optimal design problem was formulated to find a manipulator geometry that minimized the global performance index with the constraints of the workspace and structural parameters limits. Since the optimal design problem is a constrained nonlinear optimization problem without explicit analytical expressions, the genetic algorithm was applied to numerically solve the problem. Simulation results indicate that the articular velocities of the optimal manipulators can be the minimum while the kinematic reauirements of the moving platform are satisfied.     

基于Brook在GPU的应用

依据现代GPU在通用计算方面的功能,提出了基于Brook在GPU上执行通用计算的实现方法,运用图像分割、快速傅立叶算法和光线跟踪3个应用对该方法进行了评估。评估结果表明GPU在Brook环境下通用计算能力优于CPU。     

一种基于GPU加速的细粒度并行粒子群算法

提出了一种基于GPU加速的细粒度并行粒子群算法,将并行PSO求解过程转化为GPU纹理渲染过程,使PSO算法在GPU中加速执行,在取得了较好的优化效果的同时,增大了细粒度并行的粒子规模,提高了算法的运算速度,并为普通用户的并行PSO工作提供了一种可行的方法.     

一种新型2-HRR并联机构及其数控系统实现

提出了一种新型的2-HRR构型的两杆两自由度并联平动机构,其具有运动建模简单、正反解计算容易、作业空间大、结构简单和易于控制等独特的优点.本论文对该并联实验平台进行了运动学分析,并结合其结构特点开发了一种开放式、模块化的数控系统,该数控系统是以“PC机 多轴运动控制器”为硬件平台,以“VisualC ”为软件平台构建的,这种构建方式可以实现系统“积木式”的集成.在此基础上,制作了2-HRR构型并联实验平台.通过联机调试,实现了正确的加工轨迹,验证了本文机构分析的正确性和数控系统的可行性.     

A Parallel Indexing Cam Mechanism with Internal Placed Followers

A new type of parallel indexing cam mechanism is discovered.The composition of the cam profile is proposed and the formulas of the mechanism parameters are established by synthesis of its configuration and size.The equations for working pro- file and pressure angle of the cam are derived based on the inverse model and the derivative of pitch curve of cams.An example is given and demonstrates that it is available to design the new mechanism using the derived expressions.     

平行轴系结构相当系统模型的建立及应用

该文通过对复杂平行轴系统简化,建立了相当系统模型,并给出了简化后的计算公式,具有很强的实用性．     

电信社群网络中介度的网格并行算法及调度算法

为了解决电信社群网络中介度(图的一个几何量)计算中的海量计算问题，研究并实现了高性能网格并行计算方法。该算法采用层次性的二分法分割数据，能在较短的时间内完成大规模社群网络图的各个顶点中介度计算。为了提高计算的加速比，还提出了一种改进的网格并行调度算法，采用动静态结合的方法来平衡负载。论证表明，改进算法的加速比、并行效率和平衡度都有提高，计算用时与网格上并行计算处理器数目成近似线形关系。     

Calibration of a Parallel Kinematic Machine Tool

The parallel kinematic machinetool(PKMT)is anew-style machine tool[1].Though it has an advan-tage over traditional NC machine tool due to a seriesof characteristics such as si mple structure,fast re-sponse speed and non cumulative errors[2,3],its abso-lute accuracy is not sufficient for a machine tool re-quiring high accuracy.A mainfactor reducingthe ac-curacy is kinematic parameter errors caused by ma-chining and assembling errors[4].Calibration is a solution to this problem.It ismore prac…     

支持并行调度的多项目资源管理CPN建模

构建良好的多项目资源调度模型已成为项目型企业多项目管理计划与控制的关键性基础工作。在分析多项目并行调度特点的基础上,基于Petri网擅长描述随机性、任务间并发、同步、并行等系统特征的优势,克服当前已有的多项目并行调度模型的不足,构建了基于CPN的多项目并行调度模型。通过建模实例阐述了模型的仿真分析方法,证明了基于着色Petri网构建多项目并行调度模型的可行性和有效性。