Aim To present a simple and effective method for the design of nonlinear and time varying control system. Methods A new concept of dynamic equilibrium of a system and its stability were presented first. It was poin...Aim To present a simple and effective method for the design of nonlinear and time varying control system. Methods A new concept of dynamic equilibrium of a system and its stability were presented first. It was pointed out that what is controlled directly by the input of a control system is the system's dynamic equilibrium rather than the states. Based on it, a new feedback linearization method for nonlinear system based on the Lyapunov direct method was given. Simulation studies were also carried out. Results The example and simulation show that by use of the method, the controller design becomes very simple and the control effect is quite satisfying. Conclusion The new method unifies the stabilizing problem(regulating problem) with the tracking problem. It is a very simple and effective method for the design of nonlinear and time varying control system.展开更多
A series of Ni based catalysts with different supports and basic additives were prepared by sequential impregnation method. The catalysts were characterized by XRD, BET, H2-TPR and CO2-TPD techniques. It was found tha...A series of Ni based catalysts with different supports and basic additives were prepared by sequential impregnation method. The catalysts were characterized by XRD, BET, H2-TPR and CO2-TPD techniques. It was found that the introduction of basic additives enhanced the basicities of catalyats and promoted the dispersities of Ni particles by strong interaction between Ni2＋ and basic additives. Among the Ni based catalysts, 10%Ni/10%La203/ZrO2 showed the superior performance in sorbitol hydrogenolysis. The synergistic effect of Ni and La203 was proven to play an essential role in selective synthesis of EG and 1,2-PG. In the optimal reaction condition, the catalyst presented 100% sorbitol conversion and over 48% glycols （EG and 1,2-PG） yield. The kinetics study of polyols （sorbitol, xylitol and glycerol） hydrogenolysis showed that polyols with more hydroxyl number have higher activity and products distribution was final results of kinetic balance, which could give us some inspiration abeut how to change the products selectivity.展开更多
To reduce the complexity of the configuration and control strategy for shoulder rehabilitation exoskeleton,a 2R1R1P2R serial of shoulder exoskeleton based on gravity balance is proposed.Based on three basic rotatory s...To reduce the complexity of the configuration and control strategy for shoulder rehabilitation exoskeleton,a 2R1R1P2R serial of shoulder exoskeleton based on gravity balance is proposed.Based on three basic rotatory shoulder joints,an exact kinematic constraint system can be formed between the exoskeleton and the upper arm by introducing a passive sliding pair and a center of glenohumeral(CGH)unpowered compensation mechanism,which realizes the human-machine kinematic compatibility.Gravity balance is used in the CGH compensation mechanism to provide shoulder joint support.Meanwhile,the motion of the compensation mechanism is pulled by doing reverse leading through the arm to realize the kinematic self-adaptive,which decreases control complexity.Besides,a simple and intuitive spring adjustment strategy is proposed to ensure the gravity balance of any prescribed quality.Furthermore,according to the influencing factors analysis of the scapulohumeral rhythm,the kinematic analysis of CGH mechanism is performed,which shows that the mechanism can fit the trajectory of CGH under various conditions.Finally,the dynamic simulation of the mechanism is carried out.Results indicate that the compensation torques are reduced to below 0.22 N·m,and the feasibility of the mechanism is also verified.展开更多
In order to investigate the nonlinear characteristics of structural joint,the experimental setup with a jointed mass system is established for dynamic characterization analysis and vibration prediction,and a correspon...In order to investigate the nonlinear characteristics of structural joint,the experimental setup with a jointed mass system is established for dynamic characterization analysis and vibration prediction,and a corresponding nonlinearity identification method is studied.First,the sine-sweep vibration test with different baseexcitation levels areapplied to the structural joint system to study the dominant modal of mass rigid motion.Then,based on t e harmonic balance method principle,t e measured vibration transmissibilities a e utilized for nonlinearity identification using different excitation levels.Experimental results show that nonlinear spring and damping force can be represented by a polynomial order approximation.The identified nonlinear stiffness and damping force can predict the system’s response,and they can reveal t e shifts of resonant frequency or damping due to discontinuity of contact mechanisms within a certain range.展开更多
The rapid growth of interconnected high performance workstations has produced a new computing paradigm called clustered of workstations computing. In these systems load balance problem is a serious impediment to achie...The rapid growth of interconnected high performance workstations has produced a new computing paradigm called clustered of workstations computing. In these systems load balance problem is a serious impediment to achieve good performance. The main concern of this paper is the implementation of dynamic load balancing algorithm, asynchronous Round Robin (ARR), for balancing workload of parallel tree computation depth-first-search algorithm on Cluster of Heterogeneous Workstations (COW) Many algorithms in artificial intelligence and other areas of computer science are based on depth first search in implicitty defined trees. For these algorithms a load-balancing scheme is required, which is able to evenly distribute parts of an irregularly shaped tree over the workstations with minimal interprocessor communication and without prior knowledge of the tree’s shape. For the (ARR) algorithm only minimal interprocessor communication is needed when necessary and it runs under the MPI (Message passing interface) that allows parallel execution on heterogeneous SUN cluster of workstation platform. The program code is written in C language and executed under UNIX operating system (Solaris version).展开更多
In this papery we are concerned with the problem of stabilization for autonomous dynamical systems. We use theories in Liapunov stability and Lasalle stability theory and show that system （H） is stabilizable.
The adsorption of dibenzofuran on three commercial granular activated carbons (ACs) was investigated by dynamic experiment to correlate the adsorption equilibrium and kinetics with the structure of activated carbons.P...The adsorption of dibenzofuran on three commercial granular activated carbons (ACs) was investigated by dynamic experiment to correlate the adsorption equilibrium and kinetics with the structure of activated carbons.Physical properties including surface area, average pore diameter, micropore area and micropore volume of the activated carbons were characterized by N2 adsorption experiment on ASAP2010. To calculate the adsorption parameters, adsorption isotherm data were fitted to the Langmuir equation, and adsorption kinetic data were fitted to the linear driving force (LDF) diffusion model. From the correlation results, it is concluded that the adsorption equilibrium and diffusion coefficient of dibenzofuran on activated carbon are controlled respectively by the total adsorbent surface area and the adsorbent pore diameter.展开更多
文摘Aim To present a simple and effective method for the design of nonlinear and time varying control system. Methods A new concept of dynamic equilibrium of a system and its stability were presented first. It was pointed out that what is controlled directly by the input of a control system is the system's dynamic equilibrium rather than the states. Based on it, a new feedback linearization method for nonlinear system based on the Lyapunov direct method was given. Simulation studies were also carried out. Results The example and simulation show that by use of the method, the controller design becomes very simple and the control effect is quite satisfying. Conclusion The new method unifies the stabilizing problem(regulating problem) with the tracking problem. It is a very simple and effective method for the design of nonlinear and time varying control system.
基金This work was supported by the National Natural Science Foundation of China （No.51376185 and No.51106108）, the National Basic Research Program of China （No.2012CB215304）, the National High Technology Research and Development Program of China （No.2012AA101806）, and the Natural Science Foundation of Guangdong Province （No.$2013010011612）.
文摘A series of Ni based catalysts with different supports and basic additives were prepared by sequential impregnation method. The catalysts were characterized by XRD, BET, H2-TPR and CO2-TPD techniques. It was found that the introduction of basic additives enhanced the basicities of catalyats and promoted the dispersities of Ni particles by strong interaction between Ni2＋ and basic additives. Among the Ni based catalysts, 10%Ni/10%La203/ZrO2 showed the superior performance in sorbitol hydrogenolysis. The synergistic effect of Ni and La203 was proven to play an essential role in selective synthesis of EG and 1,2-PG. In the optimal reaction condition, the catalyst presented 100% sorbitol conversion and over 48% glycols （EG and 1,2-PG） yield. The kinetics study of polyols （sorbitol, xylitol and glycerol） hydrogenolysis showed that polyols with more hydroxyl number have higher activity and products distribution was final results of kinetic balance, which could give us some inspiration abeut how to change the products selectivity.
基金The National Natural Science Foundation of China(No.51675098)。
文摘To reduce the complexity of the configuration and control strategy for shoulder rehabilitation exoskeleton,a 2R1R1P2R serial of shoulder exoskeleton based on gravity balance is proposed.Based on three basic rotatory shoulder joints,an exact kinematic constraint system can be formed between the exoskeleton and the upper arm by introducing a passive sliding pair and a center of glenohumeral(CGH)unpowered compensation mechanism,which realizes the human-machine kinematic compatibility.Gravity balance is used in the CGH compensation mechanism to provide shoulder joint support.Meanwhile,the motion of the compensation mechanism is pulled by doing reverse leading through the arm to realize the kinematic self-adaptive,which decreases control complexity.Besides,a simple and intuitive spring adjustment strategy is proposed to ensure the gravity balance of any prescribed quality.Furthermore,according to the influencing factors analysis of the scapulohumeral rhythm,the kinematic analysis of CGH mechanism is performed,which shows that the mechanism can fit the trajectory of CGH under various conditions.Finally,the dynamic simulation of the mechanism is carried out.Results indicate that the compensation torques are reduced to below 0.22 N·m,and the feasibility of the mechanism is also verified.
基金The Major National Science and Technology Project(No.2012ZX04002032,2013ZX04012032)Graduate Scientific Research Innovation Project of Jiangsu Province(No.KYLX-0096)
文摘In order to investigate the nonlinear characteristics of structural joint,the experimental setup with a jointed mass system is established for dynamic characterization analysis and vibration prediction,and a corresponding nonlinearity identification method is studied.First,the sine-sweep vibration test with different baseexcitation levels areapplied to the structural joint system to study the dominant modal of mass rigid motion.Then,based on t e harmonic balance method principle,t e measured vibration transmissibilities a e utilized for nonlinearity identification using different excitation levels.Experimental results show that nonlinear spring and damping force can be represented by a polynomial order approximation.The identified nonlinear stiffness and damping force can predict the system’s response,and they can reveal t e shifts of resonant frequency or damping due to discontinuity of contact mechanisms within a certain range.
文摘The rapid growth of interconnected high performance workstations has produced a new computing paradigm called clustered of workstations computing. In these systems load balance problem is a serious impediment to achieve good performance. The main concern of this paper is the implementation of dynamic load balancing algorithm, asynchronous Round Robin (ARR), for balancing workload of parallel tree computation depth-first-search algorithm on Cluster of Heterogeneous Workstations (COW) Many algorithms in artificial intelligence and other areas of computer science are based on depth first search in implicitty defined trees. For these algorithms a load-balancing scheme is required, which is able to evenly distribute parts of an irregularly shaped tree over the workstations with minimal interprocessor communication and without prior knowledge of the tree’s shape. For the (ARR) algorithm only minimal interprocessor communication is needed when necessary and it runs under the MPI (Message passing interface) that allows parallel execution on heterogeneous SUN cluster of workstation platform. The program code is written in C language and executed under UNIX operating system (Solaris version).
文摘In this papery we are concerned with the problem of stabilization for autonomous dynamical systems. We use theories in Liapunov stability and Lasalle stability theory and show that system （H） is stabilizable.
文摘The adsorption of dibenzofuran on three commercial granular activated carbons (ACs) was investigated by dynamic experiment to correlate the adsorption equilibrium and kinetics with the structure of activated carbons.Physical properties including surface area, average pore diameter, micropore area and micropore volume of the activated carbons were characterized by N2 adsorption experiment on ASAP2010. To calculate the adsorption parameters, adsorption isotherm data were fitted to the Langmuir equation, and adsorption kinetic data were fitted to the linear driving force (LDF) diffusion model. From the correlation results, it is concluded that the adsorption equilibrium and diffusion coefficient of dibenzofuran on activated carbon are controlled respectively by the total adsorbent surface area and the adsorbent pore diameter.
