A dynamics-based adaptive control approach is proposed for a planar dual-arm space robot in the presence of closed-loop constraints and uncertain inertial parameters of the payload. The controller is capable of contro...A dynamics-based adaptive control approach is proposed for a planar dual-arm space robot in the presence of closed-loop constraints and uncertain inertial parameters of the payload. The controller is capable of controlling the po- sition and attitude of both the satellite base and the payload grasped by the manipulator end effectors. The equations of motion in reduced-order form for the constrained system are derived by incorporating the constraint equations in terms of accelerations into Kane's equations of the unconstrained system. Model analysis shows that the resulting equations perfectly meet the requirement of adaptive controller design. Consequently, by using an indirect approach, an adaptive control scheme is proposed to accomplish position/attitude trajectory tracking control with the uncertain parameters be- ing estimated on-line. The actuator redundancy due to the closed-loop constraints is utilized to minimize a weighted norm of the joint torques. Global asymptotic stability is proven by using Lyapunov's method, and simulation results are also presented to demonstrate the effectiveness of the proposed approach.展开更多
To find the optimized levels of various casting parameters in the ductile iron casting, various casting defects and the rejection rate were observed from a medium scale foundry. The controlled values of different cast...To find the optimized levels of various casting parameters in the ductile iron casting, various casting defects and the rejection rate were observed from a medium scale foundry. The controlled values of different casting parameters such as pouring temperature, inoculation, carbon equivalent, moisture content, green compression strength, permeability and mould hardness were selected. Three different melts of metal with 0.4wt.%, 0.6wt.%, and 0.8wt.% inoculation (Fe-Si-Mg alloy and post inoculant) were produced using a 1-ton capacity coreless medium frequency induction furnace. L-27 orthogonal array with 3-level settings were chosen for the analysis. Responses for each run were observed. The signal-to-noise (S/N) ratio for each run was calculated using the Taguchi approach, and the optimized levels of different casting parameters were identified based on the SIN ratio. The analysis of variance for the casting acceptance percentage concludes that inoculation is the most significant factor affecting the castings' quality with a contribution percentage of 44%; an increase in inoculation results in a significant improvement in acceptance percentage of ductile iron castings. The experiment results showed that with the optimized parameters, the rejection rate was reduced from 16.98% to 6.07%.展开更多
为实现电力系统次/超同步振荡的快速、准确辨识,提出了一种基于同步压缩广义S变换(synchrosqueezing generalized S transform, SSGST)和改进稀疏时域法(improved sparse time domain method,ISTD)结合的次/超同步振荡辨识方法。该方法...为实现电力系统次/超同步振荡的快速、准确辨识,提出了一种基于同步压缩广义S变换(synchrosqueezing generalized S transform, SSGST)和改进稀疏时域法(improved sparse time domain method,ISTD)结合的次/超同步振荡辨识方法。该方法首先利用能量比函数对电力系统广域量测信息实时检测,当检测到信号能量发生突变时,利用SSGST对检测到的振荡信号分解得到相应的SSGST时频系数矩阵;然后通过改进的脊线提取方法在时频域实现对各振荡分量的最优轨迹搜索;进一步,结合最优轨迹时频索引重构各振荡分量的时域分量,并利用ISTD辨识方法计算出各振荡分量的频率和阻尼比系数;最后,通过自合成模拟信号、双馈风电场经串补并网系统仿真信号和某实际风电场实测数据验证了所提方法的准确性和有效性。展开更多
This paper presented a method of fabricating radio frequency( RF) transmission lines by embroidering conductive thread on fabric. A digital embroidery machine was selected to fabricate transmission lines. Effects of t...This paper presented a method of fabricating radio frequency( RF) transmission lines by embroidering conductive thread on fabric. A digital embroidery machine was selected to fabricate transmission lines. Effects of the typical process parameters on the S-parameter of these RF transmission lines were tested and discussed. And the results showed that embroidery process parameters such as stitch direction,stitch spacing,stitch length and embroidered tension had significant effects on the RF performance of embroidered transmission lines,of which stitch type was the most important factor for the measured S-parameter of transmission lines.展开更多
Objective To investigate v arious data message of the stator bars condition parameters under the condition that only a few samples are available, especially about correlation information between the nondestructiv...Objective To investigate v arious data message of the stator bars condition parameters under the condition that only a few samples are available, especially about correlation information between the nondestructive parameters and residual breakdown voltage of the stat or bars. Methods Artificial stator bars is designed to simulat e the generator bars. The partial didcharge( PD) and dielectric loss experiments are performed in order to obtain the nondestructive parameters, and the residua l breakdown voltage acquired by AC damage experiment. In order to eliminate the dimension effect on measurement data, raw data is preprocessed by centered-compr ess. Based on the idea of extracting principal components, a partial least squar e (PLS) method is applied to screen and synthesize correlation information betwe en the nondestructive parameters and residual breakdown voltage easily. Moreover , various data message about condition parameters are also discussed. Re sults Graphical analysis function of PLS is easily to understand vario us data message of the stator bars condition parameters. The analysis Results ar e consistent with result of aging testing. Conclusion The meth od can select and extract PLS components of condition parameters from sample dat a, and the problems of less samples and multicollinearity are solved effectively in regression analysis.展开更多
In 1937, P. Dirac proposed the Large Number Hypothesis and the Hypothesis of the variable gravitational “constant”, and later added the notion of continuous creation of Matter in the World. The Hypersphere World-Uni...In 1937, P. Dirac proposed the Large Number Hypothesis and the Hypothesis of the variable gravitational “constant”, and later added the notion of continuous creation of Matter in the World. The Hypersphere World-Universe Model (WUM) follows these ideas, albeit introducing a different mechanism of Matter creation. In this paper, we show that Gravitational parameter G that can be measured directly makes measurable all Cosmological parameters, which cannot be measured directly.展开更多
电源网络S参数与芯片电源模型(Chip Power Module,CPM)级联可实现电源时域噪声仿真,完成电源完整性设计签核。当下部分仿真工具在AC阻抗优化过程中导出的S参数存在低频段无法覆盖的问题,影响时域纹波仿真精度,如果重新对S参数进行提取,...电源网络S参数与芯片电源模型(Chip Power Module,CPM)级联可实现电源时域噪声仿真,完成电源完整性设计签核。当下部分仿真工具在AC阻抗优化过程中导出的S参数存在低频段无法覆盖的问题,影响时域纹波仿真精度,如果重新对S参数进行提取,又会增加仿真时间降低仿真效率。针对AC阻抗优化过程中导出的S参数无法覆盖低频段的问题,提出了一种电源网络S参数低频段拓展方法,结合电压调节模块(Voltage Regulator Module,VRM)的R-L模型,推导出低频段的S参数可以借用抽取的S参数中最低频点处的S参数实现低频段S参数的拓展。仿真和实验结果表明,通过对低频段S参数进行拓展,电源时域纹波噪声仿真的精度提升31%。同时,低频段的S参数直接借用已抽取的S参数中低频点的数值无须重复提取,在8 GB内存的配置下,仿真时间节约14%左右,提高了仿真效率。展开更多
Among the methods used for evaluating the potential hydraulic erodibility of rock,the most common methods are those based on the correlation between the force of flowing water and the capacity of a rock to resist eros...Among the methods used for evaluating the potential hydraulic erodibility of rock,the most common methods are those based on the correlation between the force of flowing water and the capacity of a rock to resist erosion,such as Annandale’s and Pells’methods.The capacity of a rock to resist erosion is evaluated based on erodibility indices that are determined from specific geomechanical parameters of a rock mass.These indices include unconfined compressive strength(UCS)of rock,rock block size,joint shear strength,a block’s shape and orientation relative to the direction of flow,joint openings,and the nature of the surface to be potentially eroded.However,it is difficult to determine the relevant geomechanical parameters for evaluating the hydraulic erodibility of rock.The assessment of eroded unlined spillways of dams has shown that the capacity of a rock to resist erosion is not accurately evaluated.Using more than 100 case studies,we develop a method to determine the relevant geomechanical parameters for evaluating the hydraulic erodibility of rock in unlined spillways.The UCS of rock is found not to be a relevant parameter for evaluating the hydraulic erodibility of rock.On the other hand,we find that the use of three-dimensional(3D)block volume measurements,instead of the block size factor used in Annandale’s method,improves the rock block size estimation.Furthermore,the parameter representing the effect of a rock block’s shape and orientation relative to the direction of flow,as considered in Pells’method,is more accurate than the parameter adopted by Annandale’s method.展开更多
A transient three-dimensional coupling model based on the compressible volume of fluid (VOF) method was developed to simulate the transport of volatile pollutants at the air-water interface. VOF is a numerical techn...A transient three-dimensional coupling model based on the compressible volume of fluid (VOF) method was developed to simulate the transport of volatile pollutants at the air-water interface. VOF is a numerical technique for locating and tracking the free surface of water flow. The relationships between Henry's constant, thermodynamics parameters, and the enlarged topological index were proposed for nonstandard conditions. A series of experiments and numerical simulations were performed to study the transport of benzene and carbinol. The simulation results agreed with the experimental results. Temperature had no effect on mass transfer of pollutants with low transfer free energy and high Henry's constant. The temporal and spatial distribution of pollutants with high transfer free energy and low Henry's constant was affected by temperature. The total enthalpy and total transfer free energy increased significantly with temperature, with significant fluctuations at low temperatures. The total enthalpy and total transfer free energy increased steadily without fluctuation at high temperatures.展开更多
Milk is universally recognized as complete food, which contains essential components for human nutrition. Physicochemical analysis constitutes an important device that monitors its quality. The purpose of this study w...Milk is universally recognized as complete food, which contains essential components for human nutrition. Physicochemical analysis constitutes an important device that monitors its quality. The purpose of this study was to determine the physicochemical characteristics of fresh cow milk in samples taken in the region of Shkodra and Lezha and compare it to European quality standards. Results of the analyses were statistically processed by the Minitab 17 statistical program. Results showed that there is no significant difference (P > 0.05) in fat, protein, lactose and density value, while there is significant difference (P < 0.05) in pH, ash% without fat, freezing point and water value. The results show a stability of physicochemical parameters of milk, with variation according to the region where samples were gathered.展开更多
Complex terrain and working equipment in coal mine underground need a way to ensure coal mine safety. In this paper, the way to monitor the real-time status of underground equipment was put forward, and it was proved ...Complex terrain and working equipment in coal mine underground need a way to ensure coal mine safety. In this paper, the way to monitor the real-time status of underground equipment was put forward, and it was proved to be effective as commanding and dispatching system. Monitoring system for underground equipment based on panoramic images was effectively combined with real-time sensor data and static panoramic images of underground surrounding, which not only realizes real-time status monitoring for underground equipment, but also gets a direct scene for underground surrounding. B/S mode was applied in the monitoring system and this is convenient for users to monitor the equipment. Meantime, it can reduce the waste of the data resource.展开更多
In this paper, a quantitative analysis of the opening quality in friction spinning and its main ef-fecting factors is first made. Upon this basis the Box-Hunter’s experimental design method is usedto establish the qu...In this paper, a quantitative analysis of the opening quality in friction spinning and its main ef-fecting factors is first made. Upon this basis the Box-Hunter’s experimental design method is usedto establish the quadratic regressional equations in terms of primary opening technologicalparameters and yarn quality for medium and fine count friction spinning. The results of analysisand discussion show that the proper choice of opening roller speed and its reasonable match withthe yarn count is singificant for ensuring the spinning quality index as well as reducing unevenness,thin and thick places of the yarn.展开更多
With aim of place at the disposal of the laboratories nonconventional food with food values and which do not have impact on the system haematopoietic of the rats of laboratory in particular the rat of the species Ratt...With aim of place at the disposal of the laboratories nonconventional food with food values and which do not have impact on the system haematopoietic of the rats of laboratory in particular the rat of the species Rattus norvegicus, the study of the haematologic parameters of rats nourished with nonconventional food makes containing powder of Moringa oleifera was undertaken. Indeed, analysis of the blood taking away carried out following the administration of five diets container various rates of powder of Moringa oleifera (0% (Control food), 25%, 50%, 75% and 100%) respectively codified L3P, L3P25, L3P50, L3P75 and L3P100. These different food formulations were administered to rats (Ratus norvegicus) during three months. The weight of these animals was daily taken, followed by blood samples every 30 days for the determination of the blood count. The results of the study were shown differences between the various food formulations for each period of blood samples in biological parameters. These differences were more significant for platelets. During the three months of study, the hematocrit, platelets, MCV and outside the control group, were reported a slight progressive increase. The leukocyte parameters of all the rats in the investigation, indicated an increase in the second month. In conclusion, the study shows that during the three months of investigation, the tested foods do not disturb the haematological parameters except for thrombocytes which reveal a modification.展开更多
基金supported by the National Natural Science Foundation of China(11272027)
文摘A dynamics-based adaptive control approach is proposed for a planar dual-arm space robot in the presence of closed-loop constraints and uncertain inertial parameters of the payload. The controller is capable of controlling the po- sition and attitude of both the satellite base and the payload grasped by the manipulator end effectors. The equations of motion in reduced-order form for the constrained system are derived by incorporating the constraint equations in terms of accelerations into Kane's equations of the unconstrained system. Model analysis shows that the resulting equations perfectly meet the requirement of adaptive controller design. Consequently, by using an indirect approach, an adaptive control scheme is proposed to accomplish position/attitude trajectory tracking control with the uncertain parameters be- ing estimated on-line. The actuator redundancy due to the closed-loop constraints is utilized to minimize a weighted norm of the joint torques. Global asymptotic stability is proven by using Lyapunov's method, and simulation results are also presented to demonstrate the effectiveness of the proposed approach.
文摘To find the optimized levels of various casting parameters in the ductile iron casting, various casting defects and the rejection rate were observed from a medium scale foundry. The controlled values of different casting parameters such as pouring temperature, inoculation, carbon equivalent, moisture content, green compression strength, permeability and mould hardness were selected. Three different melts of metal with 0.4wt.%, 0.6wt.%, and 0.8wt.% inoculation (Fe-Si-Mg alloy and post inoculant) were produced using a 1-ton capacity coreless medium frequency induction furnace. L-27 orthogonal array with 3-level settings were chosen for the analysis. Responses for each run were observed. The signal-to-noise (S/N) ratio for each run was calculated using the Taguchi approach, and the optimized levels of different casting parameters were identified based on the SIN ratio. The analysis of variance for the casting acceptance percentage concludes that inoculation is the most significant factor affecting the castings' quality with a contribution percentage of 44%; an increase in inoculation results in a significant improvement in acceptance percentage of ductile iron castings. The experiment results showed that with the optimized parameters, the rejection rate was reduced from 16.98% to 6.07%.
文摘为实现电力系统次/超同步振荡的快速、准确辨识,提出了一种基于同步压缩广义S变换(synchrosqueezing generalized S transform, SSGST)和改进稀疏时域法(improved sparse time domain method,ISTD)结合的次/超同步振荡辨识方法。该方法首先利用能量比函数对电力系统广域量测信息实时检测,当检测到信号能量发生突变时,利用SSGST对检测到的振荡信号分解得到相应的SSGST时频系数矩阵;然后通过改进的脊线提取方法在时频域实现对各振荡分量的最优轨迹搜索;进一步,结合最优轨迹时频索引重构各振荡分量的时域分量,并利用ISTD辨识方法计算出各振荡分量的频率和阻尼比系数;最后,通过自合成模拟信号、双馈风电场经串补并网系统仿真信号和某实际风电场实测数据验证了所提方法的准确性和有效性。
基金National Natural Science Foundation of China(No.51405079)the Fundamental Research Funds for the Central Universities,China
文摘This paper presented a method of fabricating radio frequency( RF) transmission lines by embroidering conductive thread on fabric. A digital embroidery machine was selected to fabricate transmission lines. Effects of the typical process parameters on the S-parameter of these RF transmission lines were tested and discussed. And the results showed that embroidery process parameters such as stitch direction,stitch spacing,stitch length and embroidered tension had significant effects on the RF performance of embroidered transmission lines,of which stitch type was the most important factor for the measured S-parameter of transmission lines.
文摘Objective To investigate v arious data message of the stator bars condition parameters under the condition that only a few samples are available, especially about correlation information between the nondestructive parameters and residual breakdown voltage of the stat or bars. Methods Artificial stator bars is designed to simulat e the generator bars. The partial didcharge( PD) and dielectric loss experiments are performed in order to obtain the nondestructive parameters, and the residua l breakdown voltage acquired by AC damage experiment. In order to eliminate the dimension effect on measurement data, raw data is preprocessed by centered-compr ess. Based on the idea of extracting principal components, a partial least squar e (PLS) method is applied to screen and synthesize correlation information betwe en the nondestructive parameters and residual breakdown voltage easily. Moreover , various data message about condition parameters are also discussed. Re sults Graphical analysis function of PLS is easily to understand vario us data message of the stator bars condition parameters. The analysis Results ar e consistent with result of aging testing. Conclusion The meth od can select and extract PLS components of condition parameters from sample dat a, and the problems of less samples and multicollinearity are solved effectively in regression analysis.
文摘In 1937, P. Dirac proposed the Large Number Hypothesis and the Hypothesis of the variable gravitational “constant”, and later added the notion of continuous creation of Matter in the World. The Hypersphere World-Universe Model (WUM) follows these ideas, albeit introducing a different mechanism of Matter creation. In this paper, we show that Gravitational parameter G that can be measured directly makes measurable all Cosmological parameters, which cannot be measured directly.
基金the Natural Sciences and Engineering Research Council of Canada(Grant No.498020-16)Hydro-Quebec(NC525700)the Mitacs Accelerate Program(Grant Ref.IT10008)
文摘Among the methods used for evaluating the potential hydraulic erodibility of rock,the most common methods are those based on the correlation between the force of flowing water and the capacity of a rock to resist erosion,such as Annandale’s and Pells’methods.The capacity of a rock to resist erosion is evaluated based on erodibility indices that are determined from specific geomechanical parameters of a rock mass.These indices include unconfined compressive strength(UCS)of rock,rock block size,joint shear strength,a block’s shape and orientation relative to the direction of flow,joint openings,and the nature of the surface to be potentially eroded.However,it is difficult to determine the relevant geomechanical parameters for evaluating the hydraulic erodibility of rock.The assessment of eroded unlined spillways of dams has shown that the capacity of a rock to resist erosion is not accurately evaluated.Using more than 100 case studies,we develop a method to determine the relevant geomechanical parameters for evaluating the hydraulic erodibility of rock in unlined spillways.The UCS of rock is found not to be a relevant parameter for evaluating the hydraulic erodibility of rock.On the other hand,we find that the use of three-dimensional(3D)block volume measurements,instead of the block size factor used in Annandale’s method,improves the rock block size estimation.Furthermore,the parameter representing the effect of a rock block’s shape and orientation relative to the direction of flow,as considered in Pells’method,is more accurate than the parameter adopted by Annandale’s method.
基金supported by the National Natural Science Foundation of China(Grant No.51109106)the Natural Science Foundation of Jiangsu Province(Grant No.BK20130946)the Qing Lan Project of Jiangsu Province
文摘A transient three-dimensional coupling model based on the compressible volume of fluid (VOF) method was developed to simulate the transport of volatile pollutants at the air-water interface. VOF is a numerical technique for locating and tracking the free surface of water flow. The relationships between Henry's constant, thermodynamics parameters, and the enlarged topological index were proposed for nonstandard conditions. A series of experiments and numerical simulations were performed to study the transport of benzene and carbinol. The simulation results agreed with the experimental results. Temperature had no effect on mass transfer of pollutants with low transfer free energy and high Henry's constant. The temporal and spatial distribution of pollutants with high transfer free energy and low Henry's constant was affected by temperature. The total enthalpy and total transfer free energy increased significantly with temperature, with significant fluctuations at low temperatures. The total enthalpy and total transfer free energy increased steadily without fluctuation at high temperatures.
文摘Milk is universally recognized as complete food, which contains essential components for human nutrition. Physicochemical analysis constitutes an important device that monitors its quality. The purpose of this study was to determine the physicochemical characteristics of fresh cow milk in samples taken in the region of Shkodra and Lezha and compare it to European quality standards. Results of the analyses were statistically processed by the Minitab 17 statistical program. Results showed that there is no significant difference (P > 0.05) in fat, protein, lactose and density value, while there is significant difference (P < 0.05) in pH, ash% without fat, freezing point and water value. The results show a stability of physicochemical parameters of milk, with variation according to the region where samples were gathered.
基金Supported by the National Natural Science Foundation of China (51075029)
文摘Complex terrain and working equipment in coal mine underground need a way to ensure coal mine safety. In this paper, the way to monitor the real-time status of underground equipment was put forward, and it was proved to be effective as commanding and dispatching system. Monitoring system for underground equipment based on panoramic images was effectively combined with real-time sensor data and static panoramic images of underground surrounding, which not only realizes real-time status monitoring for underground equipment, but also gets a direct scene for underground surrounding. B/S mode was applied in the monitoring system and this is convenient for users to monitor the equipment. Meantime, it can reduce the waste of the data resource.
文摘In this paper, a quantitative analysis of the opening quality in friction spinning and its main ef-fecting factors is first made. Upon this basis the Box-Hunter’s experimental design method is usedto establish the quadratic regressional equations in terms of primary opening technologicalparameters and yarn quality for medium and fine count friction spinning. The results of analysisand discussion show that the proper choice of opening roller speed and its reasonable match withthe yarn count is singificant for ensuring the spinning quality index as well as reducing unevenness,thin and thick places of the yarn.
文摘With aim of place at the disposal of the laboratories nonconventional food with food values and which do not have impact on the system haematopoietic of the rats of laboratory in particular the rat of the species Rattus norvegicus, the study of the haematologic parameters of rats nourished with nonconventional food makes containing powder of Moringa oleifera was undertaken. Indeed, analysis of the blood taking away carried out following the administration of five diets container various rates of powder of Moringa oleifera (0% (Control food), 25%, 50%, 75% and 100%) respectively codified L3P, L3P25, L3P50, L3P75 and L3P100. These different food formulations were administered to rats (Ratus norvegicus) during three months. The weight of these animals was daily taken, followed by blood samples every 30 days for the determination of the blood count. The results of the study were shown differences between the various food formulations for each period of blood samples in biological parameters. These differences were more significant for platelets. During the three months of study, the hematocrit, platelets, MCV and outside the control group, were reported a slight progressive increase. The leukocyte parameters of all the rats in the investigation, indicated an increase in the second month. In conclusion, the study shows that during the three months of investigation, the tested foods do not disturb the haematological parameters except for thrombocytes which reveal a modification.