This paper, at the first time, considers the problem of decentralized variable structure control of complex giant singular uncertainty systems by using the property of diagonally dominant matrix and Frobenius-Person t...This paper, at the first time, considers the problem of decentralized variable structure control of complex giant singular uncertainty systems by using the property of diagonally dominant matrix and Frobenius-Person theorem. The splendid selection of switching manifold for each subsystem makes the design relatively straightforward and can be easily realized. An illustrate example is given.展开更多
Based on the critical gap phenomenon of the intestinal capsule robot,a variable-diameter capsule robot with radial gap self-compensation is developed in this paper.With the functional variation principle,a fluid dynam...Based on the critical gap phenomenon of the intestinal capsule robot,a variable-diameter capsule robot with radial gap self-compensation is developed in this paper.With the functional variation principle,a fluid dynamic pressure model satisfying the boundary conditions of the outer surface of capsule robot with screw blades is derived.The critical gap phenomenon is studied theoretically and experimentally based on the end effect and the dynamic balance characteristics of the fluid on the surface of capsule robot.The concept of start-up rotation speed is defined,the relationship between the start-up rotation speed and the spiral parameters of capsule robot is investigated.The strategy for implementing drive and control on several capsule robots under the same rotational magnetic field is proposed,and by defining the start-up curves of several capsule robots with the similar motion regulation as the objective functions,genetic algorithm is employed to optimize the spiral parameters of several capsule robots.Experiments have shown that the proposed drive and control strategy for several capsule robots can be implemented effectively.It has a good prospect of application inside intestine to realize the drive and control on several capsule robots for different medical purposes.展开更多
目的:研究人口统计学变量对父母心理控制源的影响。方法:应用子女教育心理控制源量表(Parenting Locus of Control Scale,PLOC)对369名父母进行测查并对量表做出信、效度分析。结果:修订后的量表保持原有的五维度结构,具有良好的结构效...目的:研究人口统计学变量对父母心理控制源的影响。方法:应用子女教育心理控制源量表(Parenting Locus of Control Scale,PLOC)对369名父母进行测查并对量表做出信、效度分析。结果:修订后的量表保持原有的五维度结构,具有良好的结构效度(TLI=0.878,CFI=0.851,RMSEA=0.056),各分量表的内部一致性信度均大于0.6。多重回归分析结果表明,受教育程度和性别对子女教育心理控制源存在影响。受教育程度越高的父母在"教育成效"这个因子上的得分越低,内控性越强(P<0.05);在"父母对子女行为控制"这个因子上父亲比母亲的内控性强(P<0.05)。结论:人口统计学中的某些变量对父母心理控制源存在影响。展开更多
文摘This paper, at the first time, considers the problem of decentralized variable structure control of complex giant singular uncertainty systems by using the property of diagonally dominant matrix and Frobenius-Person theorem. The splendid selection of switching manifold for each subsystem makes the design relatively straightforward and can be easily realized. An illustrate example is given.
基金supported by National Natural Science Foundation of China(Grant Nos. 60675054, 60875064)Self-Planned Task of State Key Laboratory of Robotics and System (HIT) (Grant No. SKLRS200903B)
文摘Based on the critical gap phenomenon of the intestinal capsule robot,a variable-diameter capsule robot with radial gap self-compensation is developed in this paper.With the functional variation principle,a fluid dynamic pressure model satisfying the boundary conditions of the outer surface of capsule robot with screw blades is derived.The critical gap phenomenon is studied theoretically and experimentally based on the end effect and the dynamic balance characteristics of the fluid on the surface of capsule robot.The concept of start-up rotation speed is defined,the relationship between the start-up rotation speed and the spiral parameters of capsule robot is investigated.The strategy for implementing drive and control on several capsule robots under the same rotational magnetic field is proposed,and by defining the start-up curves of several capsule robots with the similar motion regulation as the objective functions,genetic algorithm is employed to optimize the spiral parameters of several capsule robots.Experiments have shown that the proposed drive and control strategy for several capsule robots can be implemented effectively.It has a good prospect of application inside intestine to realize the drive and control on several capsule robots for different medical purposes.
文摘目的:研究人口统计学变量对父母心理控制源的影响。方法:应用子女教育心理控制源量表(Parenting Locus of Control Scale,PLOC)对369名父母进行测查并对量表做出信、效度分析。结果:修订后的量表保持原有的五维度结构,具有良好的结构效度(TLI=0.878,CFI=0.851,RMSEA=0.056),各分量表的内部一致性信度均大于0.6。多重回归分析结果表明,受教育程度和性别对子女教育心理控制源存在影响。受教育程度越高的父母在"教育成效"这个因子上的得分越低,内控性越强(P<0.05);在"父母对子女行为控制"这个因子上父亲比母亲的内控性强(P<0.05)。结论:人口统计学中的某些变量对父母心理控制源存在影响。
