Three-dimensional nonlinear H_2/H_∞ guidance law based upon approach of solving the state feedback Nash balance point

Based upon the theory of the nonlinear quadric two-person nonzero-sum differential game,the fact that the time-limited mixed H2/H∞ control problem can be turned into the problem of solving the state feedback Nash balance point is mentioned. Upon this,a theorem about the solution of the state feedback control is given,the Lyapunov stabilization of the nonlinear system under this control is proved,too. At the same time,this solution is used to design the nonlinear H2/H∞ guidance law of the relative motion between the missile and the target in three-dimensional(3D) space. By solving two coupled Hamilton-Jacobi partial differential inequalities(HJPDI),a control with more robust stabilities and more robust performances is obtained. With different H∞ performance indexes,the correlative weighting factors of the control are analytically designed. At last,simulations under different robust performance indexes and under different initial conditions and under the cases of intercepting different maneuvering targets are carried out. All results indicate that the designed law is valid.

A Measure System of Zero Moment Point Using Wearable Inertial Sensors

Keeping balance is the premise of human walking. ZMP(zero moment point) is a point where total torque achieves balance. It is an important evaluation parameter of balance ability in walking, since it can be used to better reflect the dynamic balance during walking. ZMP can be used in many applications, such as medical rehabilitation, disease diagnosis, treatment and etc. In this paper, wearable inertial sensors system based on MEMS is used to measure ZMP(zero moment point) during walking, which is cheap, convenient, and free from the restriction of lab. Our wearable ZMP measurement system consists of inertial measurement subsystem and PC real-time monitoring station. Inertial measurement subsystem includes 9-axis inertial sensing nodes, the body communication network and the central node. Inertial sensing nodes are mounted on different parts of the body to collect body posture information in real-time, and then the best estimation of current posture are obtained by Kalman filter. The data from sensors is aggregated to the central node through the CAN bus, and then ZMP is calculated. Finally, it can be showed in the PC monitoring station. Experiments prove the system can achieve real-time ZMP detection during walking.

ADAPTIVE CONTROLLER AND ITS APPLICATION IN FORCE SYSTEM OF ASYMMETRIC CYLINDER CONTROLLED BY SYMMETRIC VALVE

Partial pressure, system vibration and asymmetric system dynamic performance exit in asymmetric cylinder controller by symmetric valve hydraulic system. To solve this problem in the force control system, model reference adaptive controller is designed using equilibrium point stability theory and output error equation polynomial. The reference model is selected in such a way that it meets the system dynamic performance. Hardware configuration of asymmetric cylinder controlled by asymmetric valve hydraulic system is replaced by intelligent control algorithm, thus the cost is lowered and easy to application. Simulation results demonstrate that the proposed adaptive control sheme has good adaptive ability and well solves asymmetric dynamic performance problem. The designed adaptive controller is fairly robust to load disturbance and system parameter variation.

Self-existence,Altru-existence and Human Nature

The question whether human nature is good or evil has been argued about throughout the history.This paper contends that man’s actions are driven by his needs for self-existence and altru-existence.Moral judgment is mostly determined by social norms,and different times may give different judgments to human actions.Whether man is good or evil depends on the actions taken in the situations and from the balance between self-existence and altru-existence in him.The balance point between self-existence and altru-existence may vary from person to person and from culture to culture.Even in the same person,at the different stages of his life or in different situations,the position of the balance point may change accordingly.This paper also applies the idea of balance point to the explanation of the formation of the Chinese national character.

Experimental study on filtration and continuous regeneration of a particulate filter system for heavy-duty diesel engines

This study investigated the filtration and continuous regeneration of a particulate filter system on an engine test bench, consisting of a diesel oxidation catalyst（DOC） and a catalyzed diesel particulate filter（CDPF）. Both the DOC and the CDPF led to a high conversion of NO to NO2 for continuous regeneration. The filtration efficiency on solid particle number（SPN） was close to100%. The post-CDPF particles were mainly in accumulation mode. The downstream SPN was sensitively influenced by the variation of the soot loading. This phenomenon provides a method for determining the balance point temperature by measuring the trend of SPN concentration.