The solubilities of Cs 2 SO 4 -C 2 H 5 OH-H 2 O ternary system at 30℃and 50℃have been studied using microe-quipment for solubility determination.There appears two phases,alcoh olic phase,water phase in the liquid ph...The solubilities of Cs 2 SO 4 -C 2 H 5 OH-H 2 O ternary system at 30℃and 50℃have been studied using microe-quipment for solubility determination.There appears two phases,alcoh olic phase,water phase in the liquid phase.The solubilities of Cs 2 SO 4 in water,C 2 H 5 OH and mixed solvent have been determ ined.The phase diagram indicated that C 2 H 5 OH might be salted out by Cs 2 SO 4 from this system and the equilibrium solid phase is Cs 2 SO 4 .展开更多
A neural network Smith predictive control strategy is proposed to deal with inpu t and feedback time delays in telerobot systems. The delay time is assumed to b e invariant and unknown. The proposed control structure...A neural network Smith predictive control strategy is proposed to deal with inpu t and feedback time delays in telerobot systems. The delay time is assumed to b e invariant and unknown. The proposed control structure consists of a slave syst em and a master controller. In the slave system, a recurrent neural network (RNN ) with on-line weight tuning algorithm is employed to approximate the dynamics of the time-delay-free nonlinear plant, which is used to linearize the slave s ystem. The master controller is a Smith predictor for the linearized slave syste m, which provides prediction and maintains the desirable tracking performance. S tability propriety is guaranteed based on the Lyapunov method. A simulation of a two-link robotic manipulator is provided to illustrate the effectiveness of th e proposed control strategy.展开更多
文摘The solubilities of Cs 2 SO 4 -C 2 H 5 OH-H 2 O ternary system at 30℃and 50℃have been studied using microe-quipment for solubility determination.There appears two phases,alcoh olic phase,water phase in the liquid phase.The solubilities of Cs 2 SO 4 in water,C 2 H 5 OH and mixed solvent have been determ ined.The phase diagram indicated that C 2 H 5 OH might be salted out by Cs 2 SO 4 from this system and the equilibrium solid phase is Cs 2 SO 4 .
文摘A neural network Smith predictive control strategy is proposed to deal with inpu t and feedback time delays in telerobot systems. The delay time is assumed to b e invariant and unknown. The proposed control structure consists of a slave syst em and a master controller. In the slave system, a recurrent neural network (RNN ) with on-line weight tuning algorithm is employed to approximate the dynamics of the time-delay-free nonlinear plant, which is used to linearize the slave s ystem. The master controller is a Smith predictor for the linearized slave syste m, which provides prediction and maintains the desirable tracking performance. S tability propriety is guaranteed based on the Lyapunov method. A simulation of a two-link robotic manipulator is provided to illustrate the effectiveness of th e proposed control strategy.
