GENERALIZED TRANSFER FUNCTION OF CONTROL SYSTEM AND AN IMPROVEMENT ON THE DECISION METHOD OF MOVEMENT STABILITY

In this paper the definitions of generalized transfer functios of control system and itscontinuity are presented.Using generalized transfer function as a tool,a set of theorems fordeciding movement stability have been constructed.Thus basing understanding of thecharacteristics of a control dynamics system on its measured procedure will simplify thedecision method of movement stability problems.

A Generalized Layered Radiative Transfer Model in the Vegetation Canopy

In this paper, a generalized layered model for radiation transfer in canopy with high vertical resolution is developed. Differing from the two-stream approximate radiation transfer model commonly used in the land surface models, the generalized model takes into account the effect of complicated canopy morphology and inhomogeneous optical properties of leaves on radiation transfer within the canopy. In the model, the total leaf area index （LAI） of the canopy is divided into many layers. At a given layer, the influences of diffuse radiation angle distributions and leaf angle distributions on radiation transfer within the canopy are considered. The derivation of equations serving the model are described in detail, and these can deal with various diffuse radiation transfers in quite broad categories of canopy with quite inhomogeneons vertical structures and uneven leaves with substantially different optical properties of adaxial and abaxial faces of the leaves. The model is used to simulate the radiation transfer for canopies with horizontal leaves to validate the generalized model. Results from the model are compared with those from the two-stream scheme, and differences between these two models are discussed.

A Simplified Scheme of the Generalized Layered Radiative Transfer Model

In this paper, firstly, a simplified version （SGRTM） of the generalized layered radiative transfer model （GRTM） within the canopy, developed by us, is presented. It reduces the information requirement of inputted sky diffuse radiation, as well as of canopy morphology, and in turn saves computer resources. Results from the SGRTM agree perfectly with those of the GRTM. Secondly, by applying the linear superposition principle of the optics and by using the basic solutions of the GRTM for radiative transfer within the canopy under the condition of assumed zero soil reflectance, two sets of explicit analytical solutions of radiative transfer within the canopy with any soil reflectance magnitude are derived： one for incident diffuse, and the other for direct beam radiation. The explicit analytical solutions need two sets of basic solutions of canopy reflectance and transmittance under zero soil reflectance, run by the model for both diffuse and direct beam radiation. One set of basic solutions is the canopy reflectance αf （written as α1 for direct beam radiation） and transmittance βf （written as β1 for direction beam radiation） with zero soil reflectance for the downward radiation from above the canopy （i.e. sky）, and the other set is the canopy reflectance （αb） and transmittance βb for the upward radiation from below the canopy （i.e., ground）. Under the condition of the same plant architecture in the vertical layers, and the same leaf adaxial and abaxial optical properties in the canopies for the uniform diffuse radiation, the explicit solutions need only one set of basic solutions, because under this condition the two basic solutions are equal, i.e., αf = αb and βf = βb. Using the explicit analytical solutions, the fractions of any kind of incident solar radiation reflected from （defined as surface albedo, or canopy reflectance）, transmitted through （defined as canopy transmittance）, and absorbed by （defined as canopy absorptance） the canopy and other properties pertinent to the radiative transfer within the canopy can be estimated easily on the ground surface below the canopy （soil or snow surface） with any reflectance magnitudes. The simplified transfer model is proven to have a similar accuracy compared to the detailed model, as well as very efficient computing.

A Comparison of Two Canopy Radiative Models in Land Surface Processes

This paper compares the predictions by two radiative transfer models-the two-stream approximation model and the generalized layered model （developed by the authors） in land surface processes -for different canopies under direct or diffuse radiation conditions. The comparison indicates that there are significant differences between the two models, especially in the near infrared （NIR） band. Results of canopy reflectance from the two-stream model are larger than those from the generalized model. However, results of canopy absorptance from the two-stream model are larger in some cases and smaller in others compared to those from the generalized model, depending on the cases involved. In the visible （VIS） band, canopy reflectance is smaller and canopy absorptance larger from the two-stream model compared to the generalized model when the Leaf Area Index （LAI） is low and soil reflectance is high. In cases of canopies with vertical leaf angles, the differences of reflectance and absorptance in the VIS and NIR bands between the two models are especially large. Two commonly occurring cases, with which the two-stream model cannot deal accurately, are also investigated. One is for a canopy with different adaxial and abaxial leaf optical properties; and the other is for incident sky diffuse radiation with a non-uniform distribution. Comparison of the generalized model within the same canopy for both uniform and non-uniform incident diffuse radiation inputs shows smaller differences in general. However, there is a measurable difference between these radiation inputs for a canopy with high leaf angle. This indicates that the application of the two-stream model to a canopy with different adaxial and abaxial leaf optical properties will introduce non-negligible errors.

High-efficiency inspecting method for mobile robots based on task planning for heat transfer tubes in a steam generator

Many heat transfer tubes are distributed on the tube plates of a steam generator that requires periodic inspection by robots.Existing inspection robots are usually involved in issues:Robots with manipulators need complicated installation due to their fixed base;tube mobile robots suffer from low running efficiency because of their structural restricts.Since there are thousands of tubes to be checked,task planning is essential to guarantee the precise,orderly,and efficient inspection process.Most in-service robots check the task tubes using row-by-row and column-bycolumn planning.This leads to unnecessary inspections,resulting in a long shutdown and affecting the regular operation of a nuclear power plant.Therefore,this paper introduces the structure and control system of a dexterous robot and proposes a task planning method.This method proceeds into three steps:task allocation,base position search,and sequence planning.To allocate the task regions,this method calculates the tool work matrix and proposes a criterion to evaluate a sub-region.And then all tasks contained in the sub-region are considered globally to search the base positions.Lastly,we apply an improved ant colony algorithm for base sequence planning and determine the inspection orders according to the planned path.We validated the optimized algorithm by conducting task planning experiments using our robot on a tube sheet.The results show that the proposed method can accomplish full task coverage with few repetitive or redundant inspections and it increases the efficiency by 33.31% compared to the traditional planning algorithms.