With the problem of robot motion control in dynamic environment represented by mobile obstacles,working pieces and external mechanisms considered, a relevant control actions design procedure has been pro-posed to prov...With the problem of robot motion control in dynamic environment represented by mobile obstacles,working pieces and external mechanisms considered, a relevant control actions design procedure has been pro-posed to provide coordination of robot motions with respect to the moving external objects so that an extension ofrobot spatial motion techniques and active robotic strategies based on approaches of nonlinear control theory canbe achieved.展开更多
The objective of this paper is to investigate the consensus of the multi-agent systems w/th nonlinear coupling function and external disturbances. The disturbance includes two parts, one part is supposed to be generat...The objective of this paper is to investigate the consensus of the multi-agent systems w/th nonlinear coupling function and external disturbances. The disturbance includes two parts, one part is supposed to be generated by an exogenous system, which is not required to be neutrally stable as in the output regulation theory, the other part is the modeling uncertainty in the exogenous disturbance system. A novel composite disturbance observer based control （DOBC） and H∞ control scheme is presented so that the disturbance with the exogenous system can be estimated and compensated and the consensus of the multi-agent systems with fixed and switching graph can be reached by using Hoo control law. Simulations demonstrate the advantages of the proposed DOBC and H∞ control scheme.展开更多
Tribological properties of 150 SN mineral oil and the oils doped with different contents of zinc butyloctyldithiophosphate(T202) under magnetic field or non-magnetic field were evaluated on a four-ball tribotester by ...Tribological properties of 150 SN mineral oil and the oils doped with different contents of zinc butyloctyldithiophosphate(T202) under magnetic field or non-magnetic field were evaluated on a four-ball tribotester by applying an external magnetic field around the friction region. Moreover, the morphology and the tribochemical characteristics of worn surfaces were examined by a scanning electron microscope(SEM) and an X-ray photoelectron spectrometer(XPS). Then the lubrication mechanisms were discussed. The tribological test results indicated that the wear scar diameters(WSDs) of steel balls lubricated by the T202-containing lubricating oils and the friction coefficients of the corresponding oil under magnetic field were smaller than those without magnetic affection. The worn surface lubricated with the T202-formulated oils in a magnetic field was smoother than that obtained under the normal condition. Furthermore, the results of XPS analysis indicated that tribochemical films on the surfaces lubricated with T202-doped oils were mainly composed of compounds such as FeSO_4, FeS and ZnS. The atomic concentrations of oxygen, sulfur, iron, zinc and phosphorus species identified in T202 under magnetic field were higher than those without magnetic impact. It can be inferred that the improved anti-wear and friction-reducing ability of T202-doped oils was attributed to the promoted tribochemical reactions and the modification of the worn surfaces induced by magnetic field.展开更多
On the basis of the actual steel deck structure of Taizhou Bridge, this paper carries out hot-spot stress analysis on some key spots by using the finite element model which simulates local structure of orthotropic ste...On the basis of the actual steel deck structure of Taizhou Bridge, this paper carries out hot-spot stress analysis on some key spots by using the finite element model which simulates local structure of orthotropic steel bridge decks. A finite element model is established for local structure of orthotropic steel bridge decks, and in the analysis of linear elasticity of the structure, face load is employed to simulate the loads from vehicle wheels. Analysis results show that main stresses are relatively heavy at the joints between diaphragm plates, top plates and U-shaped ribs and the joints between diaphragm plates and U-shaped ribs. These joints shall be regarded as key points for hot-spot stress analysis. Different mesh densities are adopted in the finite element model and the main stresses at different hot spots are contrasted and linear extrapolation is carried out using extrapolation formulae. Results show that different mesh densities have different influences on the hot-spot stresses at the welded seams of U-shaped ribs. These influences shall be considered in calculation and analysis.展开更多
Directly Applicable Law is an important achievement theory of private international law in the late nineteen fifties, widely used by states. The people＇ s Republic of China foreign civil legal relationship applicable...Directly Applicable Law is an important achievement theory of private international law in the late nineteen fifties, widely used by states. The people＇ s Republic of China foreign civil legal relationship applicable law established the frame of our country＇ s Directly Applicable Law in the legislative level. In practice, there exists some shortcomings in the use of the rules and theory of Directly Applicable Law. In this paper, the author defines the rules from the micro level to order picture from macro level as the starting point, discussed the perfect approach of Directly Applicable Law from the dimension of the interpretation, system, evolution route ,and rethought our current legislative situation.展开更多
Traveling wave differential protection has the ability,in theory,to entirely eliminate the effects of distributed capacitive current,but it cannot be applied on series-capacitor-compensated lines directly.In this pape...Traveling wave differential protection has the ability,in theory,to entirely eliminate the effects of distributed capacitive current,but it cannot be applied on series-capacitor-compensated lines directly.In this paper,unbalanced output of conventional forward and reverse traveling wave differential currents under normal operating conditions and external faults was analyzed.A new type of traveling wave differential current was defined by combining forward and reverse traveling wave differential currents.Expressions of the defined differential current when internal and external faults occur were deduced.On this basis,a new principle of traveling wave module differential protection on series-capacitor-compensated lines was proposed,and characteristics of module differential current under different faults were analyzed.The priniciple is immune to line distributed capacity,series capacitor positions,and presence or absence of MOV breakovers.The validity of this scheme was verified by PSACD simulations.展开更多
The present study concerns the measurement of the convective heat transfer coefficient on the solid-fluid interface by the pulsed photothermal method.This non-intrusive technique is apphed for the measurement of the l...The present study concerns the measurement of the convective heat transfer coefficient on the solid-fluid interface by the pulsed photothermal method.This non-intrusive technique is apphed for the measurement of the local heat transfer coefficients in cooling of a rectangular slab that simulates an electronic component.The heat transfer coefficient is deduced from the evolution of the transient temperature induced by a sudden deposit of a luminous energy on the front face of the slab.In order to draw up the heat transfer cartography by a non-destructive tool, the infrared thermography has been used.Two inverse techniques for the identification of the heat transfer coefficient are presented here.The first one is based on the assumption that heat transfer coefficient remains constant during the pulsed experiment,and the second one considered it variable in space and time.The temporal and spatial evolutions are expressed as a constant heat transfer coefficient(h_0)multiplied by a function of time and space f(x,t).The function f is deduced from the resolution of the conjugated convection-conduction problem,by a control volume technique for the case of thermally thick sample.The results are given for different air velocities and deflection angles of the flow.展开更多
This paper deals with the mixed initial-boundary value problem of Dirichlet type for the nonlinear elastodynamic system outside a star-shaped domain. The almost global existence of solution with small initial data to ...This paper deals with the mixed initial-boundary value problem of Dirichlet type for the nonlinear elastodynamic system outside a star-shaped domain. The almost global existence of solution with small initial data to this problem is proved and a lower bound for the lifespan of solutions is given.展开更多
This paper studies the stabilization problem of an Euler-Bernoulli beam with a tip mass,which undergoes unknown but uniform bounded disturbance at tip mass. Here the nonlinear feedback control law is used to cancel th...This paper studies the stabilization problem of an Euler-Bernoulli beam with a tip mass,which undergoes unknown but uniform bounded disturbance at tip mass. Here the nonlinear feedback control law is used to cancel the effects of the external disturbances. For the controlled nonlinear system,the authors prove the well-posedness by the maximal monotone operator theory and the variational principle. Further the authors prove that the controlled nonlinear system is exponential stable by constructing a suitable Lyapunov function. Finally, some numerical simulations are given to support these results.展开更多
基金Sponsored by Russian Foundation of Basic Research (Grant No. 97-01-00432)
文摘With the problem of robot motion control in dynamic environment represented by mobile obstacles,working pieces and external mechanisms considered, a relevant control actions design procedure has been pro-posed to provide coordination of robot motions with respect to the moving external objects so that an extension ofrobot spatial motion techniques and active robotic strategies based on approaches of nonlinear control theory canbe achieved.
基金Supported by the National Excellence Youth Science Foundation of China under Grant No.60925012the National Basic Research Science Program of China under Grant No.2012CB720000+3 种基金973 Programthe National Natural Science Foundation of China under Grant Nos.60875039,60904022,60805039,and 60774013the Science Foundation of China postdoctoral under Grant No.2011M500205the Natural Science Foundation of Shandong Province of China under Grant No.ZR2011FM017
文摘The objective of this paper is to investigate the consensus of the multi-agent systems w/th nonlinear coupling function and external disturbances. The disturbance includes two parts, one part is supposed to be generated by an exogenous system, which is not required to be neutrally stable as in the output regulation theory, the other part is the modeling uncertainty in the exogenous disturbance system. A novel composite disturbance observer based control （DOBC） and H∞ control scheme is presented so that the disturbance with the exogenous system can be estimated and compensated and the consensus of the multi-agent systems with fixed and switching graph can be reached by using Hoo control law. Simulations demonstrate the advantages of the proposed DOBC and H∞ control scheme.
基金financial support provided by the National Natural Science Foundation of China(Project No.51375491)the Natural Science Foundation of Chongqing(Project No.CSTC,2014JCYJAA50021)the Innovation Fund of Logistical Engineering University(Project No.YZ13-43703)
文摘Tribological properties of 150 SN mineral oil and the oils doped with different contents of zinc butyloctyldithiophosphate(T202) under magnetic field or non-magnetic field were evaluated on a four-ball tribotester by applying an external magnetic field around the friction region. Moreover, the morphology and the tribochemical characteristics of worn surfaces were examined by a scanning electron microscope(SEM) and an X-ray photoelectron spectrometer(XPS). Then the lubrication mechanisms were discussed. The tribological test results indicated that the wear scar diameters(WSDs) of steel balls lubricated by the T202-containing lubricating oils and the friction coefficients of the corresponding oil under magnetic field were smaller than those without magnetic affection. The worn surface lubricated with the T202-formulated oils in a magnetic field was smoother than that obtained under the normal condition. Furthermore, the results of XPS analysis indicated that tribochemical films on the surfaces lubricated with T202-doped oils were mainly composed of compounds such as FeSO_4, FeS and ZnS. The atomic concentrations of oxygen, sulfur, iron, zinc and phosphorus species identified in T202 under magnetic field were higher than those without magnetic impact. It can be inferred that the improved anti-wear and friction-reducing ability of T202-doped oils was attributed to the promoted tribochemical reactions and the modification of the worn surfaces induced by magnetic field.
基金National Science and Technology Support Program of China(No.2009BAG15B02)Key Programs for Science and Technology Development of Chinese Transportation Industry(No.2008-353-332-180)+1 种基金"333 High-level Personnel Training Project"Special Funded Projects in Jiangsu ProvinceJiangsu Communications Science Research Program(No.08Y29-16)
文摘On the basis of the actual steel deck structure of Taizhou Bridge, this paper carries out hot-spot stress analysis on some key spots by using the finite element model which simulates local structure of orthotropic steel bridge decks. A finite element model is established for local structure of orthotropic steel bridge decks, and in the analysis of linear elasticity of the structure, face load is employed to simulate the loads from vehicle wheels. Analysis results show that main stresses are relatively heavy at the joints between diaphragm plates, top plates and U-shaped ribs and the joints between diaphragm plates and U-shaped ribs. These joints shall be regarded as key points for hot-spot stress analysis. Different mesh densities are adopted in the finite element model and the main stresses at different hot spots are contrasted and linear extrapolation is carried out using extrapolation formulae. Results show that different mesh densities have different influences on the hot-spot stresses at the welded seams of U-shaped ribs. These influences shall be considered in calculation and analysis.
文摘Directly Applicable Law is an important achievement theory of private international law in the late nineteen fifties, widely used by states. The people＇ s Republic of China foreign civil legal relationship applicable law established the frame of our country＇ s Directly Applicable Law in the legislative level. In practice, there exists some shortcomings in the use of the rules and theory of Directly Applicable Law. In this paper, the author defines the rules from the micro level to order picture from macro level as the starting point, discussed the perfect approach of Directly Applicable Law from the dimension of the interpretation, system, evolution route ,and rethought our current legislative situation.
文摘Traveling wave differential protection has the ability,in theory,to entirely eliminate the effects of distributed capacitive current,but it cannot be applied on series-capacitor-compensated lines directly.In this paper,unbalanced output of conventional forward and reverse traveling wave differential currents under normal operating conditions and external faults was analyzed.A new type of traveling wave differential current was defined by combining forward and reverse traveling wave differential currents.Expressions of the defined differential current when internal and external faults occur were deduced.On this basis,a new principle of traveling wave module differential protection on series-capacitor-compensated lines was proposed,and characteristics of module differential current under different faults were analyzed.The priniciple is immune to line distributed capacity,series capacitor positions,and presence or absence of MOV breakovers.The validity of this scheme was verified by PSACD simulations.
基金support of the Comite Mixte Franco-Tunisien pour la Cooperation Universitaire(Project CMCU N°08G1131)
文摘The present study concerns the measurement of the convective heat transfer coefficient on the solid-fluid interface by the pulsed photothermal method.This non-intrusive technique is apphed for the measurement of the local heat transfer coefficients in cooling of a rectangular slab that simulates an electronic component.The heat transfer coefficient is deduced from the evolution of the transient temperature induced by a sudden deposit of a luminous energy on the front face of the slab.In order to draw up the heat transfer cartography by a non-destructive tool, the infrared thermography has been used.Two inverse techniques for the identification of the heat transfer coefficient are presented here.The first one is based on the assumption that heat transfer coefficient remains constant during the pulsed experiment,and the second one considered it variable in space and time.The temporal and spatial evolutions are expressed as a constant heat transfer coefficient(h_0)multiplied by a function of time and space f(x,t).The function f is deduced from the resolution of the conjugated convection-conduction problem,by a control volume technique for the case of thermally thick sample.The results are given for different air velocities and deflection angles of the flow.
基金the National Natural Science Foundation of China (No. 10271030).
文摘This paper deals with the mixed initial-boundary value problem of Dirichlet type for the nonlinear elastodynamic system outside a star-shaped domain. The almost global existence of solution with small initial data to this problem is proved and a lower bound for the lifespan of solutions is given.
基金supported by the Natural Science Foundation of China under Grant Nos.61174080,61573252,and 61503275
文摘This paper studies the stabilization problem of an Euler-Bernoulli beam with a tip mass,which undergoes unknown but uniform bounded disturbance at tip mass. Here the nonlinear feedback control law is used to cancel the effects of the external disturbances. For the controlled nonlinear system,the authors prove the well-posedness by the maximal monotone operator theory and the variational principle. Further the authors prove that the controlled nonlinear system is exponential stable by constructing a suitable Lyapunov function. Finally, some numerical simulations are given to support these results.
