知识教学双向控制系统分析及其构建策略

知识教学控制系统具有复合双向、动态互控的性质,根据控制主体的不同,知识教学控制系统的运行机制可分为"教控系统"和"学控系统"两个环节。"教控系统"与"学控系统"共同处于"平衡-失衡-平衡"的动态模式中,共同构成了复合双向的统一控制整体。知识教学控制系统的构建策略为:力求平衡"控制"与"自主"的关系;关注知识的美学意蕴和人性价值,构建人本价值体系;以学生的"优质均衡发展"为出发点,努力践行"同特兼容"理念。

On the Motion of Controllable Mechanical Systems Having Variable Mass

The differential equations of motion of a comtlaint system with parameters and variable mass, of a system with variable mass and servo constraints and those for the control problem on the forced motion of constraint systems with variable mass are given respectively. Finally, an example is presented.

Vibration control of pedestrian-bridge vertical dynamic coupling interaction based on biodynamic model

The human-induced vertical vibration serviceability of low-frequency and lightweight footbridges is studied based on the moving mass-spring-damper（MMSD） biodynamic model, and the mass damper（TMD） with different optimal model parameters being used to control the vertical vibration.First, the MMSD biodynamic model is employed to simulate the pedestrians, and the time-varying control equations of the vertical dynamic coupling system of the pedestrian-bridgeTMD are established with the consideration of pedestrianbridge dynamic interaction; and the equations are solved by using the Runge-Kutta-Felhberg integral method with variable step size. Secondly, the footbridge dynamic response is calculated under the model of pedestrian-structure dynamic interaction and the model of moving load when the pedestrian pace frequency is consistent with the natural frequency of footbridge. Finally, a comparative study and analysis are made on the control effects of the vertical dynamic coupling system in different optimal models of the TMD. The calculation results show that the pedestrian-bridge dynamic interaction cannot be ignored when the vertical human-induced vibration serviceability of low-frequency and light-weight footbridge is evaluated. The TMD can effectively reduce the vibration under the resonance of pedestrian-bridge, and TMD parameters are recommended for the determination by the Warburton optimization model.

Stability of Three-Dimensional Trunk Motion

Aim To analyse stability of the three-dimensional rotational movements of a human torso system under perturbations using anatomical data of muscles (McGill, 1992). Methods To use the linearized analysis methods and a special model in which the effect of ligamentous and passive resitance by discs and fibers is included. Results The model is capable of predicting the muscle forces,and joint reaction forces at the L5/Sl which are the biomechani- cal factors used to asses the risk of the discs and annulus fibers. Conclusions It can also be used to analyze and neural excitation levels for a diverse Set of trunk movement.

Iterative Learning Control With Incomplete Information： A Survey

Abstract--This paper conducts a survey on iterative learn- ing control （ILC） with incomplete information and associated control system design, which is a frontier of the ILC field. The incomplete information, including passive and active types, can cause data loss or fragment due to various factors. Passive incomplete information refers to incomplete data and information caused by practical system limitations during data collection, storage, transmission, and processing, such as data dropouts, delays, disordering, and limited transmission bandwidth. Active incomplete information refers to incomplete data and information caused by man-made reduction of data quantity and quality on the premise that the given objective is satisfied, such as sampling and quantization. This survey emphasizes two aspects： the first one is how to guarantee good learning performance and tracking performance with passive incomplete data, and the second is how to balance the control performance index and data demand by active means. The promising research directions along this topic are also addressed, where data robustness is highly emphasized. This survey is expected to improve understanding of the restrictive relationship and trade-off between incomplete data and tracking performance, quantitatively, and promote further developments of ILC theory. Index Terms--Data dropout, data robustness, incomplete in- formation, iterative learning controi（ILC）, quantized control, sampled control, varying lengths.

Upgrading the definition of early gastric cancer: better staging means more appropriate treatment

Since Murakami defined early gastric cancer(EGC) as a "carcinoma limited to the gastric mucosa and/or submucosa regardless of the lymph node status", several authors have focused on the most influential histopathological parameters for predicting the development of lymph node metastases by considering the lymph node status as an important prognostic factor. A few authors have also considered the depth of invasion as one of the keys to explaining the existence of subgroups of patients affected by EGC with poor prognoses. In any case, EGC is still considered an initial phase of tumor progression with good prognosis. The introduction of modern endoscopic devices has allowed a precise diagnosis of early lesions, which can lead to improved definitions of tumors that can be radically treated with endoscopic mucosal resection or endoscopic submucosal dissection(ESD). Given the widespread use of these techniques, the Japanese Gastric Cancer Association( JGCA) identified in 2011 the standard criteria that should exclude the presence of lymph node metastases. At that time, EGCs with nodal involvement should have been asserted as no longer fitting the definition of an early tumor. Some authors have also demonstrated that the morphological growth pattern of a tumor, according to Kodama's classification, is one of the most important prognostic factors, thereby suggesting the need to report it in histopathological drafts. Notwithstanding the acquired knowledge regarding the clinical behavior of EGC, Murakami's definition is still being used. This definition needs to be upgraded according to the modern staging of the disease so that the appropriate treatment would be selected.

Mei Adiabatic Invariants Induced by Perturbation of Mei Symmetry for Nonholonomic Controllable Mechanical Systems

Two types of Mei adiabatic invariants induced by perturbation of Mei symmetry for nonholonomic controllablemechanical systems are reported.Criterion and restriction equations determining Mei symmetry after beingdisturbed of the system are established.Form and existence condition of Mei adiabatic invariants are obtained.

Improved Smith prediction monitoring AGC system based on feedback-assisted iterative learning control

The performance of Smith prediction monitoring automatic gauge control(AGC) system is influenced by model mismatching greatly in strip rolling process. Aiming at this problem, a feedback-assisted iterative learning control strategy, which learned unknown modeling error by using previous control information repeatedly, was introduced into Smith prediction monitoring AGC system. Firstly, conventional Smith predictor and improved Smith predictor with PI-P controller were analyzed. Secondly, on the basis of establishing of feedback-assisted iterative learning control strategy for improved Smith predictor, process control signal update law and control error were deduced, then convergence condition of this strategy was put forward and proved. Finally, after modeling the automatic position control system, the PI-P Smith prediction monitoring AGC system with feedback-assisted iterative learning control was researched through simulation. Simulation results indicate that this system remains stable during model mismatching. The robustness and response of monitoring AGC is improved by development of feedback-assisted iterative learning control strategy for PI-P Smith predictor.

Error Analysis of Three Degree-of-Freedom Changeable Parallel Measuring Mechanism

A three degree-of-freedom (DOF) planar changeable parallel mechanism is designed by means of control of different drive parameters. This mechanism possesses the characteristics of two kinds of parallel mechanism. Based on its topologic structure, a coordinate system for position analysis is set-up and the forward kinematic solutions are analyzed. It was found that the parallel mechanism is partially decoupled. The relationship between original errors and position-stance error of moving platform is built according to the complete differential-coefficient theory. Then we present a special example with theory values and errors to evaluate the error model, and numerical error solutions are gained. The investigations concentrating on mechanism errors and actuator errors show that the mechanism errors have more influences on the position-stance of the moving platform. It is demonstrated that improving manufacturing and assembly techniques can greatly reduce the moving platform error. The small change in position-stance error in different kinematic positions proves that the error-compensation of software can improve considerably the precision of parallel mechanism.

Numerical Controlled Two Optical Paths CO_2 Laser Die-Cutting Technology

A CO2 laser die-cutting system, which does not need die board any more, is a new technique for manufac-turing packing box. Two optical paths, the galvanometer scanning system and the flying optical system, are used to satisfy different processing needs. The scanning system is composed of galvanometer scanning mirrors and F-θ lens. And the flying optical system is driven by two servo motors. This paper presents the software and hardware design of the laser die-cutting system, the difference between the two optical paths, as well as the relationship among the cutting speed, thickness of wrapping paper and laser power. The cutting speed and thickness of wrapping paper are linearly increased by the incremental laser power, while the cutting speed is hyperbolically decreased by the incremental thickness of wrapping paper when the laser power is constant. The amount of incision is reduced by 20% and the processing time by 40% when tested by a low power RF CO2 laser die-cutting system using the optimized program. This tech- nique is also used for the reference of other rapid laser processing systems.

Dynamic Thermal Model and Temperature Control of Proton Exchange Membrane Fuel Cell Stack

A dynamic thermal transfer model of a proton exchange membrane fuel cell (PEMFC) stack is developed based on energy conservation in order to reach better temperature control of PEMFC stack. Considering its uncertain parameters and disturbance, we propose a robust adaptive controller based on backstepping algorithm of Lyaponov function. Numerical simulations indicate the validity of the proposed controller.

Mei Symmetries and Lie Symmetries for Nonholonomic Controllable Mechanical Systems with Relativistic Rotational Variable Mass

The Mei symmetries and the Lie symmetries for nonholonomic controllable mechanical systems with relativistic rotational variable mass are studied. The differential equations of motion of the systems are established. The definition and criterion of the Mei symmetries and the Lie symmetries of the system are studied respectively. The necessary and sufficient condition under which the Mei symmetry is Lie symmetry is given. The condition under which the Mei symmetries can be led to a new kind of conserved quantity and the form of the conserved quantity are obtained. An example is given to illustrate the application of the results.

Automobile active suspension system with fuzzy control

A quarter-automobile active suspension model was proposed. High speed on/off solenoid valves were used as control valves and fuzzy control was chosen as control method . Based on force analyses of system parts, a mathematical model of the active suspension system was established and simplified by linearization method. Simulation study was conducted with Matlab and three scale coefficients of fuzzy controller (ke, kec, ku) were acquired. And an experimental device was designed and produced. The results indicate that the active suspension system can achieve better vibration isolation performance than passive suspension system, the displacement amplitude of automobile body can be reduced to 55%. Fuzzy control is an effective control method for active suspension system.

Control of chemical chaos

Lyapunov exponents can act as the judgment rule whether the systems is chaotic or not.We propose an approach to control chaotic systems by varying the Lyapunov exponents of the system. At last we use this method to control a chemical system. Both the theoretical analysis and the simulation results prove that this method can quickly and effectively stabilize the chaotic systems to the desire points.

Mathematical model of electric hydraulic and powered support control system at a plough mining face

Given the actual working of a fully mechanized plough at a mining face, we have proposed a formula for running constraints between powered supports and a coal plough under assumed geological conditions of the coal face and, on this basis, established an automatic control model of powered supports for the coal plough face. We introduced the working principle of the powered support control system of the plough at the mining face. We established three advanced characteristics of this control system： response speed, reliability and easy maintenance of the system. As well, we briefly introduced, the principal function of primary and subordinate controllers and the realization of the communication system by a Single Bus. Ten controllers were constructed and tested in our laboratorium. The results show that the control model is practical and meets actual conditions. It provides a theoretical basis for designing a comouter control system for a oowered support system of a plough at a mining face.

Multi-objective Fuzzy Optimization Algorithm for Separation-Recycle System

Separation-recycle system is an important part in chemical process, and its optimization is a multiobjective problem. In this paper the process optimization procedure is proposed. The fuzzy optimization algorithm with the concept of relative importance degree (RID) is utilized to transfer multi-objective optimization (MO-O) model into a single-objective optimization (SO-O) framework. The treatment of process condensate in synthesisa mmonia plant is taken as example to illustrate the optimization procedure, and the satisfactory result demonstrates feasibility and effectiveness of the suggested method.

Fuzzy iterative learning control of electro-hydraulic servo system for SRM direct-drive volume control hydraulic press

A new kind of volume control hydraulic press that combines the advantages of both hydraulic and SRM(switched reluctance motor) driving technology is developed.Considering that the serious dead zone and time-variant nonlinearity exist in the volume control electro-hydraulic servo system,the ILC(iterative learning control) method is applied to tracking the displacement curve of the hydraulic press slider.In order to improve the convergence speed and precision of ILC,a fuzzy ILC algorithm that utilizes the fuzzy strategy to adaptively adjust the iterative learning gains is put forward.The simulation and experimental researches are carried out to investigate the convergence speed and precision of the fuzzy ILC for hydraulic press slider position tracking.The results show that the fuzzy ILC can raise the iterative learning speed enormously,and realize the tracking control of slider displacement curve with rapid response speed and high control precision.In experiment,the maximum tracking error 0.02 V is achieved through 12 iterations only.

Diffusion-controlled Adsorption Kinetics at Air/Solution Surface Studied by Maximum Bubble Pressure Method

In studying the diffusion-controlled adsorption kinetics of aqueous surfactant solutions at the air/solution surface by means of the maximal bubble pressure method, Fick's diffusion equation for a sphere should be used. In this paper the equation was solved by means of Laplace transformation under different initial and boundary conditions. The dynamic surface adsorption F(t) for a surfactant solution, which was used to describe the diffusion-controlled adsorption kinetics at the solution surface, was derived. Different from the planar surface adsorption, the dynamic surface adsorption F(t) for the short time consists of two terms: one is the same as Ward-Tordai equation and the other reflects the geometric effect caused by the spherical bubble surface. This effect should not be neglected for the very small radius of the capillary. The equilibrium surface tension γeq and the dynamic surface tension γ(t) of aqueous C10E6 [CH3(CH2)9(OCH2CH2)6OH] solution at temperature 25℃ were measuredby means of Wilhelmy plate method and maximal bubble pressure method respectively. As t→ 0, the theoreticalanalysis is in good agreement with experimental results and the dependence of γ(t) on is linear.

The Construction of Learning Object： Tools for the Teaching

The main objective of this work was the construction of a Multidisciplinary Learning Object as a tool for teaching, enabling the use of information and communication technologies for use by teachers acting in elementary school, based on Discourse Analysis, Theory Cybernetic-systemic, the Multiple Intelligences and Collaborative Learning. All of them are informed by Foucault, Pecheux, Bakhtin, Gardner, Levy, and others. The theoretical contribution is justified to the extent that the student is above all a being inserted into a user company tool created by it over time, to act on the world. Theoretical principles underlying the construction of learning objects as tools for teaching are related to teaching and learning. The developed learning object establishes the link between the fields of pedagogy and usability, the step by step construction of each of them and their purposes, characteristics, and all detailed in the development of research. The construction of the learning object follows the steps of a methodological construction for the development of a computerized product, followed by a systematic planning and the design and construction.

Ecological control of forest pest： a new strategy for forest pest control

In comparison with integrated pest management and chemical control, the authors put forward a new strategy of forest pest control, named ecological control of forest pest （ECFP）. This paper reviewed the development history, summarized the concept and principles of ECFP, discussed the technology and methods of ECFP, and evaluated the ECFP and its application conditions.