体育课堂教学管理与控制因素初探

本文依据控制论、管理学、心理学等基本原理,在总结体育课堂教学经验的基础上,对体育课堂教学的管理与控制因素概括为:定性控制、定量控制、定序控制、定度控制、定势控制及环境控制。

论体育教学的控制

体育教学是一个复杂的系统工程，教学效果的优劣受到诸因素的影响。在体育教学中运用系统科学的研究成果和方法，能增强学的自信心，调动学生的学习积极性，充分发挥学生的内在潜力，进而达到教学效果的最优化。

充分发挥教师主控作用 创新工科物理课堂教学

文章提出彻底更除工科大学物理“满堂灌”的教学弊端，必须充分发挥教师的主控作用，创新工科物理课堂教学。教师的主控作用具体体现在对教学的定势控制、定度控制、定序控制和反馈控制四个方面。

LOW COST IMPLEMENTATION OF SPEED SENSORLESS INDUCTION MOTOR CONTROL USING STATOR FLUX ORIENTATION

The control platform of the induction motor （IM） with low costs is developed by using DSP MC56F8013 with a good performance/price rtaio. The control algorithm for the speed sensorless IM is studied based on the stator flux orientation （SFO）. The algorithm structure is simple to be implemented and cannot be influenced by motor parameters, The improved stator flux estimation is used to compensate errors caused by the low pass filter （LPF）. A new speed regulator is designed to ensure the system working with the maximal torque in the transient state. The system simulation and the prototype experiment are made. Results show that the con- trol system has good dynamic and static performance.

Improved Generalized Predictive Control Algorithm with Offline and Online Identification and Its Application to Fixed Bed Reactor

An improved generalized predictive control algorithm is presented in thispaper by incorporating offline identification into online identification. Unlike the existinggeneralized predictive control algorithms, the proposed approach divides parameters of a predictivemodel into the time invariant and time-varying ones, which are treated respectively by offline andonline identification algorithms. Therefore, both the reliability and accuracy of the predictivemodel are improved. Two simulation examples of control of a fixed bed reactor show that this newalgorithm is not only reliable and stable in the case of uncertainties and abnormal disturbances,but also adaptable to slow time varying processes.

IMC-PID tuning method based on sensitivity specification for process with time-delay

To overcome the deficiencies addressed in the conventional PID control and improve the dynamic performance and robustness of the system, a simple design and parameters tuning approach of internal model control-PID （IMC-PID） controller was proposed for the first order plus time-delay （FOPTD） process and the second order plus time-delay （SOPTD） process. By approximating the time-delay term of the process model with the first-order Taylor series, the expressions for IMC-PID controller parameters were derived, and they had only one adjustable parameter 2 which was directly related to the dynamic performance and robustness of the system. Moreover, an analytical approach of selecting 2 was given based on the maximum sensitivity Ms. Then, the robust tuning of the system could be achieved according to the value of Ms. In addition, the proposed method could be extended to the integrator plus time-delay （IPTD） process and the first order delay integrating （FODI） process. Simulation studies were carried out on various processes with time-delay, and the results show that the proposed method could provide a better dynamic performance of both the set-point tracking and disturbance rejection and robustness against parameters perturbation.

A New Tuning Method for Two-Degree-of-Freedom Internal Model Control under Parametric Uncertainty

Internal model control （IMC） yields very good performance for set point tracking, but gives sluggish response for disturbance rejection problem. A two-degree-of-freedom IMC （2DOF-IMC） has been developed to overcome the weakness. However, the setting of parameter becomes a complicated matter if there is an uncertainty model. The present study proposes a new tuning method for the controller. The proposed tuning method consists of three steps. Firstly, the worst case of the model uncertainty is determined. Secondly, the parameter of set point con- troller using maximum peak （Mp） criteria is specified, and finally, the parameter of the disturbance rejection con- troller using gain margin （GM） criteria is obtained. The proposed method is denoted as Mp-GM tuning method. The effectiveness of Mp-GM tuning method has evaluated and compared with IMC-controller tuning program （IMCTUNE） as bench mark. The evaluation and comparison have been done through the simulation on a number of first order plus dead time （FOPDT） and higher order processes. The FOPDT process tested includes processes with controllability ratio in the range 0.7 to 2.5. The higher processes include second order with underdarnped and third order with nonminimum phase processes. Although the two of higher order processes are considered as difficult processes, the proposed Mp-GM tuning method are able to obtain the good controller parameter even under process uncertainties.

Interval standard neural network models for nonlinear systems

A neural-network-based robust control design is suggested for control of a class of nonlinear systems. The design ap- proach employs a neural network, whose activation functions satisfy the sector conditions, to approximate the nonlinear system. To improve the approximation performance and to account for the parameter perturbations during operation, a novel neural network model termed standard neural network model (SNNM) is proposed. If the uncertainty is bounded, the SNNM is called an interval SNNM (ISNNM). A state-feedback control law is designed for the nonlinear system modelled by an ISNNM such that the closed-loop system is globally, robustly, and asymptotically stable. The control design equations are shown to be a set of linear matrix inequalities (LMIs) that can be easily solved by available convex optimization algorithms. An example is given to illustrate the control design procedure, and the performance of the proposed approach is compared with that of a related method reported in literature.

Adaptive neural network based sliding mode altitude control for a quadrotor UAV

Reasons and realities such as being non-linear of dynamical equations,being lightweight and unstable nature of quadrotor,along with internal and external disturbances and parametric uncertainties,have caused that the controller design for these quadrotors is considered the challenging issue of the day.In this work,an adaptive sliding mode controller based on neural network is proposed to control the altitude of a quadrotor.The error and error derivative of the altitude of a quadrotor are the inputs of neural network and altitude sliding surface variable is its output.Neural network estimates the sliding surface variable adaptively according to the conditions of quadrotor and sets the altitude of a quadrotor equal to the desired value.The proposed controller stability has been proven by Lyapunov theory and it is shown that all system states reach to sliding surface and are remaining in it.The superiority of the proposed control method has been proven by comparison and simulation results.

Performance enhancement of IMC-PID controller design for stable and unstable second-order time delay processes

An IMC-PID controller was proposed for unstable second-order time delay system which shows the characteristics of inverse response(RHP zero). A plot of Ms versus λ was suggested to calculate the suitable tuning parameter λ, which provides a trade-off between performance and robustness. Six different forms of process models were selected from literature to show the applicability of the present method. Performance of controller was calculated by ITAE and total variation TV and compared with recently published tuning rules. Undesirable overshoot was removed by using a set-point weighting parameter. Robustness was tested by introducing a perturbation into the various model parameters and closed-loop results show that the designed controller is robust in the case of model uncertainty. The proposed method shows an overall better closed-loop response as compared to other recently reported methods.

Comparative Study of the DTC-IM Speed Controller Based on Artificial Intelligence

Recently, artificial intelligence technique is increasingly receiving attention in solving complex and practical problem and they are widely applying in electrical machine domain. The authors consider also the direct torque control （DTC） as an alternative to conventional methods of control by pulse width modulation （PWM） and by Field oriented control （FOC）, so the application of the DTC based on artificial intelligence can show more advantages and simplified control algorithms with high performance. For this reason, the objectives of this paper can be divided into two parts, the first part is to apply neural networks and fuzzy logic techniques to the DTC control in the presence of a loop speed control comparing to the conventional regulators （as PI） to show the feasibility of these approaches, the second part is to further improve the performance of the neural network by using a neural-fuzzy regulator which combine the advantages of two techniques. Simulation results confirm the validity of the proposed techniques.

Simulation on Driving System Used for Differential Steering of Electric Scooter

To investigate the feasibility and effectiveness of the designed control system used for driving and steering of an electric scooter, a model of differential steering was developed. The function of electronic differential steering was realized by controlling the speed of right or left wheel and the corresponding speed difference. The control system was simulated with MATLAB/SIMUL1NK and ADAMS. It is found that the motor load torque is proportional to the tire vertical force, so the adhesive capacity is met. The electric scooter can operate stably on the slope road at a speed of more than 1.5 m/s and turn stably at yawing velocities of 10° and 90°per second.

Stability analysis and stabilization of wireless networked control systems based on deadband control scheduling

The stability analysis and stabilization problems of the wireless networked control systems(WNCSs) with signal transmission deadbands were considered. The deadbands were respectively set up at the sensor to the controller and the controller to the actor sides in the WNCS, which were used to reduce data transmission, furthermore, to decrease the network collision and node energy consumption. Under the consideration of time-varying delays and signal transmission deadbands, the model for the WNCS was presented. A novel Lyapunov functional which took full advantages of the network factors was exploited. Meanwhile, new stability analysis and stabilization conditions for the WNCS were proposed, which described the relationship of the delay bounds, the transmission deadband bounds and the system stability. Two examples were used to demonstrate the effectiveness of the proposed methods. The results show that the proposed approach can guarantee asymptotical stability of the system and reduce the data transmission effectively.

A Sliding Mode Control for Uncertain Time-delay Systems

By means of the feasibility of some linear matrix inequalities(LMIs),delay dependent sufficient condition is derived for the existence of a linear sliding surface,which guarantees quadratic stability of the reduced-order equivalent system restricted to the sliding surface.And a reaching motion controller is proposed.A numerical simulation shows the effectiveness of the approach.

Stability control of underground construction

This paper presents the reason for instability of underground construction. In order to know failure mechanism during the whole construction process, a research framework of multi-scale based on experiments and numerical analysis is established. Some promising aspects in the topics of stability control are also given in the paper.

A Simple Bioassay Using Fluorescent Microbeads and Daphnia magna

The amount of microbeads ingested by Daphnia magna decreases on exposure to toxic materials; tins oenawor was used to develop a toxicity test. To determine the toxicity of seven metals, D. magna were collected and homogenized, and the fluorescence intensity of the microbeads ingested by D. magna was measured. The amount of ingestion was determined from fluorescence intensity. The fluorescence intensity was half of that of the controls which was measured as the 30 min-FI50, and these data correlated well with those from an acute immobilization method （24 h-EC50）. An advantage of the method using fluorescent beads is that an estimate of the 24 h-EC50 can be obtained.

Optimal Trajectory Planning of the Dual Arm Manipulator Using DAMM

This paper presents an optimal trajectory planning method of the dual arm manipulator using Dual Arm Manipulability Measure （DAMM）. When the manipulator carries an object from a certain position to the destination, various trajectory candidates could be conskied. TO select the optimal trajectacy from the several candidates, energy, time, and the length of the tmjecttay could be utilized. In order to quantify the carrying effidency of dual-arms, DAMM has been defined and applied for the decision of the optimal path. DAMM is defined as the interaction of the manipulability ellipsoids of the dualarras, while the manipulability measure irdicates the relationship between the joint velocity and the Cartesian velocity for each ann. The cast function for achieving the optimal path is defined as the Summation of the distance to the goal and inverse of this DAMM, which aims to generate the efficient motion to the goal. It is confirmed that the optimal path planning keeps higher manipulability through the short distance path by using computer simulation. To show the effectiveness of this cooperative control algorithm experimentally, a 5-DOF dual-ann robot with distributed controllers for synchronization control has been developed and used for the experiments.

Faults and Claims about Thermal Environments in Relation to Energy Saving Measures in Smaller Office Buildings

Building equipment, energy-saving systems, and claims of inappropriate indoor thermal environments were analyzed in relation to the floor area using responses to a questionnaire survey of service managers of 157 buildings built in Osaka, Kyoto and Hyogo prefectures in Kinki area of Japan. Results show the following： （1） In smaller buildings （〈 5,000 m2）, setting temperatures are higher in summer and lower in winter, effects of ＂uncomfortable radiation from windows＂ are greater, energy-saving systems decrease indoor thermal comfort, but claims of ＂hot＂ and ＂cold＂ are fewer; （2） Claims of ＂hot＂ and ＂cold＂ are unrelated to the setting temperature and whether the air-conditioning control system is central or local; （3） The adoption rates of mitigation of dress codes （＂COOL-BIZ＂ and ＂WARM-BIZ＂） are higher than those of temperature mitigation of air conditioning.

Experimental study on the effect of porosity on the uniaxial compressive strength of sea ice in Bohai Sea

For the abnormal ice condition in 2009-2010 winter, sea ice samples were collected in a tide ditch outside a port in the east coast of Liaodong Bay, and ice specimens were prepared. Experimental study was carried out with a temperature-control precision of 0.1℃, and 117 columnar-grained ice specimens were loaded along the direction parallel to ice surface under different test temperatures （-4, -7, -10, -13, -16℃） and strain rates ranging from 10^-6 to 10^-2 s^-1 within which the ductile region, duetile-brittle transition and brittle region are contained. The uniaxial compressive strengths, density and salinity of the ice specmens were measured. The results support the curved-surface relationship between the uniaxial compressive strength and porosity within a wide range of strain rate. The curved-surface relationship gives a quantitative description about the variations of the mechanical behavior transition point with ice porosity, and supplies a uniform mathematical representation of uniaxial compressive strength under different failure modes. Besides, it is deduced that abnormal ice condition in 2009-2010 winter will not result in a change of the uniaxial compressive strength of sea ice in Bohai Sea.

Stall Characteristics and Tip Clearance Effects in Forward Swept Axial Compressor Rotors

Tilting the blade sections to the flow direction （blade sweep） would increase the operating range of an axial compressor due to modifications in the pressure and velocity fields on the suction surface. On the other hand, blade tip gap, though finite, has great influence on the performance of a turbomachine. The present paper investigates the combined effect of these two factors on various flow characteristics iu＇a low speed axial flow compressor. For this present study, nine computational domains were modeled; three rotor sweep configurations （0°, 20° and 30°）and for three different clearance levels for each rotor. Commercial CFD solver ANSYS CFX 11.0 is used for the simulations. Results indicated that tip chordline sweep is found to improve the stall margin of the compressor by modifying the suction surface boundary layer migration phenomenon. Diffusion Factor （DF） contours showed the severity of stalling with unswept rotor. For the swept rotors, the zones of high probable stall are less severe and they become less in size with increasing sweep. Increment in the tip gap is found to gradually affect the performance of unswept rotor, while the effect is very high for the two swept rotors for the earlier increments. As a minimum clearance is unavoidable, swept rotors suffer relatively higher deviation from the idealistic behavior than the unswept rotor due to tip clearance.