蒙氏数棒教学中的幼儿思维发展与教师指导

在蒙氏数棒的操作中，由于数棒设计符合幼儿的身心发展特点和年龄阶段，幼儿能较快地完成数棒学具的操作。教师在课堂上的数棒补数示范和幼儿学具操作之间有密切的关联；教师在幼儿操作过程中的言语和动作的指导，也对幼儿的操作行为和内在思维的发展具有较大的影响。

宋遏云社《鼓板棒数》图谱分析

本文说明遏云社在宋代的艺术地位和宋代人的哲学观念后 ,用大量的篇幅分析“鼓板棒数”和当代节拍的联系和区别。鼓板棒数是鼓板节乐法的滥觞 ;鼓板棒数还不是板眼节拍法。虽鼓板相间却不是均等节拍。鼓板棒数是以鼓为主的节乐方法 ,板不是主宰节拍的乐件 ,击鼓还不称之谓“眼”。

Numerical Analysis of Steady Smoldering of Biomass Rods

Understanding the steady mechanism of biomass smoldering plays a great role in the utilization of smoldering technology.In this study numerical analysis of steady smoldering of biomass rods was performed.A two-dimensional(2D)steady model taking into account both char oxidation and pyrolysis was developed on the basis of a calculated propagation velocity according to empirical correlation.The model was validated against the smoldering experiment of biomass rods under natural conditions,and the maximum error was smaller than 31%.Parameter sensitivity analysis found that propagation velocity decreases significantly while oxidation area and pyrolysis zone increase significantly with the increasing diameter of rod fuel.

数形结合 “深”入“浅”出——以《乘法分配律》一课教学为例

学生在认识乘法分配律时,往往孤立地看两个算式;在运用乘法分配律简便运算或者解决实际问题时,无法深刻认识乘法分配律从形式到内涵上的本质规律。借助"数棒"这一媒介,将对知识的深层次的内涵理解化为浅显易懂的操作演示,数形结合,将学生的思维引向深处。

多分裂导线扭矩-扭转角关系及防翻转研究

提出一种新的多分裂导线扭矩-扭转角关系半解析模型,适用于大档距大扭转角以及翻转计算。该模型考虑间隔棒的竖向及水平向位移、子导线在扭转过程中的张力变化等多重因素,同时考虑分裂导线各截面的扭转角沿跨长呈非线性分布的特征。计算结果与有限元方法、试验结果进行了对比验证,表明导线的几何非线性对导线回复扭矩的影响十分显著,该文提出的半解析模型在小角度和大角度扭转情况下均具有较高的计算精度,并为判定导线是否翻转提供依据。详细分析了布置不同间隔棒数量工况下的扭矩-扭转角关系,从而考察了增加间隔棒数量对抑制翻转的有效性,发现只需少量增加间隔棒就能保证即使扭转角达到180°时扭转刚度依然为正,即可自行恢复,有效预防翻转;对于扭矩非常大的情形,若要保证扭转360°时扭转刚度依然为正,即导线出现扭绞现象后仍具备自行回复原位的能力,则需要布置较多的间隔棒。

Solvability Condition for Robust Stabilization Problem of Control Systems with Parameter Uncertainties

Aim The solvability condition for robust stabilization problem associated with a plant family P(s,δ) having parameter uncertainty δ was considered. Methods Using Youla parameterization of the stabilizers this problem was transformed into a strong stabilization problem associated with a related plant family G (s, δ). Results A necessary solvability condition was established in terms of the parity interlacing property of each element in G(s,δ). Another apparently necessary solvability condition is that every element in P(s,δ) must be stabilizable. Conclusion The two conditions will be compared with each other and it will be shown that every element in G(s,δ) possesses parity interlacing property if P(s,δ) is stabilizable.

Robust admissibility analysis of uncertain switched singular systems:a switched Lyapunov function approach

The robust admissibility analysis of a class of uncertain discrete-time switched linear singular（SLS） systems for arbitrary switching laws is addressed. The parameter uncertainty is assumed to be norm-bounded. First, by using the switched Lyapunov function approach, some new sufficient conditions ensuring the nominal discrete-time SLS system to be regular, casual and asymptotically stable for arbitrary switching laws are derived in terms of linear matrix inequalities. Then, the robust admissibility condition for the uncertain discrete-time SLS systems is presented. The obtained results can be viewed as an extension of previous works on the switched Lyapunov function approach from the regular switched linear systems to the switched linear singular cases. Numerical examples show the reduced conservatism and effectiveness of the proposed conditions.

ROBUST CONTROL OF A CLASS OF NONLINEAR SYSTEM WITH TIME-VARYING PAR AMETRIC UNCERTAINTIES

A class of triangular non li near system with disturbances which has unknown multiplicative time varying par ametric uncertainties in each virtual control is treated by a backstepping techn ique. The controller designed for all admissible uncertainties can guarantee tha t all states of its closed loop system are uniformly bounded. The robust contro ller design algorithm and a sufficient condition of the system stability are giv en. In addition, the closed loop system has an ISS property when the multiplica tive time varying parametric uncertainties are viewed as inputs to the system. Thus, this design provides a way to prevent a destabilizing effect of the multip licative time varying parametric uncertainties. Finally, simulational example i s given and simulational result shows that the controller exhibits effectiveness and excellent robustness.

INDUCTION MOTOR SPEED CONTROL SYSTEM BASED ON FUZZY NEURAL NETWORK

A fuzzy neural network controller with the teaching controller guidance and parameter regulations for vector-controlled induction motor is proposed. The design procedures of the fuzzy neural controller and the teaching controller are described. The parameters of the membership function are regulated by an on-line learning algorithm. The speed responses of the system under the condition, where the target functions are chosen as I qs and ω, are analyzed. The system responses with the variant of parameter moment of inertial J, viscous coefficients B and torque constant K tare also analyzed. Simulation results show that the control scheme and the controller have the advantages of rapid speed response and good robustness.

A New Method to Solve Robust Data Reconciliation in Nonlinear Process

Data reconciliation is an effective technique for providing accurate and consistent value for chemical process. However, the presence of gross errors can severely bias the reconciled results. Robust estimators can significantly reduce the effect of gross errors and yield less-biased results. In this article, a new method is proposed to solve the robust data reconciliation problem of nonlinear chemical process. By using several technologies including linearization method, penalty function, virtual observation equation, and equivalent weights method, the robust data reconciliation problem can be transformed into least squares estimator problem which leads to the convenience in computation. Simulation results in a nonlinear chemical process demonstrate the efficiency of the proposed method.

A Novel Robust Nonlinear Dynamic Data Reconciliation

Outlier in one variable will smear the estimation of other measurements in data reconciliation （DR）. In this article, a novel robust method is proposed for nonlinear dynamic data reconciliation, to reduce the influence of outliers on the result of DR. This method introduces a penalty function matrix in a conventional least-square objective function, to assign small weights for outliers and large weights for normal measurements. To avoid the loss of data information, element-wise Mahalanobis distance is proposed, as an improvement on vector-wise distance, to construct a penalty function matrix. The correlation of measurement error is also considered in this article. The method introduces the robust statistical theory into conventional least square estimator by constructing the penalty weight matrix and gets not only good robustness but also simple calculation. Simulation of a continuous stirred tank reactor, verifies the effectiveness of the proposed algorithm.

Application of hybrid robust three-axis attitude control approach to overactuated spacecraft——A quaternion based model

A novel hybrid robust three-axis attitude control approach, namely HRTAC, is considered along with the well-known developments in the area of space systems, since there is a consensus among the related experts that the new insights may be taken into account as decision points to outperform the available materials. It is to note that the traditional control approaches may generally be upgraded, as long as a number of modifications are made with respect to state-of-the-art, in order to propose high-precision outcomes. Regarding the investigated issues, the robust sliding mode finite-time control approach is first designed to handle three-axis angular rates in the inner control loop, which consists of the pulse width pulse frequency modulations in line with the control allocation scheme and the system dynamics. The main subject to employ these modulations that is realizing in association with the control allocation scheme is to be able to handle a class of overactuated systems, in particular. The proportional derivative based linear quadratic regulator approach is then designed to handle three-axis rotational angles in the outer control loop, which consists of the system kinematics that is correspondingly concentrated to deal with the quaternion based model. The utilization of the linear and its nonlinear terms, simultaneously, are taken into real consideration as the research motivation, while the performance results are of the significance as the improved version in comparison with the recent investigated outcomes. Subsequently, there is a stability analysis to verify and guarantee the closed loop system performance in coping with the whole of nominal referenced commands. At the end, the effectiveness of the approach considered here is highlighted in line with a number of potential recent benchmarks.

Reliability-based robust multi-obj ective optimization of a 5-DOF vehicle vibration model subjected to random road profiles

Ride and handling are two paramount factors in design and development of vehicle suspension systems. Conflicting trends in ride and handling characteristics propel engineers toward employing multi-objective optimization methods capable of providing the best trade-off designs compromising both criteria simultaneously. Although many studies have been performed on multi-objective optimization of vehicle suspension system, only a few of them have used probabilistic approaches considering effects of uncertainties in the design. However, it has been proved that optimum point obtained from deterministic optimization without taking into account the effects of uncertainties may lead to high-risk points instead of optimum ones. In this work, reliability-based robust multi-objective optimization of a 5 degree of freedom （5-DOF） vehicle suspension system is performed using method of non-dominated sorting genetic algorithm-II （NSGA-II） in conjunction with Monte Carlo simulation （MCS） to obtain best designs considering both comfort and handling. Road profile is modeled as a random function using power spectral density （PSD） which is in better accordance with reality. To accommodate the robust approach, the variance of all objective functions is also considered to be minimized. Also, to take into account the reliability criterion, a reliability-based constraint is considered in the optimization. A deterministic optimization has also been performed to compare the results with probabilistic study and some other deterministic studies in the literature. In addition, sensitivity analysis has been performed to reveal the effects of different design variables on objective functions. To introduce the best trade-off points from the obtained Pareto fronts, TOPSIS method has been employed. Results show that optimum design point obtained from probabilistic optimization in this work provides better performance while demonstrating very good reliability and robustness. However, other optimum points from deterministic optimizations violate the regarded constraints in the presence of uncertainties.

Derivation of General Formula for Coupling Loss of Single-mode Fiber Collimators with Gradient-index Rod Lenses

Gradient-index rod lens (GRIN-lens) whose pitch is ordinary value with bevel ferrule coupling system is analyzed, an equivalent method which can be used to analyze this system is put forward, and a general formula for determining the coupling loss with axes mismatch, radial mismatch, and angular mismatch is derived by use of the Gaussian field approximation and mode-field coupling theory. The experimental results are in good agreement with the theory prediction. It indicates that these formulas are suitable to analyze the gradient-index rod lens coupling system with pigtail fiber.

A new robust fuzzy method for unmanned flying vehicle control

A new general robust fuzzy approach was presented to control the position and the attitude of unmanned flying vehicles(UFVs). Control of these vehicles was challenging due to their nonlinear underactuated behaviors. The proposed control system combined great advantages of generalized indirect adaptive sliding mode control(IASMC) and fuzzy control for the UFVs. An on-line adaptive tuning algorithm based on Lyapunov function and Barbalat lemma was designed, thus the stability of the system can be guaranteed. The chattering phenomenon in the sliding mode control was reduced and the steady error was also alleviated. The numerical results, for an underactuated quadcopter and a high speed underwater vehicle as case studies, indicate that the presented adaptive design of fuzzy sliding mode controller performs robustly in the presence of sensor noise and external disturbances. In addition, online unknown parameter estimation of the UFVs, such as ground effect and planing force especially in the cases with the Gaussian sensor noise with zero mean and standard deviation of 0.5 m and 0.1 rad and external disturbances with amplitude of 0.1 m/s2 and frequency of 0.2 Hz, is one of the advantages of this method. These estimated parameters are then used in the controller to improve the trajectory tracking performance.

The Relationship Amongst Countries＇ Governance, Energy and Sustainable Development

In this paper we construct a theoretical framework linking governance practiced by some countries to some of their economical, financial, social and environmental variables. To achieve this goal, we selected a sample of data composed of variables from 55 countries, available at the World Bank website. On the other hand, we measured the countries＇ level of governance by the indicator promoted by Transparency International. The period considered in this research was 8 years, from 2000 to 2008. We used the method of linear regression with panel data, in order to investigate statistical relationships among governance and the other variables. We applied the method of simultaneous equations in order to make a robustness test on the first results and findings. The results of the two models converged and showed the existence of a statistical significant relationship between governance and several of the variables investigated. This allows us to infer that the development of the countries govemanee is closely linked with the long-term sustainable development.

A novel wireless personal area network technology: ultra wide band technology

Ultra Wideband (UWB) technology is promising for wireless personal area network (WPAN) applications due to its high data rate, low power requirement and short-range characteristics. Instead of exploring new unused frequency band, the UWB communication follows the overlay principle, i.e., sharing the spectrum with existing systems and devices. This novel radio technology has been recently approved by the regulatory authorities in the United States and Canada, and is being considered for approval in Europe and Asia. In this paper, an overview of the UWB radio technology from the technical, economical, and regulatory perspectives is provided. Firstly, the definition of UWB by the Federal Communications Commission (FCC) is introduced, followed by a brief introduction to the history. The current status of the standardization process resulting from the FCC’s recent decision to permit unlicensed operation in the [3.1 - 10.6] GHz band is discussed. Then, the reasons of considering UWB as a future solution for WLAN/WPAN applications are studied. In particular, the unique properties of UWB and its difference from other wireless technology alternatives are studied. Then, the benefits and challenges related to the commercial deployment of UWB for future applications are discussed. Finally, the research problems and challenges posed by the UWB technology are focused.

Pinch Point Calculations and Its Implications on Robust Distillation Design

Rising energy costs and growing environmental awareness motivate a critical revision of the design of distillation units. Systematic design techniques, such as the rectification body, column profile map, and temperature collocation methods, require exact knowledge of all pinch points in a particular system, because these stationary points delineate the possible composition trajectories realizable in separation columns. This paper demonstrates novel methods for rigorously determining all pinch points for the constant relative volatility, ideal and non-ideal systems. Constant relative volatility and ideal solution systems are transformed into one-dimensional polynomial and nonlinear functions, regardless of the number of the components. A deflation method is proposed to locate all zeros in ideal and non-ideal zeotropic problems. For more challenging non-ideal problems, a novel hybrid sequential niche algorithm is used to solve hard azeotropic problems successfully. Finally, the design implications of these pinch point locations are investigated to show how new separation configurations can be devised. Methodically the paper points out the use of rigorous pinch point computations in conjunction with continuous composition profiles for robust distillation design.

Robust H_∞ directional control for a sampled-data autonomous airship

A robust H∞ directional controller for a sampled-data autonomous airship with polytopic parameter uncertainties was proposed. By input delay approach, the linearized airship model was transformed into a continuous-time system with time-varying delay. Sufficient conditions were then established based on the constructed Lyapunov-Krasovskii functional, which guarantee that the system is mean-square exponentially stable with H∞ performance. The desired controller can be obtained by solving the obtained conditions. Simulation results show that guaranteed minimum H∞ performance γ=1.4037 and fast response of attitude for sampled-data autonomous airship are achieved in spite of the existence of parameter uncertainties.

Adaptive robust output force tracking control of pneumatic cylinder while maximizing/minimizing its stiffness

The system considered in this work consists of a cylinder which is controlled by a pair of three-way servo valves rather than a four-way one.Therefore,the cylinder output stiffness is independently controllable of the output force.A discontinuous projection based adaptive robust controller (ARC) was constructed to achieve high-accuracy output force trajectory tracking for the system.In ARC,on-line parameter adaptation method was adopted to reduce the extent of parametric uncertainties due to the variation of friction parameters,and sliding mode control method was utilized to attenuate the effects of parameter estimation errors,unmodelled dynamics and disturbance.Furthermore,output stiffness maximization/minimization was introduced to fulfill the requirement of many robotic applications.Extensive experimental results were presented to illustrate the effectiveness and the achievable performance of the proposed scheme.For tracking a 0.5 Hz sinusoidal trajectory,maximum tracking error is 4.1 N and average tracking error is 2.2 N.Meanwhile,the output stiffness can be made and maintained near its maximum/minimum.