This paper designs a joint controller/observer framework using a state dependent Riccati equation(SDRE)approach for an active transfemoral prosthesis system.An integral state control technique is utilized to design a ...This paper designs a joint controller/observer framework using a state dependent Riccati equation(SDRE)approach for an active transfemoral prosthesis system.An integral state control technique is utilized to design a tracking controller for a robot/prosthesis system.This framework promises a systematic flexible design using which multiple design specifications such as robustness,state estimation,and control optimality are achieved without the need for model linearization.Performance of the proposed approach is demonstrated through simulation studies,which show improvements versus a robust adaptive impedance controller and an extended Kalman filter-based state estimation method.Numerical results confirm the benefits of our method over the above-mentioned approaches with regard to control optimality and state estimation.展开更多
As the mission needs of the autonomous underwater vehicles(AUV) have become increasingly varied and complex,the AUVs are developing in the direction of systematism, multifunction, and clustering technology, which prom...As the mission needs of the autonomous underwater vehicles(AUV) have become increasingly varied and complex,the AUVs are developing in the direction of systematism, multifunction, and clustering technology, which promotes the progress of key technologies and proposes a series of technical problems. Therefore, it is necessary to make systemic analysis and in-depth study for the progress of AUV's key technologies and innovative applications. The multi-functional mission needs and its key technologies involved in complex sea conditions are pointed out through analyzing the domestic and foreign technical programs, functional characteristics and future development plans. Furthermore, the overall design of a multi-moving state AUV is proposed. Then, technical innovations of the key technologies, such as thrust vector, propeller design, kinematics and dynamics, navigation control, and ambient flow field characteristics, are made, combining with the structural characteristics and motion characteristics of the new multi-moving state AUV. The results verify the good performance of the multi-moving state AUV and provide a theoretical guidance and technical support for the design of new AUV in real complex sea conditions.展开更多
The article intends to work about Friedrich List political economy starting from a specific point of view： idea of nation. Published in 1841, The National System of Political economy establishes a hard dialogue with ...The article intends to work about Friedrich List political economy starting from a specific point of view： idea of nation. Published in 1841, The National System of Political economy establishes a hard dialogue with the Wealth of nations written by Smith. The criticism is built around the idea of nation. In List, the nation, as synonym of productive forces, is a critic to the Smith＇s nation idea as a free market. The List＇s idea of nation is a product of a group of structural （and not only cultural or mental） transformations that occurred during the Revolutions of 1830 and 1848 in Europe. The result is the emergency of a new form of State, the nation-State. The political economy elaborates their critics in the measure in capitalism changes. The nation, in the national system of political economy of List, synthesizes the unification of the territory, the consolidation of the national industry and an internal market free from barriers and interlinked by a modem net of transports. In a contradictory way, that nation idea is based in great territory and its empire and not on the nationality principle, according to which, each people, yet that very small, has the right to its own territory. The unified and industrially developed States build immense empires that, in practical terms, contravene the principle of nationality展开更多
The sustainable development of the endowment insurance fund is the most basic fulcrum to the healthy development of the pension insurance system.The sustainable development of Chinese endowment insurance fund, we must...The sustainable development of the endowment insurance fund is the most basic fulcrum to the healthy development of the pension insurance system.The sustainable development of Chinese endowment insurance fund, we must adhere to the ＂wide coverage, basic, multi-level, The basic principle of sustainable ＂. In order to achieve the security of endowment insurance fund, sustainable development should be adopted .The countermeasures are： firstly, the implementation of sustainable legal raising mode; secondly, to determine the reasonable payment level, expanding .Large endowment insurance coverage;thirdly, to implement the State Administration by main market managementPrivate management and sustainable.展开更多
文摘This paper designs a joint controller/observer framework using a state dependent Riccati equation(SDRE)approach for an active transfemoral prosthesis system.An integral state control technique is utilized to design a tracking controller for a robot/prosthesis system.This framework promises a systematic flexible design using which multiple design specifications such as robustness,state estimation,and control optimality are achieved without the need for model linearization.Performance of the proposed approach is demonstrated through simulation studies,which show improvements versus a robust adaptive impedance controller and an extended Kalman filter-based state estimation method.Numerical results confirm the benefits of our method over the above-mentioned approaches with regard to control optimality and state estimation.
基金Project(ZR2014EEP019) supported by the Natural Science Foundation of Shandong Province,ChinaProject(51505491) supported by the National Natural Science Foundation of China
文摘As the mission needs of the autonomous underwater vehicles(AUV) have become increasingly varied and complex,the AUVs are developing in the direction of systematism, multifunction, and clustering technology, which promotes the progress of key technologies and proposes a series of technical problems. Therefore, it is necessary to make systemic analysis and in-depth study for the progress of AUV's key technologies and innovative applications. The multi-functional mission needs and its key technologies involved in complex sea conditions are pointed out through analyzing the domestic and foreign technical programs, functional characteristics and future development plans. Furthermore, the overall design of a multi-moving state AUV is proposed. Then, technical innovations of the key technologies, such as thrust vector, propeller design, kinematics and dynamics, navigation control, and ambient flow field characteristics, are made, combining with the structural characteristics and motion characteristics of the new multi-moving state AUV. The results verify the good performance of the multi-moving state AUV and provide a theoretical guidance and technical support for the design of new AUV in real complex sea conditions.
文摘The article intends to work about Friedrich List political economy starting from a specific point of view： idea of nation. Published in 1841, The National System of Political economy establishes a hard dialogue with the Wealth of nations written by Smith. The criticism is built around the idea of nation. In List, the nation, as synonym of productive forces, is a critic to the Smith＇s nation idea as a free market. The List＇s idea of nation is a product of a group of structural （and not only cultural or mental） transformations that occurred during the Revolutions of 1830 and 1848 in Europe. The result is the emergency of a new form of State, the nation-State. The political economy elaborates their critics in the measure in capitalism changes. The nation, in the national system of political economy of List, synthesizes the unification of the territory, the consolidation of the national industry and an internal market free from barriers and interlinked by a modem net of transports. In a contradictory way, that nation idea is based in great territory and its empire and not on the nationality principle, according to which, each people, yet that very small, has the right to its own territory. The unified and industrially developed States build immense empires that, in practical terms, contravene the principle of nationality
文摘The sustainable development of the endowment insurance fund is the most basic fulcrum to the healthy development of the pension insurance system.The sustainable development of Chinese endowment insurance fund, we must adhere to the ＂wide coverage, basic, multi-level, The basic principle of sustainable ＂. In order to achieve the security of endowment insurance fund, sustainable development should be adopted .The countermeasures are： firstly, the implementation of sustainable legal raising mode; secondly, to determine the reasonable payment level, expanding .Large endowment insurance coverage;thirdly, to implement the State Administration by main market managementPrivate management and sustainable.
