首先根据生化微传感SOC的应用场合和微传感器的特点,选定CR SAR ADC作为片内嵌入类型;基于SOC的标准CMOS工艺实现和低功耗的设计目标,分别进行了电容阵列、比较器、开关阵列和SAR控制逻辑等组成单元全定制原理图、版图设计,实现了片内嵌...首先根据生化微传感SOC的应用场合和微传感器的特点,选定CR SAR ADC作为片内嵌入类型;基于SOC的标准CMOS工艺实现和低功耗的设计目标,分别进行了电容阵列、比较器、开关阵列和SAR控制逻辑等组成单元全定制原理图、版图设计,实现了片内嵌入10位ADC的整体芯片.流片实测结果DNL、INL最大值分别为+/-1.0LSB、+/-1.5LSB,功耗仅为4.62mW,满足生化微传感SOC数据转换的片内嵌入要求.展开更多
To reduce the vibration in the suspension, semi active suspension system was employed. And its CARMA model was built. Two adaptive control schemes, the minimum variance self tuning control algorithm and the pole con...To reduce the vibration in the suspension, semi active suspension system was employed. And its CARMA model was built. Two adaptive control schemes, the minimum variance self tuning control algorithm and the pole configuration self tuning control algorithm, were proposed. The former can make the variance of the output minimum while the latter can make dynamic behavior satisfying. The stability of the two schemes was analyzed. Simulations of them show that the acceleration in the vertical direction has been reduced greatly. The purpose of reducing vibration is realized. The two schemes can reduce the vibration in the suspension and have some practicability.展开更多
Several phenylselenyl esters were selected as precursors of acyl radicals and synthesised by our established method. Treatment of these phenylselenyl esters with tributyltinhydride and AIBN ge...Several phenylselenyl esters were selected as precursors of acyl radicals and synthesised by our established method. Treatment of these phenylselenyl esters with tributyltinhydride and AIBN generated the corresponding acyl radicals, which were found to proceed in 5 exo trig or 6 endo trig cyclisations to afford high yields of cyclopentanones and cyclohexanones, The substitution groups on the substrates have played an important role on the regioselectivity of cyclisations.展开更多
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 co...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.展开更多
An adaptive ramp generator based on linear histogram was proposed for the built-in selftest (BIST) of analog to digital convertor (ADC) in CMOS image sensor. By comparing the generated ramp signal to a reference volta...An adaptive ramp generator based on linear histogram was proposed for the built-in selftest (BIST) of analog to digital convertor (ADC) in CMOS image sensor. By comparing the generated ramp signal to a reference voltage and feeding back a calibration signal, the slope adjustment was implemented, and high linearity and precision of ramp slope were realized. By modulating the pulse width and reference voltage, sweep length varied from microsecond to second and signal swing could reach 3 V with 5.6 mW power consumption. The ramp was used as input to an ideal 10-bit single-slope ADC, and the corresponding DNL and INL were 0.032 LSB and 0.078 LSB, re-spectively.展开更多
Bicycle-sharing system is considered as a green option to provide a better connection between scenic spots and nearby metro/bus stations. Allocating and optimizing the layout of bicycle-sharing system inside the sceni...Bicycle-sharing system is considered as a green option to provide a better connection between scenic spots and nearby metro/bus stations. Allocating and optimizing the layout of bicycle-sharing system inside the scenic spot and around its influencing area are focused on. It is found that the terrain, land use, nearby transport network and scenery point distribution have significant impact on the allocation of bicycle-sharing system. While the candidate bicycle-sharing stations installed at the inner scenic points, entrances/exits and metro stations are fixed, the ones installed at bus-stations and other passenger concentration buildings are adjustable. Aiming at minimizing the total cycling distance and overlapping rate, an optimization model is proposed and solved based on the idea of cluster concept and greedy heuristic. A revealed preference/stated preference (RP/SP) combined survey was conducted at Xuanwu Lake in Nanjing, China, to get an insight into the touring trip characteristics and bicycle-sharing tendency. The results reveal that 39.81% visitors accept a cycling distance of 1-3 km and 62.50% respondents think that the bicycle-sharing system should charge an appropriate fee. The sttrvey indicates that there is high possibility to carry out a bicycle-sharing system at Xuanwu Lake. Optimizing the allocation problem cluster by cluster rather than using an exhaustive search method significantly reduces the computing amount from O(2^43) to O(43 2). The 500 m-radius-coverage rate for the alternative optimized by 500 m-radius-cluster and 800 m-radius-cluster is 89.2% and 68.5%, respectively. The final layout scheme will provide decision makers engineering guidelines and theoretical support.展开更多
The identification of the exact location of the heatings that occur in often inaccessible locations several hundred meters deep in goaf areas is a key to allowing effective control measures to be taken. Radon techniqu...The identification of the exact location of the heatings that occur in often inaccessible locations several hundred meters deep in goaf areas is a key to allowing effective control measures to be taken. Radon technique provides the only solution for remotely locating underground sponcom from surface. The results of Chaili mine indicated that a total area of 66 000 m2 has been surveyed and exact locations of spontaneous combustion have been detected. This has enabled the sueeessful implementation of various control measures against spontaneous combustion.展开更多
A method for optimizing automotive doors under multiple criteria involving the side impact, stiffness, natural frequency, and structure weight is presented. Metamodeling technique is employed to construct approximatio...A method for optimizing automotive doors under multiple criteria involving the side impact, stiffness, natural frequency, and structure weight is presented. Metamodeling technique is employed to construct approximations to replace the high computational simulation models. The approximating functions for stiffness and natural frequency are constructed using Taylor series approximation. Three popular approximation techniques,i.e.polynomial response surface (PRS), stepwise regression (SR), and Kriging are studied on their accuracy in the construction of side impact functions. Uniform design is employed to sample the design space of the door impact analysis. The optimization problem is solved by a multi-objective genetic algorithm. It is found that SR technique is superior to PRS and Kriging techniques in terms of accuracy in this study. The numerical results demonstrate that the method successfully generates a well-spread Pareto optimal set. From this Pareto optimal set, decision makers can select the most suitable design according to the vehicle program and its application.展开更多
As a result of the lower backing weld efficiency, the applying of automatic welding is seriously limited. So a kind of special automatic welder is designed and manufactured for backing weld. This paper introduces the ...As a result of the lower backing weld efficiency, the applying of automatic welding is seriously limited. So a kind of special automatic welder is designed and manufactured for backing weld. This paper introduces the character of the assembled pulse CO2 arc welding machine which has strong penetrability. It specifies the technology of controlling the parameters of all position automatic welding by computer and multi-axis controller. Moreover typical welding procedure parameters are provided. It is proved by examination that the economical and practical equipment and technology are suitable for the long-distance transmission pipeline, and it has a good foreground of spreading and applying.展开更多
To enhance machining efficiency,tool change time has to be reduced.Thus,for an automatic tool changer attached to a machining center,the tool change time is to be reduced.Also the automatic tool changer is a main part...To enhance machining efficiency,tool change time has to be reduced.Thus,for an automatic tool changer attached to a machining center,the tool change time is to be reduced.Also the automatic tool changer is a main part of the machining center as a driving source.The static attributes of the automatic tool changer using the commercial code,ANSYS Workbench V12,were tried to interpret.And the optimum design of automatic tool changer arm was proposed by performing the multi-stage optimum design.The shape optimization of the automatic tool changer was proposed and the result was verified to obtain acceptable improvements.It is possible to obtain an optimized model in which the maximum deformation,maximum stress,and mass are reduced by 10.46%,12.89% and 9.26%,respectively,compared with those of the initial model.Also,the results between conventional method by the design of experiments and proposed method by the multi-stage optimum design method were compared.展开更多
All vessels and offshore units require regular inspections to prevent structural or functional damages. Periodical inspections are based on classification society's requirements and include both visual surveys and no...All vessels and offshore units require regular inspections to prevent structural or functional damages. Periodical inspections are based on classification society's requirements and include both visual surveys and non-destructive test interventions, to look for structural damage, pitting, corrosion, thickness measurement, usually documented by measurements or images. Different approaches of inspection can be proposed for underwater and for dry areas, using unmanned vehicles or service robots able to improve traditional inspection methods. Several excellent proposals are today available: nevertheless, reasons of costs, operation complexity and impossibility to cover all types of inspection with a unique autonomous unit limit and conditions the applicability of automatic inspection systems. The paper is the first of a series describing the main results of a wide research activity carried out at DREAMS Lab (Laboratory of Drives and Experimental Automation for Marine Systems) of the University of Genoa. The studies are oriented to the realization of a kit of low cost and unsophisticated self-moving units, devoted to support some recursive inspections in dry areas of ships and on offshore plants as bulkheads, holds, double bottoms and ducts. The paper describes the design and prototyping of a pneumatronic unit oriented to inspection and maintenance of ship holds. Conceived to realize a portable and user-friendly tool which could take part of an "inspection kit" for the use of inspectors, able to simplify and speed up the inspection visits with and automatic generation of survey reports.展开更多
n this paper an adaptive robust algorithm for pole-placement design is proposed. It consists of the refined--optimal IV parameter estimator and a robust pole--placement controller. The robustness of the algorithm mean...n this paper an adaptive robust algorithm for pole-placement design is proposed. It consists of the refined--optimal IV parameter estimator and a robust pole--placement controller. The robustness of the algorithm means that the output of the controlled plant can be stabilized in the presence of unmodelled dynamics and bounded unmeasurable output noise. Simulation results show the effeciency of the algorithm.展开更多
The hole transporting layer (HTL) of organic light-emitting device (OLED) was processed by vacuum deposition and spin coating method, respectively, where N,N'-biphenyl-N, N'-bis(3-methylphenyl)- 1, l'-bipheny...The hole transporting layer (HTL) of organic light-emitting device (OLED) was processed by vacuum deposition and spin coating method, respectively, where N,N'-biphenyl-N, N'-bis(3-methylphenyl)- 1, l'-biphenyl-4,4' -diamine (TPD) and poly (vinylcarbazole) (PVK) acted as the hole-transport materials. Tris-(8-hydroxyquinoline)- aluminum (Alq3) was utilized as both the light-emitting layer and the electron transporting layer. The basic structure of the device cell was: indium-tin-oxide (1TO)/PVK : TPD/Alq3/Mg:Ag. The electroluminescent (EL) characteristics of devices were characterized. The results showed that the peak of EL spectra was located at 530 nm, which conformed to the characterizing spectrum of Alq3. Compared with using vacuum deposition method, the green emission with a maximum luminance up to 26135 cd/m2 could be achieved at a drive voltage of 15 V by selecting proper solvent using spin-coating technique, and its maximum lumi nance efficiency was 2.56 lm/W at a drive voltage of 5.5 V.展开更多
A self-reconfigurable robot is a non-linear complex system composed of a large number of modules. The complexity caused by non-linearity makes it difficult to solve the problem of module motion planning and shape-chan...A self-reconfigurable robot is a non-linear complex system composed of a large number of modules. The complexity caused by non-linearity makes it difficult to solve the problem of module motion planning and shape-changing control with the traditional algorithm. In this paper, a full-discrete metamorphic algorithm is proposed. The modules concurrently process the local sensing information, update their eigenvector, and act by the same predetermined logical rules. Then a reasonable motion sequence for modules and the global metamorphosis can be obtained. Therefore, the complexity of metamorphic algorithm is reduced, the metamorphic procedure is simplified, and the self-organizing metamorphosis can be obtained. The algorithm cases of several typical systems are studied and evaluated through simulation program of 2-D planar homogeneous modular systems.展开更多
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. Base...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.展开更多
The paper succeeds in the obtaining a class of generalized non-uniform Cantor set based on the iteration (1): Si(x) = αix + bi, x ∈ [0, 1], i = 1,2,…, m, where 0 〈 αi 〈 1, i = 1,2,…,m; bi + αi 〉 0, i =...The paper succeeds in the obtaining a class of generalized non-uniform Cantor set based on the iteration (1): Si(x) = αix + bi, x ∈ [0, 1], i = 1,2,…, m, where 0 〈 αi 〈 1, i = 1,2,…,m; bi + αi 〉 0, i = 1,2,…,m- 1, b1 = 0 and αm + bm = 1. Providing the sufficient and necessary conditions of its existence Hausdorff measure.展开更多
NTP is nowadays the most widely used distributed network time protocol, which aims at synchronizing the clocks of computers in a network and keeping the accuracy and validation of the time information which is transmi...NTP is nowadays the most widely used distributed network time protocol, which aims at synchronizing the clocks of computers in a network and keeping the accuracy and validation of the time information which is transmitted in the network. Without automatic configuration mechanism, the stability and flexibility of the synchronization network built upon NTP protocol are not satisfying. P2P’s resource discovery mechanism is used to look for time sources in a synchronization network, and according to the network environment and node’s quality, the synchronization network is constructed dynamically.展开更多
文摘首先根据生化微传感SOC的应用场合和微传感器的特点,选定CR SAR ADC作为片内嵌入类型;基于SOC的标准CMOS工艺实现和低功耗的设计目标,分别进行了电容阵列、比较器、开关阵列和SAR控制逻辑等组成单元全定制原理图、版图设计,实现了片内嵌入10位ADC的整体芯片.流片实测结果DNL、INL最大值分别为+/-1.0LSB、+/-1.5LSB,功耗仅为4.62mW,满足生化微传感SOC数据转换的片内嵌入要求.
文摘To reduce the vibration in the suspension, semi active suspension system was employed. And its CARMA model was built. Two adaptive control schemes, the minimum variance self tuning control algorithm and the pole configuration self tuning control algorithm, were proposed. The former can make the variance of the output minimum while the latter can make dynamic behavior satisfying. The stability of the two schemes was analyzed. Simulations of them show that the acceleration in the vertical direction has been reduced greatly. The purpose of reducing vibration is realized. The two schemes can reduce the vibration in the suspension and have some practicability.
文摘Several phenylselenyl esters were selected as precursors of acyl radicals and synthesised by our established method. Treatment of these phenylselenyl esters with tributyltinhydride and AIBN generated the corresponding acyl radicals, which were found to proceed in 5 exo trig or 6 endo trig cyclisations to afford high yields of cyclopentanones and cyclohexanones, The substitution groups on the substrates have played an important role on the regioselectivity of cyclisations.
基金Project(51074051)supported by the National Natural Science Foundation of China
文摘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.
基金National Natural Science Foundation of China(No.60576025)Tianjin Science and Technology Development Program (No.06YFGZGX03400)
文摘An adaptive ramp generator based on linear histogram was proposed for the built-in selftest (BIST) of analog to digital convertor (ADC) in CMOS image sensor. By comparing the generated ramp signal to a reference voltage and feeding back a calibration signal, the slope adjustment was implemented, and high linearity and precision of ramp slope were realized. By modulating the pulse width and reference voltage, sweep length varied from microsecond to second and signal swing could reach 3 V with 5.6 mW power consumption. The ramp was used as input to an ideal 10-bit single-slope ADC, and the corresponding DNL and INL were 0.032 LSB and 0.078 LSB, re-spectively.
基金Project(51208261)supported by the National Natural Science Foundation of ChinaProject(12YJCZH062)supported by the Ministry of Education of Humanities and Social Science of ChinaProject(30920140132033)supported by the Fundamental Research Funds for the Central Universities,China
文摘Bicycle-sharing system is considered as a green option to provide a better connection between scenic spots and nearby metro/bus stations. Allocating and optimizing the layout of bicycle-sharing system inside the scenic spot and around its influencing area are focused on. It is found that the terrain, land use, nearby transport network and scenery point distribution have significant impact on the allocation of bicycle-sharing system. While the candidate bicycle-sharing stations installed at the inner scenic points, entrances/exits and metro stations are fixed, the ones installed at bus-stations and other passenger concentration buildings are adjustable. Aiming at minimizing the total cycling distance and overlapping rate, an optimization model is proposed and solved based on the idea of cluster concept and greedy heuristic. A revealed preference/stated preference (RP/SP) combined survey was conducted at Xuanwu Lake in Nanjing, China, to get an insight into the touring trip characteristics and bicycle-sharing tendency. The results reveal that 39.81% visitors accept a cycling distance of 1-3 km and 62.50% respondents think that the bicycle-sharing system should charge an appropriate fee. The sttrvey indicates that there is high possibility to carry out a bicycle-sharing system at Xuanwu Lake. Optimizing the allocation problem cluster by cluster rather than using an exhaustive search method significantly reduces the computing amount from O(2^43) to O(43 2). The 500 m-radius-coverage rate for the alternative optimized by 500 m-radius-cluster and 800 m-radius-cluster is 89.2% and 68.5%, respectively. The final layout scheme will provide decision makers engineering guidelines and theoretical support.
文摘The identification of the exact location of the heatings that occur in often inaccessible locations several hundred meters deep in goaf areas is a key to allowing effective control measures to be taken. Radon technique provides the only solution for remotely locating underground sponcom from surface. The results of Chaili mine indicated that a total area of 66 000 m2 has been surveyed and exact locations of spontaneous combustion have been detected. This has enabled the sueeessful implementation of various control measures against spontaneous combustion.
基金Supported by National"863"Program of China (No.2006AA04Z127) .
文摘A method for optimizing automotive doors under multiple criteria involving the side impact, stiffness, natural frequency, and structure weight is presented. Metamodeling technique is employed to construct approximations to replace the high computational simulation models. The approximating functions for stiffness and natural frequency are constructed using Taylor series approximation. Three popular approximation techniques,i.e.polynomial response surface (PRS), stepwise regression (SR), and Kriging are studied on their accuracy in the construction of side impact functions. Uniform design is employed to sample the design space of the door impact analysis. The optimization problem is solved by a multi-objective genetic algorithm. It is found that SR technique is superior to PRS and Kriging techniques in terms of accuracy in this study. The numerical results demonstrate that the method successfully generates a well-spread Pareto optimal set. From this Pareto optimal set, decision makers can select the most suitable design according to the vehicle program and its application.
文摘As a result of the lower backing weld efficiency, the applying of automatic welding is seriously limited. So a kind of special automatic welder is designed and manufactured for backing weld. This paper introduces the character of the assembled pulse CO2 arc welding machine which has strong penetrability. It specifies the technology of controlling the parameters of all position automatic welding by computer and multi-axis controller. Moreover typical welding procedure parameters are provided. It is proved by examination that the economical and practical equipment and technology are suitable for the long-distance transmission pipeline, and it has a good foreground of spreading and applying.
基金Work(RTI04-01-03) supported by Grant from Regional Technology Innovation Program of the Ministry of Knowledge Economy (MKE),Korea
文摘To enhance machining efficiency,tool change time has to be reduced.Thus,for an automatic tool changer attached to a machining center,the tool change time is to be reduced.Also the automatic tool changer is a main part of the machining center as a driving source.The static attributes of the automatic tool changer using the commercial code,ANSYS Workbench V12,were tried to interpret.And the optimum design of automatic tool changer arm was proposed by performing the multi-stage optimum design.The shape optimization of the automatic tool changer was proposed and the result was verified to obtain acceptable improvements.It is possible to obtain an optimized model in which the maximum deformation,maximum stress,and mass are reduced by 10.46%,12.89% and 9.26%,respectively,compared with those of the initial model.Also,the results between conventional method by the design of experiments and proposed method by the multi-stage optimum design method were compared.
文摘All vessels and offshore units require regular inspections to prevent structural or functional damages. Periodical inspections are based on classification society's requirements and include both visual surveys and non-destructive test interventions, to look for structural damage, pitting, corrosion, thickness measurement, usually documented by measurements or images. Different approaches of inspection can be proposed for underwater and for dry areas, using unmanned vehicles or service robots able to improve traditional inspection methods. Several excellent proposals are today available: nevertheless, reasons of costs, operation complexity and impossibility to cover all types of inspection with a unique autonomous unit limit and conditions the applicability of automatic inspection systems. The paper is the first of a series describing the main results of a wide research activity carried out at DREAMS Lab (Laboratory of Drives and Experimental Automation for Marine Systems) of the University of Genoa. The studies are oriented to the realization of a kit of low cost and unsophisticated self-moving units, devoted to support some recursive inspections in dry areas of ships and on offshore plants as bulkheads, holds, double bottoms and ducts. The paper describes the design and prototyping of a pneumatronic unit oriented to inspection and maintenance of ship holds. Conceived to realize a portable and user-friendly tool which could take part of an "inspection kit" for the use of inspectors, able to simplify and speed up the inspection visits with and automatic generation of survey reports.
文摘n this paper an adaptive robust algorithm for pole-placement design is proposed. It consists of the refined--optimal IV parameter estimator and a robust pole--placement controller. The robustness of the algorithm means that the output of the controlled plant can be stabilized in the presence of unmodelled dynamics and bounded unmeasurable output noise. Simulation results show the effeciency of the algorithm.
基金This project was sponsored by Ministry level fundingthe Young Excellence Project of UESTC.(Grant No.: UESTC-2006206)
文摘The hole transporting layer (HTL) of organic light-emitting device (OLED) was processed by vacuum deposition and spin coating method, respectively, where N,N'-biphenyl-N, N'-bis(3-methylphenyl)- 1, l'-biphenyl-4,4' -diamine (TPD) and poly (vinylcarbazole) (PVK) acted as the hole-transport materials. Tris-(8-hydroxyquinoline)- aluminum (Alq3) was utilized as both the light-emitting layer and the electron transporting layer. The basic structure of the device cell was: indium-tin-oxide (1TO)/PVK : TPD/Alq3/Mg:Ag. The electroluminescent (EL) characteristics of devices were characterized. The results showed that the peak of EL spectra was located at 530 nm, which conformed to the characterizing spectrum of Alq3. Compared with using vacuum deposition method, the green emission with a maximum luminance up to 26135 cd/m2 could be achieved at a drive voltage of 15 V by selecting proper solvent using spin-coating technique, and its maximum lumi nance efficiency was 2.56 lm/W at a drive voltage of 5.5 V.
文摘A self-reconfigurable robot is a non-linear complex system composed of a large number of modules. The complexity caused by non-linearity makes it difficult to solve the problem of module motion planning and shape-changing control with the traditional algorithm. In this paper, a full-discrete metamorphic algorithm is proposed. The modules concurrently process the local sensing information, update their eigenvector, and act by the same predetermined logical rules. Then a reasonable motion sequence for modules and the global metamorphosis can be obtained. Therefore, the complexity of metamorphic algorithm is reduced, the metamorphic procedure is simplified, and the self-organizing metamorphosis can be obtained. The algorithm cases of several typical systems are studied and evaluated through simulation program of 2-D planar homogeneous modular systems.
基金Preject 50225519 supported by the National Outstanding Youth Science Foundation of China
文摘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.
基金Supported by the Scientific Research of Hanshan Teacher's College(2004)
文摘The paper succeeds in the obtaining a class of generalized non-uniform Cantor set based on the iteration (1): Si(x) = αix + bi, x ∈ [0, 1], i = 1,2,…, m, where 0 〈 αi 〈 1, i = 1,2,…,m; bi + αi 〉 0, i = 1,2,…,m- 1, b1 = 0 and αm + bm = 1. Providing the sufficient and necessary conditions of its existence Hausdorff measure.
文摘NTP is nowadays the most widely used distributed network time protocol, which aims at synchronizing the clocks of computers in a network and keeping the accuracy and validation of the time information which is transmitted in the network. Without automatic configuration mechanism, the stability and flexibility of the synchronization network built upon NTP protocol are not satisfying. P2P’s resource discovery mechanism is used to look for time sources in a synchronization network, and according to the network environment and node’s quality, the synchronization network is constructed dynamically.