基于运动副自由度优化配置的机构自调性设计研究

针对机构动力性能对形位误差敏感的问题,通过约束分析,发现普遍使用的平面闭链机构在理想平面约束条件下存在对机构工作性能不起作用的过约束,并导致机构系统对制造误差很敏感,要求很高的制造精度。为此,以曲柄导杆机构为例,阐述如何配置机构的约束和自由度,设计自调性机构。结果表明所得到的自调机构可大幅度降低机构对误差的敏感度,降低生产成本,减轻装配难度,提高机构的传动效率、使用寿命和对环境的适应能力。从机构的结构因素上消除了误差对机械品质的影响,大大提高了其稳健性。

从公社的生命力窥社会的自调性

公社 ,作为一种社会组织形式 ,总是召见于国家产生前的社会形态的各个历史时期之中 ,只不过存在着名称、表现形式及性质的差异。国家产生后 ,公社仍作为次要组织形式保留着残迹。公社旺盛的生命力与其本身特点、社会需要及人为因素密不可分。而从公社——社会的一个组织形式因子的发展中 ,可窥出社会是一个有记忆、有规律、具有自调能力的有机体。

皮亚杰的结构主义

结构主义(Structuralisme)于本世纪五、六十年代产生和形成于法国,是继存在主义之后出现的一个庞杂的科学哲学思潮,包括了许多国家的不同学派、人物和学说。瑞士著名心理学家皮亚杰的结构主义在众多的流派学说中,是颇具特色的。皮亚杰总结和批判了索绪尔、列维·斯特劳斯、乔姆斯基等人的结构主义理论成果。

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.

GLOBAL CONVERGENCE OF A CLASS OF OPTIMALLY CONDITIONED SSVM METHODS

This paper explores the convergence of a class of optimally conditioned self scaling variable metric (OCSSVM) methods for unconstrained optimization. We show that this class of methods with Wolfe line search are globally convergent for general convex functions.

Variation of alkaline characteristics in bauxite residue under phosphogypsum amendment

Aiming at alkaline problem of bauxite residue,this work focused variation of alkaline characteristics in bauxite residue through phosphogypsum treatment.The results demonstrated that the pH of bauxite residue reduced from initial 10.83 to 8.70 when 1.50 wt%phosphogypsum was added for 91 d.The removal rates of free alkali and exchangeable sodium were 97.94%and 75.87%,respectively.Meanwhile,significant positive correlations(P<0.05)existed between pH and free alkali,exchangeable sodium.The effect of free alkali composition was CO3^2–>OH^–>AlO2^–>HCO3^–.In addition,alkaline phase decreased from 52.81%to 48.58%and gypsum stably presented in bauxite residue which continuously provided Ca^2+to inhibit dissolution of combined alkali.Furthermore,phosphogypsum promoted formation of macroaggregate structure,increased Ca^2+,decreased Na+and Al^3+on the surface of bauxite residue significantly,ultimately promoting soil formation in bauxite residue.

Chronic morphine drinking establishes morphine tolerance, but not addiction in Wistar rats

Objective： Some animal models apply morphine in the drinking water to generate addiction, but related reports are not free of conflicting results. Accordingly, this study aimed to figure out if chronic consumption of morphine in the drinking water can induce morphine addiction in Wistar rats. Methods： For 3 weeks, the animals received a daily morphine dose of 35 mg/kg by offering a calculated volume of sugar water （5% sucrose） with morphine （0. l mg/ml） to each rat; animals receiving just sugar water served as controls. Immediately after the treatment phase, the tail immersion test was used to check for morphine tolerance, and all animals were then kept on tap water for one week （withdrawal phase）. Afterwards, all rats were allowed to choose their drinking source by offering two bottles, containing sugar water without and with morphine, simultaneously for two days （preference phase）. Results： While the chronic consumption of morphine led to a reduction in body weight and to morphine tolerance, the morphine-treated Wistar rats did not show any preference for the opiate-containing sugar water. Conclusion： Body weight loss and tolerance do not reveal a condition of drug craving, and current animal models should be re-evaluated regarding their potential to establish morphine addicted animals.

Genetic regulation of programmed cell death in Drosophila

Programmed cell death plays an important role in maintaining homeostasis during animal development, and has been conserved in animals as different as nematodes and humans. Recent studies of Drosophila have provided valuable information toward our understanding of genetic regulation of death. Different signals trigger the novel death regulators rpr, hid, and grim, that utilize the evolutionarily conserved iap and ark genes to modulate caspase function. Subsequent removal of dying cells also appears to be accomplished by conserved mechanisms. The similarity between Drosophila and human in cell death signaling pathways illustrate the promise of fruit mes as a model system to elucidate the mechanisms underlying regulation of programmed cell death.

A review on spatial self-phase modulation of two-dimensional materials

Self-diffraction appears when the strong laser goes through two-dimensional material suspension,and this spatial self-phase modulation(SPPM)phenomenon can be used to measure nonlinear optical parameters and achieve optical switch.At present,the mechanism of SPPM is still ambiguous.The debate mainly focuses on whether the phenomenon is caused by the nonlinear refractive index of the two-dimensional material or the thermal effect of the laser.The lack of theory limits the dimension of the phase modulation to the radius of the diffraction ring and the vertical imbalance.Therefore,it is urgent to establish a unified and universal SSPM theoretical system of two-dimensional material.

ALGORITHM FOR THE DETECTION AND PARAMETER ESTIMATION OF MULTICOMPONENT LFM SIGNALS

A novel algorithm based on Radon-Ambiguity Transform (RAT) and Adaptive Signal Decomposition (ASD) is presented for the detection and parameter estimation of multicompo-nent Linear Frequency Modulated (LFM) signals. The key problem lies in the chirplet estimation. Genetic algorithm is employed to search for the optimization parameter of chirplet. High estimation accuracy can be obtained even at low Signal-to-Noisc Ratio(SNR). Finally simulation results are provided to demonstrate the performance of the proposed algorithm.

Performance Comparison of WDM Systems with Different Duty Cycle

The performances of nonlinear WDM systems with different duty cycle are compared by means of numerical simulation.The numerical results show that the optical pulse with duty cycle of 0.5 is superior to the conventional NRZ modulation scheme.The conclusion is different from that of some references.The reason is that inter symbol interference is not included in some references.In fact,inter symbol interference plays an important role in nonlinear WDM system.Although the larger the duty cycle is ,the stronger the effect of the cross-phase modulation and self-phase modulation on nonlinear WDM is,however,the larger the duty cycle is,the stronger the inter symbol interference is.

Real-time auto-focusing technique using centroid method for space camera

A real-time auto-focusing system with auto-collimation method is introduced, which is used in auto-detecting the focus of the space camera with long focus. Auto-focusing is the key technique to ensure high quality in space imaging. It can measure and compensate the defocus caused by the change of temperature and air pressure etc. in space. To solve the problem of auto-focusing with auto-collimation method of the camera whose axis is perpendicular to the ground, it is designed that two small caliber pentagonal prisms are placed in the area of aperture suitable to the camera’s relative aperture based on the theory of auto-focusing with auto-collimation, which can replace the big caliber plane reflector used in other cameras. Using the characteristic of pentagonal prism refracting light vertically, the target slit is imaged in CCD through the two-separated lens. It transforms the detecting of the axial defocusing quantity to the landscape orientation measurement of the faculae’s position in the direction of CCD pixels. The defocusing quantity is obtained by measuring the opposite position of the two faculae on the CCD. The Centroid method is adopted to measure the position of the auto-collimation faculae. The arithmetic error is analyzed especially, and the causation is given. Experiments show that this real-time auto-focusing system using centroid method is reliable and the focusing precision can reach ±0.01 mm.

Proposal for a cross layer scheme for real-time wireless video

This paper focuses on the design of the cross layer between the video application layer and the MIMO physical layer. MIMO physical layer research has promised an enormous increase in the capacity of wireless communication systems. Also MIMO wireless systems operate under fading conditions where the channel faces arbitrary fluctuations. Since the wireless channel changes over each coherence period, the capacity of the wireless channel, given the power constraints, changes. Hence to make efficient use of the available capacity one needs to adapt the video bit rate. However it is impossible to adapt at the application layer as changing the parameters of the video takes more time than the coherence period of the channel. In this paper we address this problem through a novel solution and also investigate its performance through a simulation study.

Hybrid scheduling model and analysis of performance for switched industrial Ethernet

The fact that outburst traffic in industrial Ethemet was focused on that would bring self-similar phenomenon leading to the delay increase of the cyclical data, and a hybrid priority queue schedule model was proposed in which the outburst data was given the highest priority. Some properties of the self-similar outburst data were proved by network calculus, and its service curve scheduled by the switch was gained. And then the performance of the scheduling algorithm was obtained. The simulation results are close to those calculated by using network calculus model. Some results are of actual significance to the construction of switched industrial Ethernet.

Predictive current control system of PMSM based on LADRC

For a permanent magnet synchronous motor(PMSM)model predictive current control(MPCC)system,when the speed loop adopts proportional-integral(PI)control,speed regulation is easily affected by motor parameters,resulting in the inability to balance the system robustness and dynamic performance.A PMSM optimal control strategy combining linear active disturbance rejection control(LADRC)and two-vector MPCC(TV-MPCC)is proposed.Firstly,a mathematical model of a PMSM is presented,and the PMSM TV-MPCC model is developed in the synchronous rotation coordinate system.Secondly,a first-order LADRC controller composed of a linear extended state observer and linear state error feedback is designed to reduce the complexity of parameter tuning while linearly simplifying the traditional active disturbance rejection control(ADRC)structure.Finally,the conventional PI speed regulator in the motor speed control system is replaced by the designed LADRC controller.The simulation results show that the speed control system using LADRC can effectively deal with the changes in motor parameters and has better robustness and dynamic performance than PI control and similar methods.The system has a fast motor speed response,small overshoot,strong anti-interference,and no steady-state error,and the total harmonic distortion is reduced.

More stories on Th17 cells

For more than two decades, immunologists have been using the so-called Th1/Th2 paradigm to explain most of the phenomena related to adaptive immunity. The Thl/Th2 paradigm implied the existence of two different, mutu- ally regulated, CD4＋ T helper subsets： Thl cells, driving cell-mediated immune responses involved in tissue damage and fighting infection against intracellular parasites; and Th2 cells that mediate IgE production and are particu- larly involved in eosinophilic inflammation, allergy and clearance of helminthic infections. A third member of the T helper set, IL-17-producing CD4＋ T cells, now called Th17 cells, was recently described as a distinct lineage that does not share developmental pathways with either Thl or Th2 cells. The Th17 subset has been linked to autoimmune disorders, being able to produce IL-17, IL-17F and IL-21 among other inflammatory cytokines. Interestingly, it has been reported that there is not only a cross-regulation among Thl, Th2 and Th17 effector cells but there is also a di- chotomy in the generation of Th17 and T regulatory cells. Therefore, Treg and Th17 effector cells arise in a mutually exclusive fashion, depending on whether they are activated in the presence of TGF-β or TGF-β plus inflammatory cytokines such as IL-6. This review will address the discovery of the Th17 cells, and recent progress on their development and regulation.

Tunable Self-assembled Weak Polyelectrolyte Brushes

The authors have investigated the pH and ionic strength response of self-assembled layers formed by adsorption of amphiphilic weak polyelectrolytes. Using the SFA （Surface Forces Apparatus） the authors measured force-distance profiles of poly （isoprene）-poly （acrylic acid） block copolymers adsorbed on mica. Also by Atomic Force Microscopy the authors captured single polyelectrolyte molecule adsorbed on a surface. The effect of salt concentration （Cs） and pH upon the height of the brush layers was explored mainly by measuring the forces between two adsorbed polyelectrolyte brushes. At pH = 4 our results are in good agreement with the scaling prediction L0 ∝Cs-1/3 Changing the pH from 4 to 10 causes a remarkable swelling of the polymer layer, but only a weak dependence on salt concentration was detected at the higher pH. This can be attributed to the degree of dissociation, which depends on the local pH value. At low pH the polyelectrolyte chains have a low charge density, while on increasing the pH the degree of dissociation rises, and the increased charge density is followed by swelling of the adsorbed layer. The local concentration of ions in the brush is now greater than that of pH = 4 and approximately equivalent to 0.3 M. So the swelling is only weakly dependent on salt concentration in the range 0.01-1.0 M. The results demonstrate the tunable nature of such self-assembled polyelectroiyte brushes whose height and range of interactions, can be systematically controlled by adjusting the pH and ionic strength of the medium.

Transcranial magnetic stimulation probes the excitability of the primary motor cortex:A framework to account for the facilitating effects of acute whole-body exercise on motor processes

The effects of exercise on decision-making performance have been studied using a wide variety of cognitive tasks and exercise interventions. Although the current literature supports a beneficial influence of acute exercise on cognitive performance, the mechanisms underlying this phenomenon have not yet been elucidated. We review studies that used single-pulse transcranial magnetic stimulation （TMS） to probe the excitability of motor structures during whole-body exercise and present a framework to account for the facilitating effects of acute exercise on motor processes. Recent results suggest that, even in the absence of fatigue, the increase in corticospinal excitability classically reported during submaximal and exhausting exercises may be accompanied by a reduction in intracortical inhibition. We propose that reduced intracortical inhibition elicits an adaptive central mechanism that counteracts the progressive reduction in muscle responsiveness caused by peripheral fatigue. Such a reduction would render the motor cortex more sensitive to upstream influences, thus causing increased corticospinal excitability. Furthermore, reduction of intracortical inhibition may account for the more efficient descending drive and for the improvement of reaction time performance during exercise. The adaptive modulation in intracortical inhibition could be implemented through a general increase in reticular activation that would further account for enhanced sensory sensitivity.

Linear and nonlinear control of a robotic excavator

Various control systems for a robotic excavator named LUCIE (Lancaster University Computerized and Intelligent Excavator),were investigated. The excavator is being developed to dig trenches autonomously. One stumbling block is the achievement of adequate,accurate,quick and smooth movement under automatic control. Here,both classical and modern approaches are considered,including proportional-integral-derivative (PID) control tuned by conventional Zigler-Nichols rules,linear proportional-integral-plus (PIP) control,and a novel nonlinear PIP controller based on a state-dependent parameter (SDP) model structure,in which the parameters are functionally dependent on other variables in the system. Implementation results for the excavator joint arms control demonstrate that SDP-PIP controller provides the improved performance with fast,smooth and accurate response in comparison with both PID and linearized PIP control.