运力柔性配置下的网络零售配送时隙动态定价

在B2C环境下,为产生良好的经济效益和提高竞争力,网络零售商致力于根据客户订单的要求提供相应的时隙配送服务,提高时隙配送效率和降低运营成本.考虑随时隙运力变化的需求特征以及客户与容量之间相互作用关系,建立基于最大订单数量和最优时隙容量的非线性数学规划模型,综合优化网络零售商的配送时隙运力.通过算例分析,模拟几种不同情况下的配送时隙动态定价,验证了模型的有效性和科学性.

江苏省水运发展存在的问题及对策

本文分析了制约江苏省水运发展的主要问题:与其它运输方式相比,水运投资总量不足、投资比例偏低;航道等级不高影响了船舶大型化和内河集装箱的发展;对运力失控使内河航运系统的运输效率严重下降等。其根源是各部门对发展水运尚未引起足够的重视;多头管理使得管理职能无法明确区分等。并从加大水运基础设施建设和加强水运管理等方面提出了对策建议。

Impedance force control for position controlled robotic manipulators under the constraint of unknown environments

A force control strategy for position controlled robotic manipulators is presented. On line force feedback data are employed to estimate the local shape of the unknown constraint. The estimated vectors are used to generate the virtual reference trajectory for the target impedance model that is driven by the force error to produce command position. By following the command position trajectory the robotic manipulator can follow the unknown constraint surface while keeping an acceptable force error in a manner depicted by the target impedance model. Computer simulation on a 3 linked planar manipulator and experimental studies on an Adept 3, an SCARA type robotic manipulator, are conducted to verify the force tracking capability of the proposed control strategy.

如何加强乡镇渡口安全管理的探索

乡镇渡口的安全管理问题,一直是内河交通安全管理的难点和突出问题。其事故隐患多,且一旦出现事故极易造成群死群伤,严重地威胁着国家财产和人民生命安全。特别是公路的飞速发展以及汽车数量和载重量的迅猛增长,使渡口的渡运事业也随之繁荣兴旺起来,渡船数量逐年增长,渡口渡运的安全管理工作就更显得尤为重要。多年来,渡口的安全管理工作虽然得到了各级政府和管理部门的高度重视,但超载、超乘。

Modeling and control of hydraulic excavator's arm

In order to find a feasible way to control excavator’s arm and realize autonomous excavation, the dynamic model for the boom of excavator’s arm which was regarded as a planar manipulator with three degrees of freedom was constructed with Lagrange equation. The excavator was retrofitted with electrohydraulic proportional valves, associated sensors (three inclinometers) and a computer control system (the motion controller of EPEC). The full nonlinear mathematic model of electrohydraulic proportional system was achieved. A discontinuous projection based on an adaptive robust controller to approximate the nonlinear gain coefficient of the valve was presented to deal with the nonlinearity of the whole system, the error was dealt with by robust feedback and an adaptive robust controller was designed. The experiment results of the boom motion control show that, using the controller, good performance for tracking can be achieved, and the peak tracking error of boom angles is less than 4°.

HIT anthropomorphic robotic hand and finger motion control

Nowadays many anthropomorphic robotic hands have been put forward. These hands emphasize different aspects according to their applications. HIT Anthropomorphic Robotic Hand (ARhand) is a simple, lightweight and dexterous design per the requirements of anthropomorphic robots. Underactuated self-adaptive theory is adopted to decrease the number of motors and weight. The fingers of HIT ARhand with multi phalanges have the same size as those of an adult hand. Force control is realized with the position sensor, joint torque sensor and fingertip torque sensor. From the 3D model, the whole hand, with the low power consumption DSP control board integrated in it, will weigh only 500 g. It will be assembled on a BIT-Anthropomorphic Robot.

Modeling and simulation of a mini AUV in spatial motion

Accurate modeling and simulation of autonomous underwater vehicle （AUV） is essential for autonomous control and maneuverability research. In this paper, a mini AUV- ＂MAUV-Ⅱ＂ was researched and the nonlinear mathematic model of the AUV in spatial motion was derived based on momentum theorem. The forces acting on AUV were resolved to several modules which were expressed in matrix form. Based on the motion model and combined with virtual reality technology, a motion simulation system was constructed. Considering the characteristic of ＂MAUV-Ⅱ ＂, the heading control and depth control were simulated by adopting S-surface control method. A long distance traveling simulation experiment based on target planning was also done. The simulation results show that the ＂MAUV-Ⅱ＂ has good spatial maneuverability, and verify the feasibility and reliability of control software.

The effect of acute exercise on cognitive performance in children with and without ADHD

Background： Attention deficit hyperactivity disorder （ADHD） is a common childhood disorder that affects approximately 11% of children in the United States. Research supports that a single session of exercise benefits cognitive performance by children, and a limited number of studies have demonstrated that these effects can also be realized by children with ADHD. The purpose of this study was to examine the effect of acute exercise on cognitive performance by children with and without ADHD. Methods： Children with and without ADHD were asked to perform cognitive tasks on 2 days following treatment conditions that were assigned in a random, counterbalanced order. The treatment conditions consisted of a 30-min control condition on 1 day and a moderate intensity exercise condition on the other day. Results： Exercise significantly benefited performance on all three conditions of the Stroop Task, but did not significantly affect performance on the Tower of London or the Trail Making Test. Conclusion： children with and without ADHD realize benefits in speed of processing and inhibitory control in response to a session of acute exercise, but do not experience benefits in planning or set shifting.

A novel speed sensor-less direct torque control system for mining locomotive haulage

A novel speed sensor-less direct torque control induction motor drive system for the mining locomotive haulage is presented in the paper. Rotor speed identification is based on the model reference adaptive control theory with neural network using back propagation algorithm. The system is implemented using a real-time TMS320F240 digital signal processor. The simulation study and experiment results indicate that the suggested system has good performance.

High Precision Motion Control of Hybrid Five-Bar Mechanism with an Intelligent Control

Hybrid mecihanism is a new type of planar controllable mechanism. Position control acouracy of system determines the output aconracy of the mechanism. In order to achieve the desired high acowacy, nonlinear factors as friction nmst be accurately compensated in the real-time servo control algoritinn. In this paper, the model of a hybrid five-bar mechanism is introduced. In terms of the characteristics of the hybrid mechanism, a hybrid intelligent control algorithm based on proportional-integral-derivative （PID） control and cerebellar model articulation control techniques was presented and used to perform control of hybrid five-bar mechanism for the lust time. The sinmulation results show that the hybrid control method can improve the control effect remarkably, compared with the traditional PID control strategy.

Integrating biomechanical and motor control principles in elite high jumpers： A transdisciplinary approach to enhancing sport performance

Background： In recent years, there has been a proliferation of technology and sport science utilized within an athlete＇s training, especially at the elite level. However, the sport science is a broad field, encompassing disciplines such as biomechanics, motor control and learning, exercise physiology, sports medicine, sport psychology to name a few. Rarely are these disciplines applied in an integrated manner. The purpose of this study was to document the effectiveness of an integrated biomechanics and motor control protocol for improving athlete＇s performance in the high jump. Methods： Four elite high jumpers performed baseline jumps under no^mal conditions and then jumps using a specific external focus of attention cue designed to improve their running posture. Three-dimensional biomeehanical analysis was used to quantify the upright posture throughout the approach as well as horizontal velocity at plant and vertical velocity at takeoff. Results： The results showed that when using the external focus of attention cue, the jumpers were significantly more upright during the approach, had significantly higher horizontal velocities at plant, and generated significantly greater vertical velocities during the takeoff. Conclusion： The results of this study lay the foundation for future work examining how integrating sport science disciplines can improve performance of elite level athletes.

Controller design based on viscoelasticity dynamics model and experiment for flexible drive unit

In order to ensure that the system has the advantage of light weight and vibration absorption, the steel rope is used as a flexible transmission part. A flexible drive unit(FDU) is developed, whose features are guided by steel rope, increasing force by the movable pulley group, modular, convenient and flexible. Dynamics model for controller is deduced based on the constitutive equation of viscoelasticity. Controller is designed for position control and is based on the viscoelasticity dynamics model compensation control strategy proposed. The control system is based on the TURBO PMAC multi-axis motion control card.Prototype loading experiments and velocity experiments results show that the FDU can reach 2 Hz with no load and the max speed of 30(°)/s. The FDU has the capability of the load torque 11.2 N·m and the speed of 24(°)/s simultaneously, and the frequency response is 1.3 Hz. The FDU can be used to be the pitch joint of hip for biped robot whose walking speed is 0.144 km/h theoretically.

Changes in balance ability,power output,and stretch-shortening cycle utilisation after two high-intensity intermittent training protocols in endurance runners

Purpose：This study aimed to describe the acute effects of 2 different high-intensity intermittent trainings（HIITs） on postural control,countermovement jump（CMJ）,squat jump（SJ）,and stretch-shortening cycle（SSC） utilisation,and to compare the changes induced by both protocols in those variables in endurance runners.Methods：Eighteen recreationally trained endurance runners participated in this study and were tested on 2 occasions：10 runs of 400 m with 90 s recovery between running bouts（10×400 m）,and 40 runs of 100 m with 30 s recovery between runs（40 × 100 m）.Heart rate was monitored during both HIITs;blood lactate accumulation and rate of perceived exertion were recorded after both protocols.Vertical jump ability（CMJ and SJ） and SSC together with postural control were also controlled during both HIITs.Results：Repeated measures analysis revealed a significan improvement in CMJ and SJ during 10 × 400 m（p〈0.05）,whilst no significan changes were observed during 40×100 m.Indexes related to SSC did not experience significan changes during any of the protocols.As for postural control,no significan changes were observed in the 40×100 m protocol,whilst significan impairments were observed during the 10×400 m protocol（p〈0.05）.Conclusion：A protocol with a higher number of shorter runs（40×100 m） induced different changes in those neuromuscular parameters than those with fewer and longer runs（10×400 m）.Whereas the 40×100 m protocol did not cause any significan changes in vertical jump ability,postural control or SSC utilisation,the 10×400 m protocol impaired postural control and caused improvements in vertical jumping tests.

Ground demonstration system based on in-orbit assembly oriented manipulator flexible force control

To eliminate the load weight limit of carrier rockets and reduce the burden on support structures,in-orbit assembly is a key technology to make design of scattering a large diameter telescope into submirror modules,which requires smooth operation of assembly robots,and flexible force control technology is necessary. A ground demonstration system is presented for in-orbit assembly focusing on flexible force control. A six-dimensional force/torque sensor and its data acquisition system are used to compensate for gravity. For translation and rotation,an algorithm for flexible control is proposed. A ground transportation demonstration verifies accuracy and smoothness of flexible force control,and the transportation and assembly task is completed automatically. The proposed system is suitable for the development of in-orbit assembly robots.

Relay switched, scalable topology control for mobile robot networks based on motion synchronization

A mobile robot network is said to be easily scalable to any number of robots if its performance is kept almost fixed after these robots are added or some fail in the network. An interaction dynamics model based on motion synchronization is first established. Considering the mobility of mobile robot networks, we propose a relay switched, distributed topology control for the scalable network to drive neMy added robots to the most suitable positions with more neighbors as well as self-heal the blank positions of failed robots, and give a metric of the topology structure for evaluating the performance of network topologies. Then, we prove the stability of motion synchronization with the individual control based on Lyapunov exponent. Finally, the results of simulations have demonstrated the validity of the proposed modeling and control methods.

Stand-Alone Wind Power System Operating with Different Storage Structures

This paper deals with control method related to a wind system operating in stand-alone applications. The stand-alone wind system is composed of three energy transfer subsystems： wind generator subsystem （wind turbine and electrical generator）, energy storage subsystem, respectively, specific local network subsystem （controlled loads）. This wind power system performs in the same time the maximization of wind energy conversion and the power balance between produced and required power. Three structures of the energy storage subsystem, based on buffer battery operation and/or capacitor voltage control, are discussed. The simulation results show that the proposed stand-alone wind power system ensures a good management of the local energy request. The design of the structures is analyzed in Matlab/Simulink environment, using PowerSim toolbox.

Methods for Calculating Activation Energies of Ideal Gases

The previous paper Ref. [1] showed how to calculate activation energies for ideal gas reactions from the CDF （cumulative distribution function） of the MBD （Maxwell Boltzmann Distribution） and the heat capacity data of the components. The results presented here show comparisons of activation energies of four ideal gases calculated in that way with those calculated from the ND （Normal Distribution） and its CDF. The evaluation of the CDF for the MBD in Ref. [1] required extensive numerical integrations for each substance. In this paper this method of calculating activation energies is generalised, by showing the CDF is a unique function, independent of temperature and composition, enabling the CDF to be presented graphically or in tabular form. These activation energies are compared to those calculated from the ND and its CDF. The MBD is related to the ND because it has a generating function which is shown here to have the simple form （1-kT）-1.5. The activation energies obtained from the CDF of the ND are shown to agree ca. 5-7% with those obtained directly from the MBD. Because existing thermodynamic treatments are based on average properties, they cannot give either a complete account of thermodynamic controlled and kinetic controlled equilibrium states or explain transitions between them. Complete treatments must include effects from the MBD which are the causes of kinetic controlled equilibrium. The basis for a complete treatment is outlined, which includes the standard deviations and activation energies.

A Discussion on Correlations of Plate Motion with Seismic Anisotropy and Stress Field in Plate Boundary Zones

In many parts of the global plates,including subduction zones,mid-ocean ridges and even the interior of the continental plates,seismic anisotropy has a certain correlation with image of absolute plate motion( APM),or is in accord with the predominant direction of the intraplate stress field. In our study,a statistical analysis is done on the correlations of plate motion with seismic anisotropy as well as a stress field within nine plate boundaries which contain major subduction zones in the globe. Results indicate that absolute or relative plate motion( RPM) controls the seismic anisotropy and stress field of the plate boundary,which is especially obvious for the RPM. It can also be inferred that the correlation of RPM is better than that of APM. Because of the complexity of subduction mechanism and diversity of controlling factors at plate boundaries containing subduction zones,the correlation becomes much complex. Sources of anisotropy at various depths show different characteristics,and stress state is controlled by many factors,thus further discussions on the correlations are required.

Stability analysis via the concept of Lyapunov exponents―a case study

The dynamics characteristics of the robotic arm system are usually highly nonlinear and strongly coupling,which will make it difficult to analyze the stability by the methods of solving kinetic equations or constructing Lyapunov function,especially,these methods cannot calculate the quantitative relationship between mechanical structures or control input and dynamics parameters and stability.The theoretical analysis process from symbol dynamics modeling of the robotic arm system to the movement stability is studied by using the concept of Lyapunov exponents method. To verify the algorithm effectiveness,the inner relation between its joint input torque and stability or chaotic and stable motion of the 2-DOF robotic arm system is analyzed quantitatively. As compared with its counterpart of Lyapunov's direct method,the main advantage of the concept of Lyapunov exponents is that the methods for calculating the exponents are constructive to provide an effective analysis tool for analyzing robotic arm system movement stability of nonlinear systems.

Load Frequency Control of a Two Area-Power System with Non-reheat Turbines by SMC Approach

Load frequency is an important issue in power system operation and control. In this paper, load frequency control for suppression frequency deviation in an interconnected power system with nonlinearities using SMC （sliding mode control） is studied. The governor dead band and GRC （generation rate constraint） is considered in this article. Digit simulations for both two areas and three areas power system with non-reheat turbines are provided to validate the effectiveness of the proposed scheme. The results show that, the robustness of the control method under parameters variation and different load disturbances with the SMC technique.