创生取向课程实施阻抗机制中主体的认同障碍剖析

主体创生取向课程实施认同障碍对创生取向课程实施有极大的弊端,是影响创生取向课程实施能否深入推进的重要因素之一。主体创生取向课程实施认同障碍是指课程实施主体没有认识到自己与所推进的创生取向课程实施的同一性,对所推进的创生取向课程实施不认可与不赞同,具体表现为主体对所推进创生取向课程实施的心理拒斥和漠然避离两个方面。其成因是多方面的,其中主体对研究者和策动者的信任缺失、心理超载及其对创生取向课程实施价值认知不足更显重要。

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.

Electrical bioimpedance gastric motility measurement based on an electrical-mechanical composite mechanism

AIM： To introduce a bioimpedance gastric motility mea- surement method based on an electrical-mechanical composite concept and a preliminary clinical application. METHODS： A noninvasive gastric motility measure- ment method combining electrogastrograrn （EGG） and impedance gastric motility （IGM） test was used. Prelim- inary clinical application studies of patients with func- tional dyspepsia （FD） and gastritis, as well as healthy controls, were carried out. Twenty-eight FD patients （mean age 40.9±9.7 years） and 40 healthy volun- teers （mean age 30.9±7.9 years） were involved. IGM spectrum was measured for both the healthy subjects and FD patients, and outcomes were compared in the FD patients before treatment and 1 wk and 3 wk after treatment. IGM parameters were obtained from 30 erosive gastritis patients （mean age 50.5±13.0 years） and 40 healthy adults, and IGM and EGG results were compared in the gastritis patients before treatment and 1 wk after treatment.RESULTS： There were significant differences in the IGM parameters between the FD patients and healthy subjects, and FD patients had a poorer gastric motility [percentage of normal frequency （PNF） 70.8±25.5 in healthy subjects and 28.3 =t= 16.9 in FD patients, P 〈 0.01]. After 1 wk administration of domperidone 10 mg, tid, the gastric motility of FD patients was not im- proved, although the EGG of the patients had returned to normal. After 3 wk of treatment, the IGM rhythm of the FD patients became normal. There was a significant difference in IGM parameters between the two groups （PNF 70.4：1：25.5 for healthy subjects and 36.1 4- 21.8 for gastritis patients, P 〈 0.05）. The EGG rhythm of the gastritis patients returned to normal （frequency insta- bility coefficient 2.22±0.43 before treatment and 1.77 ：t： 0.19 one wk after treatment, P 〈 0.05） after 1 wk of treatment with sodium rabeprazole tablets, 10 mg, qd, po, qm, while some IGM parameters showed a tenden- cy toward improvement but had not reached statistical significance. CONCLUSION： The electrical-mechanical composite measurement method showed an attractive clinical appli- cation prospect in gastric motility research and evaluation.

Robust force tracking control via backstepping sliding mode control and virtual damping control for hydraulic quadruped robots

In order to improve the force tracking performance of hydraulic quadruped robots in uncertain and unstructured environments,an impedance-based adaptive reference trajectory generation scheme is used.Secondly,in order to improve the robustness to environmental changes and reduce the contact force errors caused by trajectory tracking errors,the backstepping sliding mode controller is combined with the adaptive reference trajectory generator.Finally,a virtual damping control based on velocity and pressure feedback is proposed to solve the problem of contact force disappearance and stall caused by sudden environmental change.The simulation results show that the proposed scheme has higher contact force tracking accuracy when the environment is unchanged;the contact force error can always be guaranteed within an acceptable range when the environment is reasonably changed;when the environment suddenly changes,the drive unit can move slowly until the robot re-contacts the environment.

Dynamic surface control-backstepping based impedance control for 5-DOF flexible joint robots

A new impedance controller based on the dynamic surface control-backstepping technique to actualize the anticipant dynamic relationship between the motion of end-effector and the external torques was presented. Comparing with the traditional backstepping method that has ＂explosion of terms＂ problem, the new proposed control system is a combination of the dynamic surface control technique and the backstepping. The dynamic surface control （DSC） technique can resolve the ＂explosion of terms＂ problem that is caused by differential coefficient calculation in the model, and the problem can bring a complexity that will cause the backstepping method hardly to be applied to the practical application, especially to the multi-joint robot. Finally, the validity of the method was proved in the laboratory environment that was set up on the 5-DOF （degree of freedom） flexible joint robot. Tracking errors of DSC-backstepping impedance control that were 2.0 and 1.5 mm are better than those of backstepping impedance control which were 3.5 and 2.5 mm in directions X, Y in free space, respectively. And the anticipant Cartesian impedance behavior and compliant behavior were nchieved successfully as depicted theoretically.

Adsorption isotherm mechanism of amino organic compounds as mild steel corrosion inhibitors by electrochemical measurement method

The inhibition ability of 4-amino-5-phenyl-4H-1, 2, 4-trizole-3-thiol （APTT）, ethylenediaminetetra-acetic acid （EDTA） and thiourea （TU） for mild steel corrosion in 1.0 moFL HC1 solution at 30 ℃ was investigated. Tafel polarization and electrochemical impedance spectroscopy （EIS） were used to investigate the influence of these organic compounds as corrosion inhibitors of mild steel in 1.0 mol/L HC1 solution at 30 ℃. The inhibition mechanism was discussed in terms of Langrnuir isotherm model. Results obtained from Tafel polarization and impedance measurements are in a good agreement. The inhibition efficiency increases with the increase of the inhibitor concentration. The adsorption of the inhibitors on the mild steel surface follows Langmuir adsorption isotherm and the free energy of adsorption AGads indicates that the adsorption of APTT, EDTA, and TU molecules is a spontaneous process and a typical chemisorption.

Research on the Mechanism of Impedance Matching for Underwater Acoustic Transmitter based on Mathematical Modelling and Corresponding Balance Transformer

With the progress of power transmission technology, it is necessary for researchers to conduct related research on impedance matching. In this paper, we conduct research on the mechanism of impedance matching for underwater acoustic transmitter based on mathematical modelling and corresponding balance transformer. To realize underwater acoustic signal of wide band and high power emission, in addition to need the bandwidth performance good transducer array yuan, to a large extent also depends on a good matching between the transducer and amplifier. The result shows the feasibility and robustness of our designed system.