External disturbances or inaccurate mathematical model built will inevitably impose a disadvantageous effect on the robot system,which generates positioning errors,vibrations,as well as weakening control performances ...External disturbances or inaccurate mathematical model built will inevitably impose a disadvantageous effect on the robot system,which generates positioning errors,vibrations,as well as weakening control performances of the system. The strategy of combining adaptive radial basis function( RBF) neural network control and composite nonlinear feedback( CNF) control is studied,and a robot CNF controller based on RBF neural network compensation is proposed. The core is to use RBF neural network control to approach the uncertainty of the system online,as the compensation term of the CNF controller,and make full use of the advantages of the two control methods to reduce the influence of uncertain factors on the performance of the system. The convergence of closed-loop system is proved. Simulation results demonstrate the effectiveness of this strategy.展开更多
The rapid improvement in the running speed,transmission efficiency,and power density of miniaturized devices means that multifunctional flexible composites with excellent thermal management capability and high electro...The rapid improvement in the running speed,transmission efficiency,and power density of miniaturized devices means that multifunctional flexible composites with excellent thermal management capability and high electromagnetic interference(EMI)shielding performance are urgently required.Here,inspired by the fibrous pathways of the human nervous system,a“core–sheath”fibers structured strategy was proposed to prepare thermoplastic polyurethane/polydopamine/carbon nanotube(TPU/PDA/CNT)composites film with thermal management capability and EMI shielding performance.Firstly,TPU@PDA@CNT fibers with CNT shell were prepared by a facile polydopamine-assisted coating on electrospun TPU fibers.Subsequently,TPU/PDA/CNT composites with three-dimensional(3D)fibrous CNT“tracks”are obtained by a hot-pressing process,where CNTs distributed on adjacent fibers are compactly contacted.The fabricated TPU/PDA/CNT composites exhibit a high in-plane thermal conductivity(TC)of 9.6 W/(m·K)at low CNT loading of 7.6 wt.%.In addition,it also presents excellent mechanical properties and excellent EMI shielding effectiveness of 48.3 dB as well as multi-source driven thermal management capabilities.Hence,this study provides a simple yet scalable technique to prepare composites with advanced thermal management and EMI shielding performance to develop new-generation wireless communication technologies and portable intelligent electronic devices.展开更多
A composite nonlinear feedback tracking controller for motion control of robot manipulators is described. The structure of the controller is composed of a composite nonlinear feedback law plus full robot nonlinear dyn...A composite nonlinear feedback tracking controller for motion control of robot manipulators is described. The structure of the controller is composed of a composite nonlinear feedback law plus full robot nonlinear dynamics compensation. The stability is carried out in the presence of friction. The controller takes advantage of varying damping ratios induced by the composite nonlinear feedback control, so the transient performance of the closed-loop is remarkably improved. Simulation results demonstrate the feasibility of the proposed method.展开更多
The Qilian Shan lies along the northeastern edge of the Tibetan Plateau. To constrain its deformation history, we conducted integrated research on Mesozoic-Cenozoic stratigraphic sections in the Jiuxi Basin immediatel...The Qilian Shan lies along the northeastern edge of the Tibetan Plateau. To constrain its deformation history, we conducted integrated research on Mesozoic-Cenozoic stratigraphic sections in the Jiuxi Basin immediately north of the mountain range. Paleocurrent measurements, sandstone compositional data, and facies analysis of Cenozoic stratigraphic sections suggest that the Jiuxi Basin received sediments from the Altyn Tagh Range in the northwest, initially in the Oligocene （-33 Ma）, depositing the Huoshaogou Formation in the northern part of the basin. Later, the source area of the Jiuxi Basin changed to the Qilian Shan in the south during Late Oligocene （-27 Ma）, which led to the deposition of the Baiyanghe Formation. We suggest that uplift of the northern Qilian Shan induced by thrusting began no later than the Late Oligocene. Fission-track analysis of apatite from the Qilian Shan yields further information about the deformation history of the northern Qilain Shan and the Jiuxi Basin. It shows that a period of rapid cooling, interpreted as exhumation, initiated in the Oligocene. We suggest that this exhumation marked the initial uplift of the Qilian Shan resulting from the India-Asia collision.展开更多
基金National Natural Science Foundation of China(Nos.61663030,61663032)Natural Science Foundation of Jiangxi Province,China(No.20142BAB207021)+3 种基金the Foundation of Jiangxi Educational Committee,China(No.GJJ150753)the Innovation Fund Designated for Graduate Students of Nanchang Hangkong University,China(Nos.YC2017027,2018YBXG014)the Open Fund of Key Laboratory of Image Processing and Pattern Recognition of Jiangxi Province(Nanchang Hangkong University),China(No.TX201404003)Key Laboratory of Nondestructive Testing(Nanchang Hangkong University),Ministry of Education,China(No.ZD29529005)
文摘External disturbances or inaccurate mathematical model built will inevitably impose a disadvantageous effect on the robot system,which generates positioning errors,vibrations,as well as weakening control performances of the system. The strategy of combining adaptive radial basis function( RBF) neural network control and composite nonlinear feedback( CNF) control is studied,and a robot CNF controller based on RBF neural network compensation is proposed. The core is to use RBF neural network control to approach the uncertainty of the system online,as the compensation term of the CNF controller,and make full use of the advantages of the two control methods to reduce the influence of uncertain factors on the performance of the system. The convergence of closed-loop system is proved. Simulation results demonstrate the effectiveness of this strategy.
基金supported by the National Natural Science Foundation of China(Nos.21704096,51703217,and 12072325)the Natural Science Foundation of Henan Province(No.20A430028).
文摘The rapid improvement in the running speed,transmission efficiency,and power density of miniaturized devices means that multifunctional flexible composites with excellent thermal management capability and high electromagnetic interference(EMI)shielding performance are urgently required.Here,inspired by the fibrous pathways of the human nervous system,a“core–sheath”fibers structured strategy was proposed to prepare thermoplastic polyurethane/polydopamine/carbon nanotube(TPU/PDA/CNT)composites film with thermal management capability and EMI shielding performance.Firstly,TPU@PDA@CNT fibers with CNT shell were prepared by a facile polydopamine-assisted coating on electrospun TPU fibers.Subsequently,TPU/PDA/CNT composites with three-dimensional(3D)fibrous CNT“tracks”are obtained by a hot-pressing process,where CNTs distributed on adjacent fibers are compactly contacted.The fabricated TPU/PDA/CNT composites exhibit a high in-plane thermal conductivity(TC)of 9.6 W/(m·K)at low CNT loading of 7.6 wt.%.In addition,it also presents excellent mechanical properties and excellent EMI shielding effectiveness of 48.3 dB as well as multi-source driven thermal management capabilities.Hence,this study provides a simple yet scalable technique to prepare composites with advanced thermal management and EMI shielding performance to develop new-generation wireless communication technologies and portable intelligent electronic devices.
基金supported by the National Natural Science Foundation of China (60428303)
文摘A composite nonlinear feedback tracking controller for motion control of robot manipulators is described. The structure of the controller is composed of a composite nonlinear feedback law plus full robot nonlinear dynamics compensation. The stability is carried out in the presence of friction. The controller takes advantage of varying damping ratios induced by the composite nonlinear feedback control, so the transient performance of the closed-loop is remarkably improved. Simulation results demonstrate the feasibility of the proposed method.
基金supported by theNational Key Basic Research Program(MOST grants2007411305 to Z J Guo)
文摘The Qilian Shan lies along the northeastern edge of the Tibetan Plateau. To constrain its deformation history, we conducted integrated research on Mesozoic-Cenozoic stratigraphic sections in the Jiuxi Basin immediately north of the mountain range. Paleocurrent measurements, sandstone compositional data, and facies analysis of Cenozoic stratigraphic sections suggest that the Jiuxi Basin received sediments from the Altyn Tagh Range in the northwest, initially in the Oligocene （-33 Ma）, depositing the Huoshaogou Formation in the northern part of the basin. Later, the source area of the Jiuxi Basin changed to the Qilian Shan in the south during Late Oligocene （-27 Ma）, which led to the deposition of the Baiyanghe Formation. We suggest that uplift of the northern Qilian Shan induced by thrusting began no later than the Late Oligocene. Fission-track analysis of apatite from the Qilian Shan yields further information about the deformation history of the northern Qilain Shan and the Jiuxi Basin. It shows that a period of rapid cooling, interpreted as exhumation, initiated in the Oligocene. We suggest that this exhumation marked the initial uplift of the Qilian Shan resulting from the India-Asia collision.
