A dynamics-based adaptive control approach is proposed for a planar dual-arm space robot in the presence of closed-loop constraints and uncertain inertial parameters of the payload. The controller is capable of contro...A dynamics-based adaptive control approach is proposed for a planar dual-arm space robot in the presence of closed-loop constraints and uncertain inertial parameters of the payload. The controller is capable of controlling the po- sition and attitude of both the satellite base and the payload grasped by the manipulator end effectors. The equations of motion in reduced-order form for the constrained system are derived by incorporating the constraint equations in terms of accelerations into Kane's equations of the unconstrained system. Model analysis shows that the resulting equations perfectly meet the requirement of adaptive controller design. Consequently, by using an indirect approach, an adaptive control scheme is proposed to accomplish position/attitude trajectory tracking control with the uncertain parameters be- ing estimated on-line. The actuator redundancy due to the closed-loop constraints is utilized to minimize a weighted norm of the joint torques. Global asymptotic stability is proven by using Lyapunov's method, and simulation results are also presented to demonstrate the effectiveness of the proposed approach.展开更多
Shanghai is planning to launch a strategic research of new round of development in 2050,carry out future urban planning research in 2040,and started start the implementation of thirteenth five-year development plannin...Shanghai is planning to launch a strategic research of new round of development in 2050,carry out future urban planning research in 2040,and started start the implementation of thirteenth five-year development planning research. This paper firstly analyzed the relationship between Big Cloud Movement and Maker,and introduced current development situation of makers in Baoshan District of Shanghai. Then,according to current development situation,it came up with recommendations for the maker culture construction: strengthening the awareness for protection of intellectual property right in the district,building " Internet + X" development model for Baoshan District,establishing maker parks in Baoshan District,actively creating the innovation atmosphere,opening the Big Cloud Movement platform the society and promoting generation of grassroots makers,enhancing the cooperation with adjacent district to realize trans-regional cooperation of innovation talents,and introducing social capitals to help innovation teams to make transformation of innovation results.展开更多
In architectural design course of the SWJU Rim Wisdom City Hotel, the authors explored the innovation and business model of the maker space, analyzed the junctions between future needs of innovation and business activ...In architectural design course of the SWJU Rim Wisdom City Hotel, the authors explored the innovation and business model of the maker space, analyzed the junctions between future needs of innovation and business activities and hotel functions, took the SWJU Rim Wisdom City as the design background, made the hotel design scheme based on research fruits and conceptual logic, and finished the coursework from research to design.展开更多
This paper, based on the literature review and field investigation, studied the status quo of maker spaces in main urban district of Chengdu at a time when the development of the maker spaces has received strong suppo...This paper, based on the literature review and field investigation, studied the status quo of maker spaces in main urban district of Chengdu at a time when the development of the maker spaces has received strong support from national and local governments. In addition to introducing the related concepts and policy support of the maker space, it summarized its distribution characteristics, audience characteristics, and status quo as well as problems and presented the direction for the development of the maker space in main urban area of Chengdu grounded on a survey of the status quo of national maker spaces in main urban area of Chengdu.展开更多
The lnternet age has penetrated deeply into people's life. Some existing Intemet patterrrs can not meet the needs of consumers.With the development of "Internet +", the innovation and entrepreneurship of Internet ...The lnternet age has penetrated deeply into people's life. Some existing Intemet patterrrs can not meet the needs of consumers.With the development of "Internet +", the innovation and entrepreneurship of Internet are emerging. New electric business, incubator, maker space are becoming popular innovative modes and develop rapidly. In this paper, we will discuss the change of innovation and entrepreneurship under the" lnternet +" era by taking maker space 3 6 Kr as an example.展开更多
A novel approach to design Internal Model Controller(IMC)is proposed in this paper directly from measuredinput and output plant data,which are assumed to becontaminated by measurement noise.In order to avoidthe compli...A novel approach to design Internal Model Controller(IMC)is proposed in this paper directly from measuredinput and output plant data,which are assumed to becontaminated by measurement noise.In order to avoidthe complicated structure-identification problem inmost cases,two Finite Impulse Response(FIR)modelsare taken to represent the plant model and the internalmodel controller respectively.Taking account of mea-surement noise both in the plant input and its output,anESD based Total Least Squares(TLS)solution is appliedfor the unbiased identification of the plant model and itsinverse model,the latter constitutes the internal modelcontroller according to the principle that the internalmodel controller approximates the inverse dynamics ofthe plant model.Simulations are given for a testifica-tion.展开更多
It is generally known that the solutions of deterministic and stochastic differential equations (SDEs) usually grow linearly at such a rate that they may become unbounded after a small lapse of time and may eventual...It is generally known that the solutions of deterministic and stochastic differential equations (SDEs) usually grow linearly at such a rate that they may become unbounded after a small lapse of time and may eventually blow up or explode in finite time. If the drift and diffusion functions are globally Lipschitz, linear growth may still be experienced, as well as a possible blow-up of solutions in finite time. In this paper, a nonlinear scalar delay differential equation with a constant time lag is perturbed by a multiplicative Ito-type time - space white noise to form a stochastic Fokker-Planck delay differential equation. It is established that no explosion is possible in the presence of any intrinsically slow time - space white noise of Ito - type as manifested in the resulting stochastic Fokker- Planck delay differential equation. Time - space white noise has a role to play since the solution of the classical nonlinear equation without it still exhibits explosion.展开更多
The KHNP (Korea Hydro & Nuclear Power Co.) has developed a multipurpose nuclear safety analysis code called SPACE (the safety and performance analysis code) for nuclear power plants. SPACE code is a best-estimate...The KHNP (Korea Hydro & Nuclear Power Co.) has developed a multipurpose nuclear safety analysis code called SPACE (the safety and performance analysis code) for nuclear power plants. SPACE code is a best-estimated two-phase three-field thermal-hydraulic analysis code used to analyze the safety and performance of pressurized water reactors. In this paper, LOFT (loss of fluid test) L9-3 experiment using the SPACE code was selected to confirm the capability of SPACE code and the results calculated by the SPACE code are compared with those measured through the experiment. The results were compared with the experimental data and those of the other code simulations. Throughout the simulation result, it was concluded that the SPACE code can effectively simulate LOFT L9-3 experiment.展开更多
基金supported by the National Natural Science Foundation of China(11272027)
文摘A dynamics-based adaptive control approach is proposed for a planar dual-arm space robot in the presence of closed-loop constraints and uncertain inertial parameters of the payload. The controller is capable of controlling the po- sition and attitude of both the satellite base and the payload grasped by the manipulator end effectors. The equations of motion in reduced-order form for the constrained system are derived by incorporating the constraint equations in terms of accelerations into Kane's equations of the unconstrained system. Model analysis shows that the resulting equations perfectly meet the requirement of adaptive controller design. Consequently, by using an indirect approach, an adaptive control scheme is proposed to accomplish position/attitude trajectory tracking control with the uncertain parameters be- ing estimated on-line. The actuator redundancy due to the closed-loop constraints is utilized to minimize a weighted norm of the joint torques. Global asymptotic stability is proven by using Lyapunov's method, and simulation results are also presented to demonstrate the effectiveness of the proposed approach.
基金Supported by General Research Project for Education and Science of Shanghai(C16064)Key Project for Undergraduate Education Reform of Colleges and Universities in Shanghai"Research and Practice of Interdisciplinary Cooperation in Shipping Talent Cultivation from the Perspective of Innovation and Entrepreneurship Education"
文摘Shanghai is planning to launch a strategic research of new round of development in 2050,carry out future urban planning research in 2040,and started start the implementation of thirteenth five-year development planning research. This paper firstly analyzed the relationship between Big Cloud Movement and Maker,and introduced current development situation of makers in Baoshan District of Shanghai. Then,according to current development situation,it came up with recommendations for the maker culture construction: strengthening the awareness for protection of intellectual property right in the district,building " Internet + X" development model for Baoshan District,establishing maker parks in Baoshan District,actively creating the innovation atmosphere,opening the Big Cloud Movement platform the society and promoting generation of grassroots makers,enhancing the cooperation with adjacent district to realize trans-regional cooperation of innovation talents,and introducing social capitals to help innovation teams to make transformation of innovation results.
基金Sponsored by National Natural Science Foundation of China(51508471)Sichuan Provincial Philosophical and Social Science Project(MD16E017)+10 种基金Chengdu Sci-tech Soft Science Research Program(2015-RK00-00270-ZF)2016 Undergraduates’Scientific Research and Training Program(201610613039201610613043201605320160542016055160901160911)Basic Scientific Research Fund of Central Universities for Science and Engineering Technological Innovation Program(2682017CX016)SWJU Undergraduates’Education and Teaching Research and Reform Program(201704048)2017 Undergraduates’Scientific Research Training Program(170903)
文摘In architectural design course of the SWJU Rim Wisdom City Hotel, the authors explored the innovation and business model of the maker space, analyzed the junctions between future needs of innovation and business activities and hotel functions, took the SWJU Rim Wisdom City as the design background, made the hotel design scheme based on research fruits and conceptual logic, and finished the coursework from research to design.
基金Sponsored by National Natural Science Fund(51508471)Philosophy and Social Science Project of Sichuan Province(MD16E017)+2 种基金Soft Science Project of Chengdu City(2015-RK00-00270-ZF)Operating Costs of Innovation Project of Science and Engineering in Colleges and Universities Administrated by Ministries and Their Attached Institutions in 2017(2682017CX016)Teaching Research and Reform Project for Undergraduate Education of Southwest Jiaotong University in 2017(201704048)
文摘This paper, based on the literature review and field investigation, studied the status quo of maker spaces in main urban district of Chengdu at a time when the development of the maker spaces has received strong support from national and local governments. In addition to introducing the related concepts and policy support of the maker space, it summarized its distribution characteristics, audience characteristics, and status quo as well as problems and presented the direction for the development of the maker space in main urban area of Chengdu grounded on a survey of the status quo of national maker spaces in main urban area of Chengdu.
文摘The lnternet age has penetrated deeply into people's life. Some existing Intemet patterrrs can not meet the needs of consumers.With the development of "Internet +", the innovation and entrepreneurship of Internet are emerging. New electric business, incubator, maker space are becoming popular innovative modes and develop rapidly. In this paper, we will discuss the change of innovation and entrepreneurship under the" lnternet +" era by taking maker space 3 6 Kr as an example.
文摘A novel approach to design Internal Model Controller(IMC)is proposed in this paper directly from measuredinput and output plant data,which are assumed to becontaminated by measurement noise.In order to avoidthe complicated structure-identification problem inmost cases,two Finite Impulse Response(FIR)modelsare taken to represent the plant model and the internalmodel controller respectively.Taking account of mea-surement noise both in the plant input and its output,anESD based Total Least Squares(TLS)solution is appliedfor the unbiased identification of the plant model and itsinverse model,the latter constitutes the internal modelcontroller according to the principle that the internalmodel controller approximates the inverse dynamics ofthe plant model.Simulations are given for a testifica-tion.
文摘It is generally known that the solutions of deterministic and stochastic differential equations (SDEs) usually grow linearly at such a rate that they may become unbounded after a small lapse of time and may eventually blow up or explode in finite time. If the drift and diffusion functions are globally Lipschitz, linear growth may still be experienced, as well as a possible blow-up of solutions in finite time. In this paper, a nonlinear scalar delay differential equation with a constant time lag is perturbed by a multiplicative Ito-type time - space white noise to form a stochastic Fokker-Planck delay differential equation. It is established that no explosion is possible in the presence of any intrinsically slow time - space white noise of Ito - type as manifested in the resulting stochastic Fokker- Planck delay differential equation. Time - space white noise has a role to play since the solution of the classical nonlinear equation without it still exhibits explosion.
文摘The KHNP (Korea Hydro & Nuclear Power Co.) has developed a multipurpose nuclear safety analysis code called SPACE (the safety and performance analysis code) for nuclear power plants. SPACE code is a best-estimated two-phase three-field thermal-hydraulic analysis code used to analyze the safety and performance of pressurized water reactors. In this paper, LOFT (loss of fluid test) L9-3 experiment using the SPACE code was selected to confirm the capability of SPACE code and the results calculated by the SPACE code are compared with those measured through the experiment. The results were compared with the experimental data and those of the other code simulations. Throughout the simulation result, it was concluded that the SPACE code can effectively simulate LOFT L9-3 experiment.