Master-Slave机器手协调控制选择行列式算法

提出了一种基于选择行列式的Master-Slave机器手的协调控制算法。通过选择行列式的导入,实现了对Master机器手和Slave机器手各个变量的协调控制。本方法应用于装有视觉传感器的机器手的追踪控制,经过实验证明了基于选择行列式的算法能够实现人类的某些技能赋予机器手,在支援机器手的同时还能够通过有效地协调遥控,完成机器手的自主控制。

A Master-Slave Blockchain Paradigm and Application in Digital Rights Management

Upon flaws of current blockchain platforms of heavyweight, large capacity of ledger, and time-consuming of synchronization of data, in this paper, we proposed a new paradigm of master-slave blockchain scheme(MSB) for pervasive computing that suitable for general PC, mobile device such as smart phones or PADs to participants in the working of mining and verification, in which we separated traditional blockchain model in 2 layer defined as master node layer and a series of slavery agents layer, then we proposed 2 approaches for partially computing model(PCM) and non-computing of model(NCM) in the MSB blockchain, Finally large amounts of simulations manifest the proposed master-slave blockchain scheme is feasible, extendible and suitable for pervasive computing especially in the 5 G generation environment, and can apply in the DRM-related applications.

Achievement of chaotic synchronization trajectories of master-slave manipulators with feedback control strategy

This paper addresses a master-slave synchro- nization strategy for complex dynamic systems based on feedback control. This strategy is applied to 3-DOF pla- nar manipulators in order to obtain synchronization in such complicated as chaotic motions of end-effectors. A chaotic curve is selected from Duffing equation as the trajectory of master end-effector and a piecewise approximation method is proposed to accurately represent this chaotic trajectory of end-effectors. The dynamical equations of master-slave manipulators with synchronization controller are derived, and the Lyapunov stability theory is used to determine the stability of this controlled synchronization system. In numer- ical experiments, the synchronous motions of end-effectors as well as three joint angles and torques of master-slave manipulators are studied under the control of the proposed synchronization strategy. It is found that the positive gain matrix affects the implementation of synchronization con- trol strategy. This synchronization control strategy proves the synchronization＇s feasibility and controllability for com- plicated motions generated by master-slave manipulators.

Exponential networked synchronization of master-slave chaotic systems with timevarying communication topologies

The networked synchronization problem of a class of master-slave chaotic systems with time-varying communication topologies is investigated in this paper. Based on algebraic graph theory and matrix theory, a simple linear state feedback controller is designed to synchronize the master chaotic system and the slave chaotic systems with a time- varying communication topology connection. The exponential stability of the closed-loop networked synchronization error system is guaranteed by applying Lyapunov stability theory. The derived novel criteria are in the form of linear matrix inequalities （LMIs）, which are easy to examine and tremendously reduce the computation burden from the feedback matrices. This paper provides an alternative networked secure communication scheme which can be extended conveniently. An illustrative example is given to demonstrate the effectiveness of the proposed networked synchronization method.

A master-slave generalized predictive synchronization control for preheating process of multi-cavity hot runner system

As a key component of injection molding,multi-cavity hot runner(MCHR)system faces the crucial problem of polymer melt filling imbalance among the cavities.The thermal imbalance in the system has been considered as the leading cause.Hence,the solution may rest with the synchronization of those heating processes in MCHR system.This paper proposes a’Master-Slave’generalized predictive synchronization control(MS-GPSC)method with’Mr.Slowest’strategy for preheating stage of MCHR system.The core of the proposed method is choosing the heating process with slowest dynamics as the’Master’to track the setpoint,while the other heating processes are treated as‘Slaves’tracking the output of’Master’.This proposed method is shown to have the good ability of temperature synchronization.The corresponding analysis is conducted on parameters tuning and stability,simulations and experiments show the strategy is effective.

基于Blending-Clustering集成学习的大坝变形预测模型

【目的】变形是反映大坝结构性态最直观的效应量,构建科学合理的变形预测模型是保障大坝安全健康运行的重要手段。针对传统大坝变形预测模型预测精度低、误报率高等问题导致的错误报警现象,【方法】选取不同预测模型和聚类算法集成,构建了一种Blending-Clustering集成学习的大坝变形预测模型,该模型以Blending对单一预测模型集成提升预测精度为核心,并通过Clustering聚类优选预测值改善模型稳定性。以新疆某面板堆石坝变形监测数据为实例分析,通过多模型预测性能比较,对所提出模型的预测精度和稳定性进行全面评估。【结果】结果显示:Blending-Clustering模型将预测模型和聚类算法集成,均方根误差(RMSE)和归一化平均百分比误差(nMAPE)明显降低,模型的预测精度得到显著提高;回归相关系数(R~2)得到提升,模型具备更强的拟合能力;在面板堆石坝上22个测点变形数据集上的预测评价指标波动范围更小,模型的泛化性和稳定性得到有效增强。【结论】结果表明:Blending-Clustering集成预测模型对于预测精度、泛化性和稳定性均有明显提升,在实际工程具有一定的应用价值。

基于Prophet算法和Blending集成学习的实时负荷中期预测

目前的中期负荷预测一般未考虑负荷实时状态,而负荷数据的非线性、季节性、随机性、时序性特征将影响实时负荷的中期预测。构建一个实时负荷中期预测的框架,采用Prophet算法提取负荷数据的季节性部分,采用Blending集成学习对负荷数据的非季节部分进行滚动预测,将季节性部分和非季节性部分合成中期负荷实时数据。爱尔兰电力系统的算例结果验证了模型的有效性和稳定性。

Research on Master-slave Telerobot Force Telepresence Technology

A 3 DOF master-slave telerobot system is established for study on force telepresence technology. A force feedback and position control scheme is adopted in the bilateral force response control system,and force fidelity and controllability experiments demonstrate feasibility of the con-trol system.

Adaptive H_∞ Synchronization of Master-slave Systems with Mixed Time-varying Delays and Nonlinear Perturbations: An LMI Approach

This paper proposes an adaptive synchronization problem for the master and slave structure of linear systems with nonlinear perturbations and mixed time-varying delays comprising different discrete and distributed time delays. Using an appropriate Lyapunov-Krasovskii functional, some delay-dependent sufficient conditions and an adaptation law including the master-slave parame- ters are established for designing a delayed synchronization law in terms of linear matrix inequalities（LMIs）. The time-varying controller guarantees the H ∞ synchronization of the two coupled master and slave systems regardless of their initial states. Particularly, it is shown that the synchronization speed can be controlled by adjusting the updated gain of the synchronization signal. Two numerical examples are given to demonstrate the effectiveness of the method.

Tremor suppression in master-slave robot remote welding system

Welding seam tracking precision was decreased due to human hand tremor during the master-slave welding teleoperation. To solve this problem, a master-slave robot remote welding system was built, the system consisted of a master manipulator with six degree of freedom （ DOF ） , an industrial computer control system and a slave Motoman HP3 J robot, and human hand tremor and digital filtering were discussed. An optimal digital filter was designed to clean human tremor signal for improving the welding seam tracking precision. The experimental results show that the digital filter suppresses the operator＇ s tremor signal.

Hierarchical hybrid control network design based on LON and master-slave RS-422/485 protocol

Aiming at the weaknesses of LON bus, combining the coexistence of fieldbus and DCS (Distribu ted Control Systems) in control networks, the authors introduce a hierarchical hybrid control network design based on LON and master slave RS 422/485 protocol. This design adopts LON as the trunk, master slave RS 422/485 control networks are connected to LON as special subnets by dedicated gateways. It is an implementation method for isomerous control network integration. Data management is ranked according to real time requirements for different network data. The core components, such as control network nodes, router and gateway, are detailed in the paper. The design utilizes both communication advantage of LonWorks technology and the more powerful control ability of universal MCUs or PLCs, thus it greatly increases system response speed and performance cost ratio.

Preparation and Properties of Regenerated Cellulose/Amylopectin Blend Fibers from 1-Butyl-3-Methylimidazolium Chloride with Controlled Biodegradation

Regenerated cellulose/amylopectin blend fibers with controlled biodegradation were produced using dry-jet wet-spinning technology from cellulose/amylopectin/1-butyl-3-methylimidazolium chloride blends.Morphological,structural and chemical analyses revealed that dense,homogeneous and void-free blend fibers were prepared in a two-stage dissolution process.The blend fibers were regenerated from water and treated with water or 95%(volume fraction)ethanol.However,cellulose-amylopectin interactions caused crystalline rearrangements in the blend fibers,resulting in a general decrease in crystallinity.Generally,tensile properties decreased with increasing amylopectin content,except that the blend fibers with 10%(mass fraction)amylopectin exhibited higher tensile strength than the regenerated cellulose control fibers.Ethanol treatment reduced the hydrophilicity of the blend fibers,increasing the crystallinity of the blend fibers.The blend fibers exhibited remarkable degradation,directly proportional to the amylopectin content.Despite higher crystallinity,ethanol-treated blend fibers degraded faster than water-treated fibers,indicating amylopectin and ethanol regulated the degradation.

Distributed Generation Islanding Effect on Distribution Networks and End User Loads Using the Master-Slave Islanding Method

This study aims to address the feasibility of planned islanding operation and to investigate the effect of unplanned islanding using the master-slave islanding method for controlling the distributed generation units during grid-connected and islanding operation. Neplan desktop power simulation tool was used for the modelling and simulation of a realistic MV network with four different distributed generation technologies (diesel, gas, hydro and wind) along with their excitation and governor control systems, while an exponential model was used to represent the loads in the network. The dynamic and steady state behavior of the four distributed generation technologies were investigated during grid-connected operation and two transition modes to the islanding situation, planned and unplanned. The obtained results that validated through various case studies have shown that a suitable planned islanding transition could provide support to critical loads at the event of electricity utility outages.

Multi-objective Design of Blending Fuel by Intelligent Optimization Algorithms

Fuel design is a complex multi-objective optimization problem in which facile and robust methods are urgently demanded.Herein,a complete workflow for designing a fuel blending scheme is presented,which is theoretically supported,efficient,and reliable.Based on the data distribution of the composition and properties of the blending fuels,a model of polynomial regression with appropriate hypothesis space was established.The parameters of the model were further optimized by different intelligence algorithms to achieve high-precision regression.Then,the design of a blending fuel was described as a multi-objective optimization problem,which was solved using a Nelder–Mead algorithm based on the concept of Pareto domination.Finally,the design of a target fuel was fully validated by experiments.This study provides new avenues for designing various blending fuels to meet the needs of next-generation engines.

A deep reinforcement learning approach to gasoline blending real-time optimization under uncertainty

The gasoline inline blending process has widely used real-time optimization techniques to achieve optimization objectives,such as minimizing the cost of production.However,the effectiveness of real-time optimization in gasoline blending relies on accurate blending models and is challenged by stochastic disturbances.Thus,we propose a real-time optimization algorithm based on the soft actor-critic(SAC)deep reinforcement learning strategy to optimize gasoline blending without relying on a single blending model and to be robust against disturbances.Our approach constructs the environment using nonlinear blending models and feedstocks with disturbances.The algorithm incorporates the Lagrange multiplier and path constraints in reward design to manage sparse product constraints.Carefully abstracted states facilitate algorithm convergence,and the normalized action vector in each optimization period allows the agent to generalize to some extent across different target production scenarios.Through these well-designed components,the algorithm based on the SAC outperforms real-time optimization methods based on either nonlinear or linear programming.It even demonstrates comparable performance with the time-horizon based real-time optimization method,which requires knowledge of uncertainty models,confirming its capability to handle uncertainty without accurate models.Our simulation illustrates a promising approach to free real-time optimization of the gasoline blending process from uncertainty models that are difficult to acquire in practice.

A review:Health benefits and physicochemical characteristics of blended vegetable oils

Oil blending is the method of choice used worldwide to improve oxidative stability and nutritional value.There is no such edible oil/fat that meets all the recommendations from the health point of view.The fatty acid composition of vegetable oils decides the fate of the oil.Pure single oil is unable to provide a balanced amount of fatty acids(FAs)required/recommended on a daily intake basis.Blending oils/fats is an appropriate procedure of physically mixing multiple oils in suitable proportions which may provide functional lipids with improved antioxidant potential and desirable physical and chemical properties.This review piled up the accessible data on the blending of diverse oils/fats in the combination of binary,ternary,quaternary,or other types of oils into a single blended oil.Blending can be found very convincing towards appropriate FA profile,enhancement in physicochemical characteristics,and augmented stability for the period of storage or when used as cooking/frying processes which could ultimately serve as an effectual dietary intervention towards the health protectiveness.

One-time application of controlled-release bulk blending fertilizer enhances yield,quality and photosynthetic efficiency in late japonica rice

Controlled-release urea(CRU)releases nitrogen(N)at the same pace that rice takes it up,which can effectively improve N use efficiency,increase rice yield and improve rice quality.However,few studies have described the effects of CRU application on the photosynthetic rate and endogenous enzyme activities of rice.Accordingly,a twoyear field trial was conducted with a total of seven treatments:CK,no N fertilizer;BBF,regular blended fertilizer;RBBF,20%N-reduced regular blended fertilizer;CRF1,70%CRU+30%regular urea one-time base application;CRF2,60%CRU+40%regular urea one-time base application;RCRF1,CRF1 treatment with 20%N reduction;and RCRF2,CRF2 treatment with 20%N reduction.Each treatment was conducted in triplicate.The results showed that the N recovery efficiency(NRE)of the controlled-release bulk blending fertilizer(CRBBF)treatments was significantly greater over the two years.There were significant yield increases of 4.1–5.9%under the CRF1treatment and 5.6–7.6%under the CRF2 treatment compared to the BBF treatment,but the differences between the reduced-N treatments RBBF and RCRF2 were not significant.Photosynthetic rates under the CRF1 and CRF2treatments were significantly higher than under the other treatments,and they had significantly greater RuBPCase,RuBisCO,glutamate synthase(GOGAT)and glutamine synthetase(GS)enzyme activities.Additionally,the soil NH_(4)^(+)-N and NO_(3)^(–)-N contents under the CRBBF treatments were significantly higher at the late growth stage of rice,which was more in-line with the fertilizer requirements of rice throughout the reproductive period.CRBBF also led to some improvement in rice quality.Compared with the BBF and RBBF treatments,the protein contents under the CRBBF treatments were reduced but the milling,appearance,eating and cooking qualities of the rice were improved.These results showed that the application of CRBBF can improve the NRE,photosynthetic rate and endogenous enzyme activities of rice,ensuring sufficient N nutrition and photosynthetic material production during rice growth and thereby achieving improved rice yield and quality.

Influence of Blended Course Teaching Reform on Student Satisfaction

With the rapid development of information technology in contemporary times,the blended teaching mode that blends online and offline courses has become an international trend in higher education.Taking blended tourism management courses at Chongqing Three Gorges University as an example,we explored the impact of such teaching reform on student satisfaction based on the SERVPERF model.Empirical analysis of 179 valid questionnaires revealed that five elements of the reform,namely,reliability,assurance,valuableness,responsiveness,and empathy,have a significant positive impact on students’learning satisfaction.Specifically,in the context of blended courses,factors such as a stable and reliable teaching environment,comprehensively guaranteed educational conditions,teaching content that highly aligns with students’demands and value expectations,prompt responses to students’needs and feedback,and empathetic consideration of students’perspectives are critical for enhancing student satisfaction.Based on these conclusions,we propose several strategies and methods for improving the effectiveness of blended teaching in the hope of propelling its continuous improvement and optimization,thus further elevating the quality of higher education.

Umami taste components in chicken-spices blends and potential effect of aroma on umami taste intensity

In this study,umami taste intensity(UTI)and umami taste components in chicken breast(CB)and chickenspices blends were characterized using sensory and instrumental analysis.Our main objective was to assess the aroma-umami taste interactions in different food matrices and reconcile the aroma-taste perception to assist future product development.The impact of key aroma,including vegetable-note"2-pentylfuran",meaty"methional",green"hexanal",and spicy-note-estragole and caryophyllene"on UTI was evaluated in monosodium glutamate and chicken extract.We found that spices significantly decreased UTI and umami taste components in CB.Interestingly,the perceptually similar odorants and tastants exhibited the potential to enhance UTI in food matrices.Methional was able to increase the UTI,whereas spicy and green-note components could reduce the UTI significantly.This information would be valuable to food engineers and formulators in aroma selection to control the UTI perceived by consumers,thus,improving the quality and acceptability of the chicken products.

Solid-state NMR of vulcanized natural rubber/butadiene rubber blends:Local organization and cross-linking heterogeneities This article is part of the virtual special issue“Solid-state NMR studies on polymers and biological solids”

Elastomer blends,among which natural rubber(NR)and butadiene rubber(BR),are involved in many components of the automotive/tire industry.A comprehensive understanding of their mechanical behavior requires,among other features,a detailed description of the crosslink density in these mixtures.In the case of vulcanized immiscible blends,the distribution of the cross-link density within each of the NR-and BR-rich domains is key information,but difficult to determine using the conventional approaches used for one-component crosslinked elastomers.In this study,the vulcanization within NR/BR blends is investigated using a robust^(1)H double-quantum(DQ)MAS recoupling experiment,BaBa-xy16.Two kinds of cross-linked NR/BR blends were considered with two different microstructures for the BR component.The bulk organization of the resulting blends was first probed by analyzing the^(1)H spin-lattice relaxation behavior.In a second step,BaBa-xy16 was used to investigate,in a selective way,the cross-link heterogeneities within NR/BR blends.In particular,for immiscible NR/BR mixtures,the distribution of the cross-link density between both phases was compared and the observed differences were discussed.