Dynamics and adaptive control of a dual-arm space robot with closed-loop constraints and uncertain inertial parameters

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.

Investigation of ductile iron casting process parameters using Taguchi approach and response surface methodology

To find the optimized levels of various casting parameters in the ductile iron casting, various casting defects and the rejection rate were observed from a medium scale foundry. The controlled values of different casting parameters such as pouring temperature, inoculation, carbon equivalent, moisture content, green compression strength, permeability and mould hardness were selected. Three different melts of metal with 0.4wt.%, 0.6wt.%, and 0.8wt.% inoculation （Fe-Si-Mg alloy and post inoculant） were produced using a 1-ton capacity coreless medium frequency induction furnace. L-27 orthogonal array with 3-level settings were chosen for the analysis. Responses for each run were observed. The signal-to-noise （S/N） ratio for each run was calculated using the Taguchi approach, and the optimized levels of different casting parameters were identified based on the SIN ratio. The analysis of variance for the casting acceptance percentage concludes that inoculation is the most significant factor affecting the castings＇ quality with a contribution percentage of 44%; an increase in inoculation results in a significant improvement in acceptance percentage of ductile iron castings. The experiment results showed that with the optimized parameters, the rejection rate was reduced from 16.98% to 6.07%.

Effect of Process Parameters on S-Parameter of Fabric-Based Embroidered Transmission Line

This paper presented a method of fabricating radio frequency( RF) transmission lines by embroidering conductive thread on fabric. A digital embroidery machine was selected to fabricate transmission lines. Effects of the typical process parameters on the S-parameter of these RF transmission lines were tested and discussed. And the results showed that embroidery process parameters such as stitch direction,stitch spacing,stitch length and embroidered tension had significant effects on the RF performance of embroidered transmission lines,of which stitch type was the most important factor for the measured S-parameter of transmission lines.

DATA MODELING METHOD BASED ON PARTIAL LEAST SQUARE REGRESSION AND APPLICATIO N IN CORRELATION ANALYSIS OF THE STATOR BARS CONDITION PARAMETERS

Objective To investigate v arious data message of the stator bars condition parameters under the condition that only a few samples are available, especially about correlation information between the nondestructive parameters and residual breakdown voltage of the stat or bars. Methods Artificial stator bars is designed to simulat e the generator bars. The partial didcharge( PD) and dielectric loss experiments are performed in order to obtain the nondestructive parameters, and the residua l breakdown voltage acquired by AC damage experiment. In order to eliminate the dimension effect on measurement data, raw data is preprocessed by centered-compr ess. Based on the idea of extracting principal components, a partial least squar e (PLS) method is applied to screen and synthesize correlation information betwe en the nondestructive parameters and residual breakdown voltage easily. Moreover , various data message about condition parameters are also discussed. Re sults Graphical analysis function of PLS is easily to understand vario us data message of the stator bars condition parameters. The analysis Results ar e consistent with result of aging testing. Conclusion The meth od can select and extract PLS components of condition parameters from sample dat a, and the problems of less samples and multicollinearity are solved effectively in regression analysis.

A method to determine relevant geomechanical parameters for evaluating the hydraulic erodibility of rock

Among the methods used for evaluating the potential hydraulic erodibility of rock,the most common methods are those based on the correlation between the force of flowing water and the capacity of a rock to resist erosion,such as Annandale’s and Pells’methods.The capacity of a rock to resist erosion is evaluated based on erodibility indices that are determined from specific geomechanical parameters of a rock mass.These indices include unconfined compressive strength(UCS)of rock,rock block size,joint shear strength,a block’s shape and orientation relative to the direction of flow,joint openings,and the nature of the surface to be potentially eroded.However,it is difficult to determine the relevant geomechanical parameters for evaluating the hydraulic erodibility of rock.The assessment of eroded unlined spillways of dams has shown that the capacity of a rock to resist erosion is not accurately evaluated.Using more than 100 case studies,we develop a method to determine the relevant geomechanical parameters for evaluating the hydraulic erodibility of rock in unlined spillways.The UCS of rock is found not to be a relevant parameter for evaluating the hydraulic erodibility of rock.On the other hand,we find that the use of three-dimensional(3D)block volume measurements,instead of the block size factor used in Annandale’s method,improves the rock block size estimation.Furthermore,the parameter representing the effect of a rock block’s shape and orientation relative to the direction of flow,as considered in Pells’method,is more accurate than the parameter adopted by Annandale’s method.

Effects of thermodynamics parameters on mass transfer of volatile pollutants at air-water interface

A transient three-dimensional coupling model based on the compressible volume of fluid （VOF） method was developed to simulate the transport of volatile pollutants at the air-water interface. VOF is a numerical technique for locating and tracking the free surface of water flow. The relationships between Henry＇s constant, thermodynamics parameters, and the enlarged topological index were proposed for nonstandard conditions. A series of experiments and numerical simulations were performed to study the transport of benzene and carbinol. The simulation results agreed with the experimental results. Temperature had no effect on mass transfer of pollutants with low transfer free energy and high Henry＇s constant. The temporal and spatial distribution of pollutants with high transfer free energy and low Henry＇s constant was affected by temperature. The total enthalpy and total transfer free energy increased significantly with temperature, with significant fluctuations at low temperatures. The total enthalpy and total transfer free energy increased steadily without fluctuation at high temperatures.

Evaluation of the Physicochemical Parameters of Cow’s Fresh Milk in Shkodra

Milk is universally recognized as complete food, which contains essential components for human nutrition. Physicochemical analysis constitutes an important device that monitors its quality. The purpose of this study was to determine the physicochemical characteristics of fresh cow milk in samples taken in the region of Shkodra and Lezha and compare it to European quality standards. Results of the analyses were statistically processed by the Minitab 17 statistical program. Results showed that there is no significant difference (P > 0.05) in fat, protein, lactose and density value, while there is significant difference (P < 0.05) in pH, ash% without fat, freezing point and water value. The results show a stability of physicochemical parameters of milk, with variation according to the region where samples were gathered.

Real-time parameters monitoring system for underground equipment based on panoramic images

Complex terrain and working equipment in coal mine underground need a way to ensure coal mine safety. In this paper, the way to monitor the real-time status of underground equipment was put forward, and it was proved to be effective as commanding and dispatching system. Monitoring system for underground equipment based on panoramic images was effectively combined with real-time sensor data and static panoramic images of underground surrounding, which not only realizes real-time status monitoring for underground equipment, but also gets a direct scene for underground surrounding. B/S mode was applied in the monitoring system and this is convenient for users to monitor the equipment. Meantime, it can reduce the waste of the data resource.

EFFECT OF OPENING OPERATING PARAMETERS ON YARN QUALITY IN FINE AND MEDIUM COUNT FRICTION SPINNING

In this paper, a quantitative analysis of the opening quality in friction spinning and its main ef-fecting factors is first made. Upon this basis the Box-Hunter’s experimental design method is usedto establish the quadratic regressional equations in terms of primary opening technologicalparameters and yarn quality for medium and fine count friction spinning. The results of analysisand discussion show that the proper choice of opening roller speed and its reasonable match withthe yarn count is singificant for ensuring the spinning quality index as well as reducing unevenness,thin and thick places of the yarn.

<i>Moringa oleifera</i>Diets Effect on Haematological Parameters of Rat (<i>Ratus norvegicus</i>)

With aim of place at the disposal of the laboratories nonconventional food with food values and which do not have impact on the system haematopoietic of the rats of laboratory in particular the rat of the species Rattus norvegicus, the study of the haematologic parameters of rats nourished with nonconventional food makes containing powder of Moringa oleifera was undertaken. Indeed, analysis of the blood taking away carried out following the administration of five diets container various rates of powder of Moringa oleifera (0% (Control food), 25%, 50%, 75% and 100%) respectively codified L3P, L3P25, L3P50, L3P75 and L3P100. These different food formulations were administered to rats (Ratus norvegicus) during three months. The weight of these animals was daily taken, followed by blood samples every 30 days for the determination of the blood count. The results of the study were shown differences between the various food formulations for each period of blood samples in biological parameters. These differences were more significant for platelets. During the three months of study, the hematocrit, platelets, MCV and outside the control group, were reported a slight progressive increase. The leukocyte parameters of all the rats in the investigation, indicated an increase in the second month. In conclusion, the study shows that during the three months of investigation, the tested foods do not disturb the haematological parameters except for thrombocytes which reveal a modification.

Need for multiple biomarkers to adjust parameters of closed-loop deep brain stimulation for Parkinson's disease

Closed-loop deep brain stimulation（DBS）：DBS has been established as a surgical therapy for movement disorders and select neuropsychiatric disorders.Various efforts to improve the clinical outcomes of the procedure have been previously made.Several factors affect the DBS clinical outcomes such as lead position,programming technique,

Synthetic tidal parameters for gravity over China and its neighbor area

The synthetic tidal parameters with high spatial resolution for gravity over China and its neighbor area are constructed with Earth＇s tidal model and ocean tide loading calculated using TPXO7 global ocean tide model as well as tidal data over China seas. The comparison between synthetic parameters and ones observed by spring gravimeters at some seismic network stations and Hong Kong station and one observed by super-conducting gravimeter at Wuhan station shows that the average differences in amplitude factors and phases are smaller than 0.005 and 0.5° respectively; and that the discrepancies between observational and synthetic parameters are dependent on gravimetric technique in that the synthetic parameters are in well agreement with the superconducting gravimetric observations. This also indicates that the synthetic result is a good estimation for tidal gravity, and the numerical results in the present paper not only can provide ground and space gravimetry such as absolute gravimetry with correction model of tidal gravity, but also provide effective tidal parameters over areas where no observation is carried out.

An Efficient Accurate Direct Solution of Poisson's Equation for Computation of Meteorological Parameters

Poisson's equation is solved numerically by two direct methods, viz. Block Cyclic Reduction (BCR) method and Fourier Method. Qualitative and quantitative comparison between the numerical solutions obtained by two methods indicates that BCR method is superior to Fourier method in terms of speed and accuracy. Therefore. BCR method is applied to solve (?)2(?)= ζ and (?)2X= D from observed vorticity and divergent values. Thereafter the rotational and divergent components of the horizontal monsoon wind in the lower troposphere are reconstructed and are com pared with the results obtained by Successive Over-Relaxation (SOR) method as this indirect method is generally in more use for obtaining the streamfunction ((?)) and velocity potential (X) fields in NWP models. It is found that the results of BCR method are more reliable than SOR method.

Experimental Measurement of the Generalized Stokes Parameters of a Radially Polarized Random Electromagnetic Beam

Utilizing the Young’s double slits and Mach-Zehnder interferometer, we proposed an experimental method to measure the generalized Stokes parameters of a radially polarized random electromagnetic beam. After the partially coherent beam propagating through the Young’s double slits, the interference fringe is obtained by the help of a Mach-Zehnder interferometer consisting of apertures, quarter-wave plates and polarizers. The electric cross-spectral density matrix is detected by the coherence degree of interference fringe and the density of each single slit. The generalized Stokes parameters can be obtained from the electric cross-spectral density matrix. This experiment measures the generalized Stokes parameters of the random electromagnetic beam successfully. The results show that the spectral degree of coherence for copolarized cases (xx and yy) is similar with that for cross-polaried cases (xy and yx) for the radially polarized random electromagnetic beam. This method will help us determine the change of the polarization and coherence of the light in propagation by detecting the change of the generalized Stokes parameters.

Searching the Parameters of Dark Matter Halos on the Basis of Dwarf Galaxies’ Dynamics

Article devoted to searching the parameters of dark matter halos on the base of dwarf galaxies’ dynamics (Messier 32 and Leo I). For doing this, we propose the new approach founded on construction the coupled elliptical trajectory for a probe body in the gravitational fields of Newtonian potential and potential of dark matter’s halo. This allows more accuracy estimate its central density for the Navarro-Frenk-White profile and free parameter for the Einasto profile . Our result is in good correlation with results of other authors that are got by different numerical methods.

A Modeling Method for Transformer Windings Under VFTO Based on S-parameters

To study the Very Fast Transient Over-voltage (VFTO) distribution in transformer windings in gas insulated substation (GIS), a systematic methodology based on S-parameters is presented for establishing high-frequency model of transformer windings. Firstly, voltage transfer functions are derived from S-parameters which are calculated or measured from transformer windings. Secondly, voltage transfer functions are fitted with rational functions by the vector fitting method and then the rational transfer functions are order-reduced by optimal Pade-approximation algorithm. Lastly, the resultant voltage transfer functions are synthesized by network technology. Computational results are consistent with simulation results of Electromagnetic Transient Program (EMTP) and confirm the feasibility and validity of proposed methodology.

Non Ideal Schottky Barrier Diode’s Parameters Extraction and Materials Identification from Dark I-V-T Characteristics

Several parameters of a commercial Si-based Schottky barrier diode (SBD) with unknown metal material and semiconductor-type have been investigated in this work from dark forward and reverse I-V characteristics in the temperature (T) range of [274.5 K - 366.5 K]. Those parameters include the reverse saturation current (Is), the ideality factor (n), the series and the shunt resistances (Rs and Rsh), the effective and the zero bias barrier heights (ΦB and ΦB0), the product of the electrical active area (A) and the effective Richardson constant (A**), the built-in potential (Vbi), together with the semiconductor doping concentration (NA or ND). Some of them have been extracted by using two or three different methods. The main features of each approach have been clearly stated. From one parameter to another, results have been discussed in terms of structure performance, comparison on one another when extracted from different methods, accordance or discordance with data from other works, and parameter’s temperature or voltage dependence. A comparison of results on ΦB, ΦB0, n and NA or ND parameters with some available data in literature for the same parameters, has especially led to clear propositions on the identity of the analyzed SBD’s metal and semiconductor-type.

Fermi Energy-Incorporated Generalized BCS Equations for the Temperature-Dependent Critical Current Density and the Related Parameters of a Superconductor for All <i>T</i>≤ <i>Tc</i>and Their Application to Aluminium Strips

Presented here are the Generalized BCS Equations incorporating Fermi Energy for the study of the {Δ, Tc, jc(T)} values of both elemental and composite superconductors (SCs) for all T ≤ Tc, where Δ, Tc and jc(T) denote, respectively, one of the gap values, the critical temperature and the T-dependent critical current density. This framework, which extends our earlier study that dealt with the {Δ0, Tc, jc(0)} values of an SC, is also shown to lead to T-dependent values of several other related parameters such as the effective mass of electrons, their number density, critical velocity, Fermi velocity (VF), coherence length and the London penetration depth. The extended framework is applied to the jc(T) data reported by Romijn et al. for superconducting Aluminium strips and is shown not only to provide an alternative to the explanation given by them, but also to some novel features such as the role of the Sommerfeld coefficient γ(T) in the context of jc(T) and the role of VF(T) in the context of a recent finding by Plumb et al. about the superconductivity of Bi-2212.

Capacitive Model and S-Parameters of Double-Pole Four-Throw Double-Gate RF CMOS Switch

In this paper, we have analyzed the Double-Pole Four-Throw Double-Gate Radio-Frequency Complementary Metal-Oxide-Semiconductor (DP4T DG RF CMOS) switch using S-parameters for 1 GHz to 60 GHz of frequency range. DP4T DG RF CMOS switch for operation at high frequency is also analyzed with its capacitive model. The re-sults for the development of this proposed switch include the basics of the circuit elements in terms of capacitance, re-sistance, impedance, admittance, series equivalent and parallel equivalent of this network at different frequencies which are present in this switch whatever they are ON or OFF.

在片S参数计量比对结果浅析

中国电子科技集团公司第十三研究所作为主导实验室开展了在片S参数计量比对工作,对参比实验室提交的在片S参数测量结果进行了汇总分析,并用E_n值对各参比实验室测量结果进行了评价。通过在片S参数计量比对,确保了量值传递的准确、可靠,特别是对在片S参数测量不确定度的主要来源统一了认识。同时也为业内提供了在片S参数测量一致性的比较平台。