Grain Growth Behavior of 5Cr21Mn9Ni4N Steel Micro-Alloyed by Rare Earth

Grain growth behavior of 5Cr21Mn9Ni4NRE steel was experimentally studied at various solid solution treatment temperatures and holding for different times. The experimental results show that the 5Cr21Mn9Ni4NRE steel has the feature of sharp austenite grain coarsening after solid solution treatment at the temperature above 1150 ℃. RE added in the steel has the benefit to restrain grain growth and increase grain growth activation energy.     

Stability of Equilibria in a Four-dimensional Nonlinear Model of a Hydraulic Servomechanism

Starting from plysical laws a four-dimensional nonlinear model for mecano-hydraulic servomechanisms is deduced. The stability of its equilibria is analysed using a theorem of Lyapunov and Malkin to handle the critical case due to the presence of zero in the spectrum of the matrix of the linear part around equilibria. Stability diagrams are drawn and simulation results are presented through phase diagrams.     

Decentralized adaptive coordinated control of multiple robot arms without using a force sensor

This paper presents a distributed adaptive coordinated control method for multiple robot arms grasping a common object. The cases of rigid contact and rolling contact are analyzed. In the proposed controller, the dynamic parameters of both object and robot arms are estimated adaptively. The desired motions of the robot arms are generated by an estimated object reference model. The control method requires only the measurements of the positions and velocities of the object and robot arms, but not the measurements of forces and moments at contact points. The asymptotic convergence of trajectory is proven by the Lyapunov-like Lemma. Experiments involving two robot arms handling a common object are shown.     

Adaptive switching supervisory control of nonlinear systems with no prior knowledge of noise bounds

The problem of controlling nonlinear noisy systems affected by parametric uncertainties is approached via the introduction of a supervisor which, whenever needed, switches on, in feedback to the plant, a controller selected from a finite set of predesigned controllers. A Lyapunov-based falsification criterion allows one to ensure robust stability in the presence of uncertain constant parameters and exogenous bounded disturbances. Simulations are discussed in order to illustrate the merits of the proposed algorithms.     

Stochastic nonlinear stabilization — II: Inverse optimality

After considering the stabilization of a specific class of stochastic nonlinear systems in a companion paper, in this second part, we address the classical question of when is a stabilizing (in probability) controller optimal and show that for every system with a stochastic control Lyapunov function it is possible to construct a controller which is optimal with respect to a meaningful cost functional. Then we return to the problem from Part I and design an optimal backstepping controller whose cost functional includes penalty on control effort and which has an infinite gain margin.     

Single axioms for odd exponent groups

With the aid of automated reasoning techniques, we show that all previously known short single axioms for odd exponent groups are special cases of one general schema. We also demonstrate how to convert the proofs generated by an automated reasoning system into proofs understandable by a human.Authors supported by NSF Grant DMS-9100665     

Stabilization of inter-area and/or oscillatory modes in large-scale power system by voltage impedance power system (VIPS) apparatus based on decentralized control scheme

New technologies such as power electronics have made it possible to change continuously the impedance of a power system not only to control power flow but also to enhance stability. A power system incorporating a variable impedance apparatus such as a variable series capacitor (VSrC) and high-speed phase shifter (HSPS) is called VIPS (Variable Impedance Power System) by the authors. This paper proposes a novel control method of VIPS apparatus such as VSrC and HSPS installed at an interconnecting point for stabilizing inter-area unstable and/or oscillatory modes. The proposed design method of the control system is a kind of hierarchical decentralized control method of a large-scale power system based on a Lyapunov function. Under the proposed control scheme, each subsystem can be stabilized independently by local controllers such as AVR, speed governor and PSS, and then the whole interconnected system can be stabilized by VIPS apparatus taking into account interactions between subsystems. The effectiveness and robustness of the VIPS apparatus control are shown by numerical examples with model systems including a large-scale power system.     

硝胺发射药燃速压力指数对内弹道性能的影响

通过将硝胺发射药实际的燃速方程,引入一维定常流、相对变量无量纲的经典内弹道计算程序,计算了RB型硝胺发射药在不同的压力指数及高压力指数区间下,弧厚、药量和挤进压力等起始条件变化对弹道性能的影响.结果表明,高压力指数能增加射击起始条件等参量对弹道性能的敏感性,而且随着高压力指数的增加及其区间的扩大而加剧.但也发现,在弹道性能上,密度为1.620g/cm~3的RB型硝胺发射药的燃速压力指数,对射击起始条件等参量的敏感性与三基药相接近,并未发现明显的弹道不一致性或安全性问题的征候.     

真空技术在污水处理中的若干典型应用

介绍了真空技术在污水处理中的几种典型应用，真空结晶法在以分离污水中具有结晶性能的固体溶剂；真空过滤脱水用于初沉池和消化池污泥脱水，真空浮选法通过制造负压条件加速浮选过程；还有真空搅拌、真空脱气等等。这些足以说明真空技术在污水处理乃至环境保护中占有重要的一席之地。