Finite time control of robotic manipulators with position output feedback

This paper deals with the robust finite time tracking of desired trajectories for a wide group of robotic manipulators in spite of unknown disturbances, uncertainties, and saturations of actuators while only manipulator's positions are available and its velocities are not measurable physically. A new form of chattering‐free second order fast nonsingular terminal sliding mode control scheme is introduced to design input torques for fulfilling the determined tracking objective in the adjustable total finite settling time. The proposed control algorithm is incorporated with two nonlinear observers to estimate disturbances and velocities of joints within finite settling times. The global finite time stability of the closed‐loop manipulator is analytically proved. Finally, a numerical simulation is carried out to verify the effectiveness of the designed input torques. Copyright © 2017 John Wiley & Sons, Ltd.     

基于知识管理的远程训练模式探讨

本文依据我军继续教育现状,将训练内容划分为知识训练和技能训练,分析总结了一种适合部队的继续教育远程训练模式。在此基础上,以知识管理为支撑,设计一个军队继续教育远程训练平台。     

国内外高等教育工学专业人才培养模式比较研究

随着社会主义市场经济的迅速发展,目前的高等教育工学专业的人才培养面临巨大的挑战。一方面,高速发展的经济需要大量的工学专业人才;另方面,大批的毕业生因不能适应企业需要而无法顺利就业。文章从培养目标、课程设置以及工程实践等方面对国内外的高等教育工学专业人才培养模式进行了比较研究。找出我国目前存在的问题,借鉴国外培养模式的优点,并结合国内高等教育工学专业人才培养的实际情况,提出了相应的对策。     

基于EMD和GEP的软件可靠性预测模型

基于经验模态分解和基因表达式编程算法提出了一种软件可靠性预测模型。通过对软件失效数据序列进行经验模态分解得到不同频段的本征模态分量和剩余分量,消除失效数据中的噪声,运用基因表达式编程算法的灵活表达能力,把分解得到的不同频段的各本征模态分量及剩余分量中所对应的不同失效时间序列作为样本来分别进行预测,重构各本征模态分量和剩余分量中相对应的预测结果,将其作为软件失效的最终预测值。基于两组真实软件失效数据集,将所提出的方法与基于支持向量回归机以及单纯使用基因表达式编程的软件可靠性预测模型进行比较分析。结果表明,该软件可靠性预测模型具有更为显著的模型拟合能力与精确的预测效果。     

基于NFC技术的标签模式设计

设计上主要利用业界第一块标准的NFC功能芯片(PN544)来实现NFC技术中的标签模式。该标签模式是模拟ISO14443标准定义的Type A卡。与如今大部分的实现模式不一样的是:通过采用NXP公司的主控芯片(LPC1114)来直接配置PN544。该实现方法是根据NFC协议开发相应的驱动程序。使用SCM公司的读卡器(SDI011G)来验证标签模式的配置是否成功。如果是成功的配置,那么读卡器可以探测到PN544和LPC1114构成的设备。     

Road Friction Coefficient Real-Time Identification Based on the Tire Dynamic Friction Model

Road friction coefficient real-time estimation methods is an important issue and problem in automotive active safety con- trol system development. First a fixed feedback gain sliding mode observer of road adhesion coefficient is designed through the es-tablishment of tire/road dynamic friction model in this article. The simulation results shows that the observer can well real-time iden-tify the current road adhesion characteristics. And more importantly, the observer only need wheel speed signal and the braking torque （brake pressure） signal, so the system is low cost, and its adaptability is good. There is no doubt this estimation method has a good application prospect.     

产品制造过程信息控制管理系统的设计与开发

以作者所在单位产品制造过程信息控制管理系统为例,详细描述了系统的方案与设计,阐述了基于C/S结构的产品条码管理系统的设计及其实现的关键技术,介绍了该系统的各个功能模块及数据库的实现方法。     

Invariant ellipsoid method for minimization of unmatched disturbances effects in sliding mode control

A new sliding mode control design algorithm for a linear and a class of nonlinear quasi-Lipschitz disturbed system is presented. It is based on the appropriate selection of the sliding surface via invariant ellipsoid method. The designed control guarantees minimization of unmatched disturbances effects to system motions in a sliding mode. The obtained theoretical results are approved by numerical simulations.     

A fuzzy reasoning and fuzzy-analytical hierarchy process based approach to the process of railway risk information: A railway risk management system

Risk management is becoming increasingly important for railway companies in order to safeguard their passengers and employees while improving safety and reducing maintenance costs. However, in many circumstances, the application of probabilistic risk analysis tools may not give satisfactory results because the risk data are incomplete or there is a high level of uncertainty involved in the risk data. This article presents the development of a risk management system for railway risk analysis using fuzzy reasoning approach and fuzzy analytical hierarchy decision making process. In the system, fuzzy reasoning approach (FRA) is employed to estimate the risk level of each hazardous event in terms of failure frequency, consequence severity and consequence probability. This allows imprecision or approximate information in the risk analysis process. Fuzzy analytical hierarchy process (fuzzy-AHP) technique is then incorporated into the risk model to use its advantage in determining the relative importance of the risk contributions so that the risk assessment can be progressed from hazardous event level to hazard group level and finally to railway system level. This risk assessment system can evaluate both qualitative and quantitative risk data and information associated with a railway system effectively and efficiently, which will provide railway risk analysts, managers and engineers with a method and tool to improve their safety management of railway systems and set safety standards. A case study on risk assessment of shunting at Hammersmith depot is used to illustrate the application of the proposed risk assessment system.     

Sliding mode control of switched hybrid systems with stochastic perturbation

This paper is concerned with the sliding mode control (SMC) of a continuous-time switched stochastic system. A sufficient condition for the existence of reduced-order sliding mode dynamics is derived and an explicit parametrization of the desired sliding surface is also given. Then, a sliding mode controller is then synthesized for reaching motion. Moreover, the observer-based SMC problem is also investigated. Some sufficient conditions are established for the existence and the solvability of the desired observer and the observer-based sliding mode controller is synthesized. Finally, numerical examples are provided to illustrate the effectiveness of the proposed theory.