Development of a Sensor Fusion Strategy for Robotic Application Based on Geometric Optimization

Fusion of multi-sensor information is an important technology, which is growing exponentially due to its tremendous application potential in many areas. Effective fusion of data from sensors is very critical in increasing an intelligent system's capability to accomplish complex tasks. Appropriate fusion technologies are needed to be developed specially when a system requires redundant sensors to be used. More the redundancy in sensors, more is the computational complexity for controlling the system and more is its intelligence level. This research presents a strategy developed for multiple sensor fusion, based on geometric optimization. Each sensor's uncertainty has been modeled using classical Lagrangian optimization techniques. However, the uniqueness and effectiveness of the present technique lies on the fact that starting from the optimized value as initial estimate the accuracy of the sensory information has further been improved up to any pre defined bounded range, by developing two architectures – FFA (fission–fusion architecture) and FDD (fusion in differential domain). Sufficient evidences and analyses have been provided in the paper to show its effectiveness in various applications.     

Photopolymerization of N,N‐dimethylaminoethylmethacrylate studied by photocalorimetry

Photopolymerization of dimethylaminoethylmethacrylate (DMAEMA) is studied in bulk and in solutions in the presence of different photoinitiators using differential photocalorimetry (DPC). The rate of DMAEMA photopolymerization is slow compared to that of alkylmethacrylates. Bimodal DPC curves of DMAEMA photopolymerization in bulk are obtained. The type I photoinitiators (IRGACURE® 651 and IRGACURE® 1700), which produce free radicals by homolytic fragmentation of photoexcited molecules, are more effective in promoting photopolymerization of DMAEMA. The type II photoinitiators (benzophenone and IRGACURE® 500), which initiate DMAEMA photopolymerization through an H‐abstraction mechanism involving an amino group from the monomer (polymer), are less efficient and favor the formation of partly crosslinked products. The effects of the photoinitiator concentration, temperature, and solvent on the kinetic data are evaluated and discussed. A scheme of photopolymerization of DMAEMA, including the formation of intermediate DMAEMA based macromonomers, is proposed. The main point of the suggested scheme is a high chain transfer to the DMAEMA monomer. © 2002 Wiley Periodicals, Inc. J Appl Polym Sci 86: 579–588, 2002     

Ionomer composites based on sepiolite/hydrogenated poly(styrene butadiene) block copolymer systems

Ionomeric composites based on sepiolite and hydrogenated poly(styrene butadiene) block copolymer were obtained and characterized from a microstructural and electrical point of view. Before blending, because of the high silanol group concentration in the sepiolite, the latter could be organophilized with suitable coupling agents. The resulting materials were easily processed into thin films or membranes 0.2–0.4 mm thick, their conductivity in some cases approaching 10^?1 S/cm. Their suitability for film formation and good electrical properties indicate potential applications as electrolytes in polymer fuel cells. © 2002 Wiley Periodicals, Inc. J Appl Polym Sci 86: 3512–3519, 2002     

一种视频信号压缩编码方法的研究

文章采用自适应预测编码加熵编码的复合编码方法，对视频信号进行压缩编码。计算机模拟结果表明，压缩比为3.5：1（2.25bits／Pixel）时可获得良好的图像质量，因此，可实现在PCM三次群信道上传输一路彩色电视信号。     

Closed-loop automatic tuning of PID controller for nonlinear systems

In this paper, a robust control system is first proposed which is suitable for the control of a class of nonlinear systems. A parallel connection of a relay to a proportional integral derivative (PID) controller collectively forms the robust controller. The relay ensures robust control by providing a high feedback gain, but it also induces a control chattering phenomenon. Instead of viewing chattering as an undesirable yet inevitable feature, the chattering signals are used as natural excitation signals for identifying an equivalent PID controller using the recursive least squares algorithm. No other explicit input signal is required. Analysis is provided on the stability properties of the control scheme. Simulation results for the level control of fluid in a spherical tank using the scheme are presented.     

BCC金属Nb的重离子辐射损伤研究

采用81 MeV碳离子辐照,模拟中子注量为10~(23)/cm~2的堆中子在Nb中产生的辐射损伤,用时间微分扰动角关联和正电子湮没二种方法研究辐射损伤及其高温退火效应。实验发现经注量2.5×10~(16)/cm~2的碳离子辐照后,在BCC金属Nb中产生单空位和双空位二种缺陷。随退火温度升高,双空位分解,单空位的总浓度逐步减小,经过1058K退火后,在Nb中由辐射损伤造成的缺陷消失。     

关于蒸汽疏水器规格尺寸选择的探讨

本文依据疏水器作用原理和实践经验对影响选择疏水器规格尺寸的主要因素进行了分析。提出:选择疏水器应排凝水量大,选择倍率适当,符合产品样本的最大、最小工作压力,准确确定其前后压力。     

宝钢钢管IPSEN炉炉温调节仪表的改造

在宝钢钢管调质炉(IPSEN炉)控制系统的改造中,用西门子S7-400的PID功能软件模块改造原模拟调节器,以实现加热调质温度控制.介绍了用S7-400的PID控制模块构成淬火炉、淬火油槽、回火炉温度控制的方法,并由此提出对宝钢钢管生产中其它加热炉控制系统改造的选择方案.     

群时延精确设计的全差分四阶Bessel滤波器

采用MOS管有源电阻,提出了一种全差分R-MOSFET-C四阶Bessel有源低通滤波器,.通过调节工作于亚阈值区的CMOS管的沟道导纳补偿电阻值的大小,能抵消集成电路制造工艺中电阻值的一致偏差,实现Bessel有源滤波器群时延的精确设计.根据无源滤波器的状态方程完成有源滤波器的综合,应用3.3V,0.5μm CMOS工艺完成了群时延大小为0.75μs的四阶Bessel低通滤波器的管极计算机仿真,仿真结果表明所提电路正确有效,适于全集成.     

Mathematical analysis of viscometric (polymer) flow fields in capillaries: Taylor dispersion revisited

A general formulation for capillary flow of two miscible fluids – one a dilute plug of polymer fluid inserted into a fully developed Poiseuille flow of the other, a Newtonian stream – is examined for its long time behavior. Phenomenologically, the system evolves from an initial state, that of a plug within the boundaries of sharp, well defined fronts inside a Newtonian stream, to a more homogenized state in the very long time scale. This problem was addressed by G.I. Taylor but with regard to a system of two Newtonian fluids, leading to the well-known results commonly described as `Taylor axial dispersion'. In this paper, a general and systematic perturbation analysis is presented from which Taylor's result is recovered as a special case of a more general solution which applies to fluids incorporating elastic properties. In particular, the influence of viscoelasticity and (polymer) diffusivity on the observed pressure profile in the capillary conduit is examined. This effect is clearly separated out for small Peclet number flows using asymptotic and numerical analysis. The results identify the influence of fluid viscosity, elasticity, and diffusivity on the observed pressure profile and form the basis for the improved characterization of polymeric elasticity using capillaries – a finding that is of significant scientific and commercial interest. These results were obtained by the authors as a class of observations resulting from the perturbation analysis of forced-flow capillary devices in viscoelastic fluid property investigation.