海绵负载纳米Al2O3复合吸附剂去除水中硒研究

研究制备了海绵负载纳米Al2O3微球的复合吸附剂(NAS),并用于对Se(Ⅳ)和Se(Ⅵ)的吸附。结果表明,合成的纳米Al2O3微球(NAO)的平均尺寸为200~400 nm,在海绵上负载NAO会使其分散性更好。当NAO负载量分别为80 mg/g和60 mg/g时,NAS对Se(Ⅳ)和Se(Ⅵ)的吸附性能为佳,分别需要60、120 min达到平衡,适应pH为2~5;两者均符合准2级动力学模型;NAS对Se(Ⅳ)、Se(Ⅵ)的最大吸附容量分别为137.2、143.9 mg/g,能很好地与Freundlich模型拟合,说明NAS表面不均匀,且属于多层吸附。经过2次的循环,对Se(Ⅳ)和Se(Ⅵ)的去除率有所降低,但均仍保持在一定的水平,说明NAS可再生循环利用。NAS作为一种新型吸附剂去除水中Se具有较好的应用前景。     

Defocusing image to pattern contact holes using attenuated phase shift masks

The patterning of contact holes by selecting out-of-focus image plane (defocus) using attenuated phase shift masks (APSM) has been studied. Defocus is found to enhance the image modulation at low partial coherence for contact holes with negative local average of mask function. Semi-dense holes up to 130 nm in 8% APSM have been printed by 0.5 μm defocus at a partial coherence of 0.31 using KrF scanner with highest numerical aperture of 0.68. However, these holes were closed with in-focus imaging. Defocus is also found to be beneficial for patterning the pitches that have extensive side lobes with in-focus imaging.     

智能光网络控制平面技术

光网络的智能化是下一代光网络发展的主要趋势,在对智能光网络发展背景进行分析的基础上,对光网络控制平面技术进行了讨论,重点分析了光网络控制平面的功能模型、主要功能、应用协议和控制平面的可靠性等问题。     

高速光通信系统中的色散问题及其补偿研究

当光纤通信系统单信道速度升级到40Gbit/s及以上时，色度色散（CD）和偏振模色散（PMD）已经成为严重影响系统性能的主要因素。本文主要从补偿的必要性、关键技术、主要方法和解决方案等方面分别对CD和PMD及其补偿进行了较详细的研究。     

Adaptive motion control using neural network approximations

In this paper, we present a new adaptive technique for tracking control of mechanical systems in the presence of friction and periodic disturbances. Radial Basis Functions (RBFs) are used to compensate for the effects of nonlinearly occurring parameters in the friction and periodic disturbance model. Theoretical analysis, such as stability and transient performance, is provided. Furthermore, the performance of the adaptive RBF controller and its non-adaptive counterpart are compared.     

Topology preservation of template-based 6-subiteration reduction operations

Generally, a reduction operation (e.g., thinning and shrinking) on 3D binary images can be represented as a set of reduction templates where every object voxel of the image satisfying any template is turned to a background voxel. Generally, it is rather difficult, error-prone and time-consuming for verifying the topological soundness of a 3D parallel reduction operation. This paper proposes sufficient conditions of time complexity O(n) for verifying the topological soundness of 3D parallel 6-subiteration reduction operations of n templates where such a kind of 3D reduction operations is performed alternatively from the six orthogonal directions to turn object voxels to background voxels. By such sufficient conditions, the topology soundness of a 3D 6-subiteration parallel reduction operation can be verified by checking each and every of its templates.     

Control of discrete time nonlinear systems with a time-varying structure

In this paper, we present a control methodology for a class of discrete time nonlinear systems that depend on a possibly exogenous scheduling variable. This class of systems consists of an interpolation of nonlinear dynamic equations in strict feedback form, and it may represent systems with a time-varying nonlinear structure. Moreover, this class of systems is able to represent some cases of gain scheduling control, Takagi-Sugeno fuzzy systems, as well as input-output realizations of nonlinear systems which are approximated via localized linearizations. We present two control theorems, one using what we call a “global” approach (akin to traditional backstepping), and a “local” approach, our main result, where backstepping is again used but the control law is an interpolation of local control terms. An aircraft wing rock regulation problem with varying angle of attack is used to illustrate and compare the two approaches.     

Stability robustness of networked control systems with respect to packet loss

This paper is concerned with stability analysis of discrete-time networked control systems over a communication channel subject to packet loss whose behavior is modeled by an i.i.d Bernoulli process with a packet dropping probability bounded by a constant. A necessary and sufficient condition for stability is obtained. A packet dropping margin is introduced as a measure of stability robustness of a system against packet dropping, and a formula for it is derived. A design method is proposed for achieving a large margin subject to a constraint that the system has a set of prescribed nominal closed-loop poles.     

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.