An adaptive sliding mode observer based near-optimal OER tracking control approach for PEMFC under dynamic operation condition

Tracking control of oxygen excess ratio (OER) is crucial for dynamic performance and operating efficiency of the proton exchange membrane fuel cell (PEMFC). OER tracking errors and overshoots under dynamic load limit the PEMFC output power performance, and also could lead oxygen starvation which seriously affect the life of PEMFC. To solve this problem, an adaptive sliding mode observer based near-optimal OER tracking control approach is proposed in this paper. According to real time load demand, a dynamic OER optimization strategy is designed to obtain an optimal OER. A nonlinear system model based near-optimal controller is designed to minimize the OER tracking error under variable operation condition of PEMFC. An adaptive sliding mode observer is utilized to estimate the uncertain parameters of the PEMFC air supply system and update parameters in near-optimal controller. The proposed control approach is implemented in OER tracking experiments based on air supply system of a 5 kW PEMFC test platform. The experiment results are analyzed and demonstrate the efficacy of the proposed control approach under load changes, external disturbances and parameter uncertainties of PEFMC system.     

Shared human–robot path following control of an unmanned ground vehicle

This paper considers the shared path following control of an unmanned ground vehicle by a single person. A passive measure of human intent is used to blend the human and machine inputs in a mixed initiative approach. The blending law is combined with saturated super-twisting sliding mode speed and heading controllers, so that exogenous disturbances can be counteracted via equivalent control. It is proven that when the proposed blending law is used, the combined control signals from both the human and automatic controller respect the actuator magnitude constraints of the machine. To demonstrate the approach, shared control experiments are performed using an unmanned ground vehicle, which follows a lawn mower pattern shaped path.     

Φ177mm PQF无缝管连轧机前横移系统改进

对鞍钢股份无缝钢管厂连轧机前毛管坯横移装置存在的设计缺陷进行了分析,并提出改进方案,将原横移装置由高架轨道横移机构及上下升降链传动装置,改进为地面轨道横移系统及同步旋转臂实现取管、放管过程。实施后消除了生产故障,缩短了轧制周期,降低生产成本。     

基于滑模的运载器主动段俯仰通道姿控系统设计

与传统比例-积分-微分（PID）控制方法相比，滑模控制（SMC）方法可以比较容易地将不确定性纳入控制器设计中，从而增强系统的鲁棒性。探索了SMC技术在运载器主动段姿态控制中的工程应用，首先通过分析基于趋近律的SMC系统，提出了降低不连续切换项系数的需求，然后研究了基于干扰上界的SMC方法。三通道小偏差仿真结果验证了两种方法的控制效果，表明第2种控制器的鲁棒性更好，稳态误差小，同时发动机喷管摆角需求较小。     

Influence of geosynthetic reinforcement on the stability of an embankment with rigid columns embedded in an inclined underlying stratum

Incompressible dipping substrata are commonly encountered in engineering practice. Compared to horizontal underlying strata, the inclined underlying stratum increase the risk of collapse of embankments reinforced with columns because it weakens the restraint of the column base. The objective of this study is to investigate the effectiveness of geosynthetics on improving the embankment stability when the underlying stratum is inclined. The influence of geosynthetic tensile stiffness on the ultimate surcharge and failure mechanism is studied. A deep-seated failure with column tilting occurs when the geosynthetic tensile stiffness is low, whereas a lateral sliding occurs when the geosynthetic tensile stiffness is high. To illustrate the contribution of geosynthetics, the distribution of the lateral pressures acting on the columns is analyzed.     

大体积抗渗混凝土工程施工技术

简述了浇筑混凝土的施工准备工作，从滑动层的增设、配合比的配制、混凝土的浇筑及养护、后浇带的处理等方面介绍了大体积抗渗混凝土工程的施工质量控制措施，以保证混凝土的各项指标达到规范及设计要求。     

Taxometrics in Psychopathology Research: An Introduction to Some of the Procedures and Related Methodological Issues.

This article introduces a special section on the use of taxometrics to examine the categorical versus the dimensional structure of various forms of psychopathology. Paving the way into the special section, this introduction briefly describes 3 taxometric methods--mean above minus below a sliding cut (MAMBAC), maximum covariation (MAXCOV), and maximum eigenvalue (MAXEIG)--and discusses possible threats to statistical conclusion validity that often emerge when such techniques are applied in psychopathology research. (PsycINFO Database Record (c) 2010 APA, all rights reserved)     

双滑动氧枪的应用

叙述了φO114双焊缝氧枪存在的问题及改型后单焊缝双滑动氧枪的优点及使用效果。     

Grain Boundary Sliding in Fatigue of Pure Aluminum

The distributions of plastic strain near grain boundaries induced by fatigue loading were investigatedby the fiducial grid method in pure aluminum specimens, and the resulted grain boundary sliding(GBS) was systematically analysed. The results show that the strain field near a grain boundary isnonuniform. GBS is restricted by the junction of grain boundaries and causes discontinuities of bothdisplacement and strain. A peak value of shear strain was created in short-range area across the grainboundary. GBS plays an important role in cyclic softening and secondary hardening. The control fac-tor of GBS is the relative orientation between two grains and the macro orientation of the grainboundary rather than the ∑ value of the boundary.     

Passivity‐based sliding mode control for nonlinear systems

Passivity with sliding mode control for a class of nonlinear systems with and without unknown parameters is considered in this paper. In fact, a method for deriving a nonlinear system with external disturbances to a passive system is considered. Then a passive sliding mode control is designed corresponding to a given storage function. The passivity property guarantees the system stability while sliding mode control techniques assures the robustness of the proposed controller. When the system includes unknown parameters, an appropriate updated law is obtained so that the new transformed system is passive. The passivation property of linear systems with sliding mode is also analysed. The linear and nonlinear theories are applied to a simple pendulum model and the gravity‐flow/pipeline system, respectively. Copyright © 2008 John Wiley & Sons, Ltd.