Chaos-PSO-based Motion Planning and Accurate Tracking for Position-posture Control of a Planar Underactuated Manipulator with Disturbance

Unlike a fully-actuated manipulator, the position-posture control of a planar underactuated manipulator (PUM) is more difficult, but the research on it is significant due to the wide practical applications. The existing control methods consider no external disturbance and are involved in the staged control idea, bringing the problems of nonsmooth control torque and time-consuming. A novel one-stage control approach is proposed in this paper for the position-posture control of a three-link PUM with the first free joint under the external disturbance. By analyzing the coupling relationship between its active joints and free joint, the position-posture control is transformed into the trajectory tracking control. Unlike the general trajectory planning, the trajectories of the active joints are planned to include several parameters. Meanwhile, the parameters are solved using a chaos particle swarm optimization algorithm to guarantee that all joint angles can reach to their desired angles. Then, to obtain the high trajectory tracking accuracy at every moment under the external disturbance, the nonlinear disturbance observer is constructed and a nonlinear fast terminal sliding mode tracking controller is designed. Finally, the feasibility and superiority of this strategy are verified via two simulations.

     

智能电能表质量数据采集与质量监控技术研究

针对智能电能表非常容易发生开关跳闸、断电无法工作等故障问题,研究出了一种完善的解决方法;通过调研智能电能表生产企业的信息化系统和生产过程数据,发现生产企业的信息化系统在不同企业间都存在各个信息系统之间分割严重的问题,导致企业内部的数据分布在各个数据仓库内,数据分散,需要对每个生产企业采集装置的采集功能进行定制化对接,基于边缘计算技术的业务系统能够更加切合采集终端,并进行数据处理;本研究将SVG技术和Ajax技术结合使用,构成智能电能表质量监控系统方案框架;经过实验结果表明,通过SVG技术和Ajax技术对智能电力表各项数据信息处理,得到了很好的效果.     

Effect of friction reclaimed materials of waste brake-shoe on basic performance of mortar

Discarded train brake shoes mainly consist of steel-backed friction material. To be better reutilized, its essential features and its interaction in cement-based material need to be studied. Consequently, particle size analysis, SEM, IR and TGA were used to investigate two types of waste brake shoes, i e, mechanical grinding friction reclaimed material of waste brake-shoe (G-FRMWBS) and pyrolysis-friction reclaimed materials of waste brake-shoe (P-FRMWBS). The latter exhibited less organic content, larger range of particle size distribution and smaller medium particle diameter. Both types contained inorganic particles of spherical and irregular shapes, striped with steel fiber. Upon isometric substituting fine aggregates, G-FRMWBS lifted the strength of mortar effectively that was increased by 16.6% and 17.5% when the replacing rate was 5%; the value went up to 19.2% and 19.2% when the replacing rate was 10%. Moreover, inclusion of FRMWBS enhanced the chloride penetration resistance, and optimized the pore characteristic and ITZ (interfacial transition zone) as well.     

Microstructure and growth kinetics of silicide coatings for TiAl alloy

In order to improve the oxidation resistance of Ti Al alloy, silicide coatings were prepared by pack cementation method at 1273, 1323, and 1373 K for 1-3 hours. Scanning electron microscopy(SEM), energy dispersive spectrometry(EDS) and X-ray diffraction(XRD) were employed to investigate the microstructures and phase constitutions of the coatings. The experimental results show that all silicon deposition coatings have multi-layer structure. The microstructure and composition of silicide coatings strongly depend on siliconizing temperatures. In order to investigate the rate controlling step of pack siliconizing on Ti Al alloy, coating growth kinetics was analyzed by measuring the mass gains per unit area of silicided samples as a function of time and temperature. The results showed that the rate controlling step was gas-phase diffusion step and the growth rate constant(k) ranged from 1.53 mg~2/(cm~4·h~2) to 2.3 mg~2/(cm~4·h~2). Activation energy(Q) for the process was calculated as 109 k J/mol, determined by Arrhenius' equation: k = k0 exp[–Q/(RT)].     

Growth and characterization of indium doped zinc oxide films sputtered from powder targets

Indium doped Zn O films were grown on quartz glass substrates by radio frequency magnetron sputtering from powder targets. Indium content in the targets varied from 1at% to 9at%. In doping on the structure, optical and electrical properties of Zn O thin films were studied. X-ray diffraction shows that all the films are hexagonal wurtzite with c-axis perpendicular to the substrates. There is a positive strain in the films and it increases with indium content. All the films show a high transmittance of 86% in the visible light region. Undoped Zn O thin film exhibits a high transmittance in the near infrared region. The transmittance of indium doped Zn O thin films decreases sharply in the near infrared region, and a cut-off wavelength can be found. The lowest resistivity of 4.3×10~(-4) Ω·cm and the highest carrier concentration of 1.86×10~(21) cm~(-3) can be obtained from Zn O thin films with an indium content of 5at% in the target.     

Single Radar Measurement Method for Antiaircraft Projectile Miss Distance

To measure miss distance for antiaircraft projectile,a radial velocity identification and positioning method with a single radar is proposed.By analyzing the spatial resolution of multi-frequency ranging radar,the discrimination and testing model of this radar for multi-targets (projectile and target) is established to analyze the systematic error of antiaircraft miss distance.Then through the aerial target flight test and contrast test with optical test equipment,the validity of the measurement method is verified.This new method has the potential to be used in the measurement of antiaircraft projectile miss distance.     

基于单片机和线阵CMOS的激光三角测距传感器设计与实现

介绍一种基于STM32单片机和线阵CMOS传感器的激光三角测距传感器的系统实现。包括原理电路部分以及算法程序部分的设计与实现。     

地面高精度磁测在新疆青河县贝勒克勒铁矿的应用

通过对新疆青河县贝勒克勒铁矿高精度磁法勘探资料的分析和研究,工作区可划分为西部、北部高磁异常区、中西部负值异常区、中部面积正负磁场平缓变化区、东部跳跃变化正值磁异常区,结合工作区岩矿石标本磁性参数可判别各类磁场类型形成的地质原因。划分局部磁异常6个,其中M1、M2、M3磁异常与地下隐伏含磁铁矿石英岩有关,M4、M5、M6磁异常与含铁石英岩有关。对局部典型异常M1、M4进行了半定量解释,并进行了钻探验证,实际验证结果与推断结果较为吻合。     

音频大地电磁法在秭归盆地页岩气资源调查评价中的应用

在秭归盆地页岩气资源调查评价中,为了了解区内页岩层主要目的层的分布范围和埋藏深度,采用音频大地电磁法进行探测。首先利用音频大地电磁法具有不受高阻层屏蔽、对低阻层分辨灵敏、勘探深度大及适合山区勘探的特点,在野外数据采集过程中,采取了有力的技术措施,确保了数据采集质量;然后在数据处理时利用了先进的反演程序,由经验丰富的地球物理工作者,结合地质资料进行综合解释。探测成果基本查明了评价区内页岩层主要目的层的分布范围和埋藏深度,为页岩气地质参数钻孔的布设提供了有用的基础地质资料。结果表明,在页岩气资源调查评价过程中,利用音频大地电磁法进行探测,可以较好地了解区内页岩层目的层的空间分布情况,其探测效果明显,技术上可行,探测成果可为今后开展页岩气勘探开发提供借鉴依据。     

A neglected GABAergic astrocyte: Calcium dynamics and involvement in seizure activity

Gamma-aminobutyric acid (GABA) contributes substantially to neurocognitive function as an important inhibitory neurotransmitter in the human cerebral cortex. However, the pathophysiology of disorders such as epilepsy are not well understood, since GABA agonists are not quite effective in treating epilepsy. Knowledge of the mechanism of action of GABA would contribute to review previously proposed anti-epileptic processes by GABA agonists. In this study based on recent experiments on GABAergic astrocytes, we developed a modified GABAergic astrocyte model, and successfully simulated a long-lasting Ca²⁺ oscillation in astrocytes after 0.5-s stimulation of GABAergic transmission. We then incorporated this GABAergic astrocyte model into a classical Ullah-Schiff seizure model and surprisingly found that this GABAergic astrocyte model functions to hinder the anti-epileptic action of GABA agonists, thereby explaining their low efficiency in previous experiments. These results also update our knowledge of the mechanism of action of GABA and the effects of astrocytes on physiological and pathological functions of the brain.