Hybrid integrator backstepping control of robotic manipulators driven by brushless DC motors

In this paper, a hybrid integrator backstepping controller is proposed for robotic manipulators actuated with brushless DC motors in the presence of arbitrary uncertain inertia parameters of the manipulator and the electrical parameters of the actuators. The main features are: 1) the design, requiring at most the joint velocities and stator currents feedback; 2) the semiglobal asymptotic stability of the controller being established in the Lyapunov sense; and 3) suitability of the scheme for multijoint robots. Simulation results are included to demonstrate the tracking performance.     

IRS-P6 LISS-3和Landsat-5 TM两种多光谱传感器影像数据的对比分析

随着载有各种新型传感器的卫星相继发射升空,不同传感器之间的相互比较成了一个研究热点。首先从传感器的轨道特征、光谱范围等方面对IRS-P6 LISS-3和Landsat-5 TM进行了机理方面的对比分析,选取3对同日过空的遥感影像,研究了IRS-P6 LISS-3和Landsat-5 TM遥感数据在可见光-近红外、短红外各对应光谱波段之间的关系,建立TM和LISS-3各波段之间的相互转换公式,与Chander等提出的转换公式进行对比分析。结果表明:实际TM和模拟TM多光谱数据之间具有较强的相关关系,决定系数R²均大于0.97;模拟TM与实际TM的水体指数(MNDWI)和归一化植被指数(NDVI)空间散点分布和实际LISS-3与实际TM的空间散点分布相比,具有更强的相关关系,其决定系数R²有一定提高,散点分布趋于对称。因此,所求的关系转换方程具有较高的精度和有效性,效果优于Chander等提出的转换公式。     

煤炭企业信息化建设问题探讨

企业信息化作为国民经济信息化的基础,是当前推进国民经济信息化的重中之重。伴随全球信息化浪潮,我国煤矿企业信息化进程不断向深度和广度双向推进,但依然存在一些不尽人意的地方。本文首先分析了煤矿企业信息化的现状和制约信息化的原因,在此基础生展望了煤矿企业信息化的发展方向。     

Instability of diatomic deuterium in fcc palladium

To clarify some of the solid-state aspects of cold fusion in deuterated transition metal electrodes, we have carried out first-principles self-consistent total energy calculations for various configurations of atomic and diatomic deuterium inside fcc palladium. We find that the stability of the Pd+D system is controlled by the relative position of the deuterium-inducedantibonding level with respect to the Fermi energy. The equilibrium D-D distance in dense PdD up to =3 is found to be much larger than the free space value. The calculated Born-Oppenheimer energy surface of diatomic D₂ in crystalline palladiuim is shown to have but metastable local minima whose internuclear separation is at least 0.2 Ålarger than that of the isolated D₂ molecule. We conclude that D₂ incrystalline Pd will have a substantially lower tunneling probability than hitherto thought and that explanation for fusion mechanisms should be sought elsewhere.     

CoGCN: Combining co‐attention with graph convolutional network for entity linking with knowledge graphs

Entity linking is a fundamental task in natural language processing. The task of entity linking with knowledge graphs aims at linking mentions in text to their correct entities in a knowledge graph like DBpedia or YAGO2. Most of existing methods rely on hand‐designed features to model the contexts of mentions and entities, which are sparse and hard to calibrate. In this paper, we present a neural model that first combines co‐attention mechanism with graph convolutional network for entity linking with knowledge graphs, which extracts features of mentions and entities from their contexts automatically. Specifically, given the context of a mention and one of its candidate entities' context, we introduce the co‐attention mechanism to learn the relatedness between the mention context and the candidate entity context, and build the mention representation in consideration of such relatedness. Moreover, we propose a context‐aware graph convolutional network for entity representation, which takes both the graph structure of the candidate entity and its relatedness with the mention context into consideration. Experimental results show that our model consistently outperforms the baseline methods on five widely used datasets.     

基于GSM的故障实时报警控制系统的设计与实现

针对实时监控系统中的运行设备或装置的异常报警信息,设计了基于GSM无线通讯的微机监测系统,实现了多故障远程短信息报警功能,介绍了系统的软硬件设计及主要功能;经应用测试,系统具有宴时性强、稳定性高、投入成本低等特点,能将信息同时发送至多个移动通信终端,已成功应用于农业温室大棚监控系统的实时故障报警,系统也可方便地应用于工厂生产线、金融、交通及家庭安全等方面的远程监测.     

The modeling and implementation of tri-rotor flying robot

The objective of this study is to develop a tri-rotor flying robot, which adopts the Y-shaped three-rotor structure. In order to balance the yaw torque produced by the three rotors, the RC servomotor and linkage is installed on the tail axis in order to improve the angle of the rolling axis of the tail motor. Moreover, through the torque generated by the horizontal component of the lift from the inclined motor on the tail axis, it balances the yaw torque of the three rotors. The dynamic equations of the tri-rotor flying robot are determined in this paper. The relationship between motor thrust, angular acceleration, and voltage input was also studied in this research. In order to study the effect of control parameters on the flight stability completely, this study develops a universal stability experimental platform to help tuning the control parameters safely. Based on this, the tri-rotor flying robot can rapidly change flying gesture and avoid oscillation. Finally, we conducted some indoor and outdoor flight tests. From the experimental results, the tri-rotor flying robot can fly and hover stably in the sky.     

Path planning of fire-escaping system for intelligent building

We present the path-planning techniques of the fire-escaping system for intelligent building, and use multiple mobile robots to present the experimental scenario. The fire-escaping system contains a supervised computer, an experimental platform, some fire-detection robots and some navigation robots. The mobile robot has the shape of a cylinder, and its diameter, height and weight are 10?cm, 15?cm and 1.5?kg, respectively. The mobile robot contains a controller module, two DC servomotors (including drivers), three IR sensor modules, a voice module and a wireless RF module. The controller of the mobile robot acquires the detection signals from reflective IR sensors through I/O pins and receives the command from the supervised computer via wireless RF interface. The fire-detection robot carries the flame sensor to detect fire sources moving on the grid-based experiment platform, and calculates the more safety escaping path using piecewise cubic Bezier curve on all probability escaping motion paths. Then the user interface uses A* searching algorithm to program escaping motion path to approach the Bezier curve on the grid-based platform. The navigation robot guides people moving to the safety area or exit door using the programmed escaping motion path. In the experimental results, the supervised computer programs the escaping paths using the proposed algorithms and presents movement scenario using the multiple smart mobile robots on the experimental platform. In the experimental scenario, the user interface transmits the motion command to the mobile robots moving on the grid-based platform, and locates the positions of fire sources by the fire-detection robots. The navigation robot guides people leaving the fire sources using the low-risk escaping motion path and moves to the exit door.     

Effect of hydrogen on the impedance of passivating oxide films formed on aluminium in sodium nitrate solution

A.c. impedance has been determined at room temperature on hydrogen-free and hydrogen-charged passivating oxide films on aluminium in 0.05m Na₂SO₄ solution. Analysis of the impedance data enabled a clear distinction between the capacitance and inductance of the hydrogen-free oxide film and those of the hydrogen-charged oxide film to be made. The changes in capacitance and inductance by hydrogen-charging into the oxide films are discussed in relation to the compositional change from -Al₂O₃ to hydrated alumina.     

Torsional boundary layer effects in shells of revolution undergoing large axisymmetric deformation

Numerical and asymptotic solutions are developed to the equations governing large torsional, axisymmetric deformation of rubberlike shells of revolution. The shell equations include large-strain geometric and material nonlinearities, transverse shear deformation, transverse normal stress and strain, and torsion. Both analyses allow ready incorporation of different strain-energy density functions. In the asymptotic analysis, the interior solution corresponds to that of nonlinear membrane theory and contains a primary boundary layer. The edge-zone solution gives a secondary boundary layer that, for large strain, divides into a bending-twisting moment component and a torsional-membrane component. The boundary layer behavior is illustrated for a clamped neo-Hookean cylinder subjected to internal pressure and axial torque.List of symbols Latin symbols a General dependent variable - a ^(mn) Terms of the asymptotic expansion of a(x) - b Characteristic length - c Scalar curvature components in the normal direction - c , c , , c Cosine of , respectively - C Material constant with units of a Young's modulus - e _i Deformed local orthonormal basis associated with (, s, n)(x ₁, x ₂, x ₃) coordinates - Undeformed cylindrical coordinate basis - Intermediate coordinate basis - g Shear correction factor - H Horizontal stress resultants - l ₁ Strain invariant - k Scalar curvature components - L Undeformed cylinder length - M Moment resultants - M _r, M , M _z Moment resultant components in the basis - N Membrane stress resultants - p Internal pressure - p _H, p _v Horizontal and vertical surface loads, respectively - p _i Thickness-averaged surface tractions - Q Transverse shear stress resultants - , r Radial coordinate prior to, after deformation - R Undeformed cylinder radius - , s Meridional coordinate prior to, after deformation - s , s _x, , s Sine of , respectively - , S Reference surface prior to, after deformation - S ₁, S ₂ Shear stress resultants parallel to the reference surface - S ₃ Average transverse normal stress resultant - t Undformed shell thickness - T Axial torque - V Vertical stress resultants - w Two-dimensional strain-energy density function - w _n Terms in expansion for w - W Three-dimensional strain-energy density function - x Undeformed axial coordinate in cylinder - , z Axial coordinate prior to, after deformation