Model reference adaptive impedance control in Cartesian coordinates for physical human–robot interaction

In this paper, a nonlinear model reference adaptive impedance controller is proposed and tested. The controller provides asymptotic tracking of a reference impedance model for the robot end-effector in Cartesian coordinates applicable to rehabilitation robotics or any other human–robot interactions such as haptic systems. The controller uses the parameters of a desired stable reference model which is the target impedance for the robot’s end-effector. It also considers uncertainties in the model parameters of the robot. The asymptotic tracking is proven using Lyapunov stability theorem. Moreover, the adaptation law is proposed in joint space for reducing the complexity of its calculations; however, the controller and the stability proof are all presented in Cartesian coordinates. Using simulations and experiments on a two DOFs robot, the effectiveness of the proposed controller is investigated.     

解决组合公钥共谋攻击和密钥碰撞的新方法

以解决组合公钥体制中共谋攻击和密钥碰撞问题为目的。首先,针对线性共谋攻击,提出了一种新的构造种子矩阵的方法,使得种子密钥和大于基点加法群的阶数,从而使密钥之间不能相互线性表示。其次在密钥的生产过程中,引入系数破坏了层不同和层互斥不同的关系,为解决选择共谋攻击提供了一种有效的方法,同时增强了抵御随机共谋攻击的能力。最后,在密钥产生的流程中,通过公钥对比来避免密钥碰撞,为解决密钥碰撞问题提出了一种新方法。     

CFD modeling of pilot-scale pump-mixer: Single-phase head and power characteristics

The present work involves single-phase computational fluid dynamics (CFD) simulations of continuous flow pump-mixer employing top-shrouded Rushton turbines with trapezoidal blades. Baffle—impeller interaction has been modeled using sliding mesh and multiple reference frame approaches. Standard k-ε model has been used for turbulence modeling. Several CFD runs representing different combinations of geometric and process parameters have been carried out. Results of CFD simulations have been used to find out two macroscopic performance parameters of pump-mixer—power consumption and head generated by the impeller. The simulation results have been compared with the experimental data obtained on a pilot-scale setup. Good agreement between CFD predictions and experimental results is observed. In most cases, sliding mesh approach is found to perform better than multiple reference frame approach. Details from CFD simulations have been used to have an insight into the pumping action of the impeller.     

水泥企业常用热电偶的使用与维护

测温元件——热电偶热的电势大小仅和两金属的材料及两结合点的温度有关．鉴于此因素．适当的维护和维修可延长其使用寿命，减少生产成本。针对不同测量系统和不同工艺要求，介绍了四种水泥企业最常用的热电偶以及安装热电偶时所需注意事项。根据生产实践，重点介绍了热电偶的常见故障及其维护与维修方法。     

基于Web的重点建设项目管理系统

为提高重点建设项目的管理水平和工作效率,在详细分析重点建设项目的业务流程和用户需求的基础上,提出基于Web的重点建设项目信息管理系统。该系统采用典型的三层体系架构,具有较强的可扩展性和灵活性。通过该系统对重点建设项目信息科学管理,可以有效克服传统管理方式的弊端,极大地提高重点建设项目信息管理工作的效率。     

Dynamic output feedback control of a flexible air-breathing hypersonic vehicle via T–S fuzzy approach

By utilising Takagi–Sugeno (T–S) fuzzy set approach, this paper addresses the robust H_∞ dynamic output feedback control for the non-linear longitudinal model of flexible air-breathing hypersonic vehicles (FAHVs). The flight control of FAHVs is highly challenging due to the unique dynamic characteristics, and the intricate couplings between the engine and fight dynamics and external disturbance. Because of the dynamics’ enormous complexity, currently, only the longitudinal dynamics models of FAHVs have been used for controller design. In this work, T–S fuzzy modelling technique is utilised to approach the non-linear dynamics of FAHVs, then a fuzzy model is developed for the output tracking problem of FAHVs. The fuzzy model contains parameter uncertainties and disturbance, which can approach the non-linear dynamics of FAHVs more exactly. The flexible models of FAHVs are difficult to measure because of the complex dynamics and the strong couplings, thus a full-order dynamic output feedback controller is designed for the fuzzy model. A robust H_∞ controller is designed for the obtained closed-loop system. By utilising the Lyapunov functional approach, sufficient solvability conditions for such controllers are established in terms of linear matrix inequalities. Finally, the effectiveness of the proposed T–S fuzzy dynamic output feedback control method is demonstrated by numerical simulations.     

A fundamental study on the control of the HCCI combustion and emissions by fuel design concept combined with controllable EGR. Part 1. The basic characteristics of HCCI combustion

This article investigates the basic combustion parameters including start of the ignition timing, burn duration, cycle-to-cycle variation, and carbon monoxide (CO), unburned hydrocarbon (UHC), and nitric oxide (NO_x) emissions of homogeneous charge compression ignition (HCCI) engines fueled with primary reference fuels (PRFs) and their mixtures. Two primary reference fuels, n-heptane and iso-octane, and their blends with RON25, RON50, RON75, and RON90 were evaluated. The experimental results show that, in the first-stage combustion, the start of ignition retards, the maximum heat release rate decreases, and the pressure rising and the temperature rising during the first-stage combustion decrease with the increase of the research octane number (RON). Furthermore, the cumulative heat release in the first-stage combustion is strongly dependent on the concentration of n-heptane in the mixture. The start of ignition of the second-stage combustion is linear with the start of ignition of the first-stage. The combustion duration of the second-stage combustion decreases with the increase of the equivalence ration and the decrease of the octane number. The cycle-to-cycle variation improved with the decrease of the octane number.     

Assessment of biological nitrogen fixation

The four commonly used methods for measuring biological nitrogen fixation (BNF) in plants are: the total nitrogen difference (TND) method, acetylene reduction assay (ARA) technique, xylem-solute (or ureide production) method and the use of¹⁵N labelled compounds.The TND method relies on a control non-N₂-fixing plant to estimate the amount of N absorbed by the fixing plant from soil. It is one of the simplest and least expensive methods, but works best under low soil N conditions. The ARA technique measures the rate of acetylene conversion to ethylene by the N₂-fixing enzyme, nitrogenase. The ethylene produced can then be converted into N₂ fixed, using a conversion ratio, originally recommended as 3. Although the method is inexpensive and highly sensitive, its major disadvantages are, the short-term nature of the assays, the doubtful validity of always using a conversion ratio of 3 and the auto-inhibition of acetylene conversion to ethylene. The ARA technique is therefore not a method of choice for measuring BNF.The xylem-solute technique can be used to measure BNF for those species that produce significant quantities of ureide as product of BNF. Although simple and relatively inexpensive, it is an instantaneous assay and also needs to be calibrated against a known method. The most serious limitation is, that only a small proportion of N₂-fixing plants examined are ureide exporters, and the method is therefore not widely applicable.The¹⁵N methods, classified into the isotope dilution and A-value methods, appear to be the most accurate, but also the most expensive. They involve labelling soil with¹⁵N fertilizer and using a non-N₂-fixing reference plant to measure the¹⁵N/¹⁴N ratio in the soil. The¹⁵N isotope dilution approach is both operationally and mathematically simpler than the A-value approach. To limit potential errors in the selection of reference crops, it is recommended to use¹⁵N labelled compounds or soil labelling methods that result in the slow release of¹⁵N or the slow decline of¹⁵N/¹⁴N ratio in the soil. Additionally, the use of several reference plants rather than a single one can improve the accuracy of the results.     

一种道路车辆监控视频中的关键帧提取方法

针对道路监控视频中特定车辆图像序列的关键帧提取问题,在运动对象检测的基础上,提出一种关键帧提取方法。将积分通道特征和面积特征作为图像特征描述子,结合Ada Boost训练分类器,实现道路监控视频车辆序列图像中关键帧的提取。通过运动对象前景检测技术获得出现在监控区域的运动车辆最小外接矩形图像序列,选择满足监控分析需求(车牌清晰度高,能判断车型)的若干帧作为正样本,其他不满足监控分析需求的作为负样本,提取样本图像的面积特征和积分通道特征,利用Ada Boost方法训练得到一个分类器,使用Ada Boost分类器对测试样本进行分类,根据打分规则提取关键帧。实验结果表明,该方法能提取运动车辆从进入到离开监控区域的序列图像帧中最清晰的图像,实现道路车辆监控视频分析数据的有效压缩。     

Pricing strategies with reference effects in competitive industries

This paper examines the effect of reference prices on companies operating within competitive industries. We confirm that even with competition, firms optimally price high in the short term to generate a high reference price and then decrease this price over time. Competitors' prices converge toward each other over time, emphasizing the short‐term nature of reference prices. We then show that pricing optimally to take advantage of reference prices generates a positive externality for other firms in an industry, such that competitors may generate higher profit. The longer the focus of a given firm, the more profit the firm generates, but less relative to its competitors. This arises because the externalities created through pricing high to increase reference prices outweigh the benefits of the higher reference prices themselves. If pricing managers are compensated relative to their competition, this suggests that short‐termism may be implicitly encouraged to the detriment of profit.