可移动机器人的运动学模型与控制原理

本文首先对可移动机器人的运动学进行了分析，建立了运动学模型与控制结构图，然后采用时域分析法对此系统进行了校正，最后通过对此系统的仿真与时测实验，对各校正环节的参数进行了整定。     

Materials modelling: A bridge from atoms to bulk properties

The use of molecular-level materials modelling techniques in the development of advanced performance polymers is discussed, with particular emphasis upon bridging the large difference in the scales of dimensions between atomic structure and fabricated parts. The advantages and disadvantages of bulk quantitative structure-property relations and atomistic modelling are assessed, and the method of group interaction modelling is suggested as a means of bridging the dimensional scales.After a brief introduction to the concept of group interaction modelling, examples of modelling the engineering properties of polymers are presented which are difficult to model quantitatively by any other means. The important phase transitions from the crystal and glassy states of matter to those of rubber- and liquidlike states are shown quantitatively to be due to the same isoenergetic condition. The viscoelastic properties of a polymer are critical for many applications and expressions are derived for the loss and storage components of the complex modulus, with reference to failure initiation conditions. The effect of crosslinking in thermosets upon the glass transition temperature and viscoelastic properties is outlined. Finally, the scaling of time from atomic vibrations to the years involved in creep and ageing effects are discussed.     

Adaptive user modelling in intelligent telephone and email assistants

With the burgeoning complexity and capabilities of modern information appliances and services, user modelling is becoming an increasingly important research area. Simple user profiles already personalise many software products and consumer goods such as digital TV recorders and mobile phones. A user model should be easy to initialise, and it must adapt in the light of interaction with the user. In many cases, a large amount of training data is needed to generate a user model, and adaptation is equivalent to retraining the system. This paper briefly outlines the user modelling problem and work done at BTexact on an intelligent personal assistant (IPA) which incorporates a user profile. We go on to describe FILUM, a more flexible method of user modelling, and show its application to the telephone assistant and email assistant components of the IPA, with tests to illustrate its usefulness.     

Multi-dimensional analysis of soil moisture dynamics in trickle irrigated fields. II: Model testing

The mathematical model which was developed in part I of this work for multi-dimensional analysis of soil moisture in irrigated fields is converted into computer algorithms. The algorithms are capable of emulating many field conditions of practical applications during both design and operation phases. The model is subjected to various tests, the results of which are reported here. The tests in various modes of simulations verified the numerical performance of the model and the accuracy of its predictions. The model provides a powerful tool for detailed studies of soil moisture dynamics in one or multi-dimensional problems irrigated fields     

Conceptual document modelling and retrieval

This paper presents the main current theoretical issues in Information Retrieval. The principles of conceptual modelling, as they have emerged in the database area, are presented and their application to document modelling in order to enhance document retrieval is discussed. Finally, the main features of the MULTOS project are presented and critically reviewed confronting them with the requirements which have been identified during the general discussion on document conceptual modelling for information retrieval.     

The effect of particle distribution on damage formation in particulate reinforced metal matrix composites deformed in compression

Image analysis results are reported on the generation of damage in particulate reinforced metal matrix composites during compressive deformation. The technique allows the automated collection of data on the incidence of particle fracture and void formation in the matrix as a function of important microstructural parameters such as local particle volume fraction and particle size. There is a strong relationship between damage and the local volume fraction of the reinforcement proving that damage formation is accentuated in regions of particle clustering. With the SiC reinforced materials examined, there was observed to be a change in dominance of damage mechanism from particle fracture at low local volume fractions to void formation in the matrix within strongly clustered regions. The results are compared with finite element (FE) modelling of the compressive deformation of clustered particles using a simple cluster of equi-spaced particles. The FE results suggest that plastic flow is generally inhibited in clustered regions. In certain highly clustered configurations shielding is such that flow does not occur in the heart of the cluster even at high levels of average plastic strain. The modelling suggests that the change in dominance of damage mechanism is related to the dramatic increase in tensile hydrostatic stresses in the matrix with higher levels of particle clustering.     

Best L1 Piecewise Monotonic Data Modelling

Let us consider n data measurements of a univariate process that have been altered by random errors. We assume that an underlying model function has a substantially smaller number of turning points than the observed ones. We propose algorithms that make least the sum of the moduli of the errors by requiring k monotonic sections, alternately increasing and decreasing, in the sequence of the smoothed values. The main difficulty in this calculation is that the optimal positions of the joins of the monotonic sections have to be found automatically among so many combinations that it is impossible to test each one separately. Moreover, the calculation seems to be very intractable to general optimization techniques because O(n^k) local minima can occur. It is shown that dynamic programming can be used for separating the data into optimal disjoint sections of adjacent data, where each section requires a single L₁ monotonic calculation. This procedure is highly efficient, requiring at most O(kn²) computer operations and O(n) best L₁ monotonic calculations to subranges of data for a global minimum.     

Issues in nonlinear stochastic grey box identification

Grey box identification refers to the practice of identifying dynamical systems in model structures exploiting partial prior information. This contribution reviews a method for stochastic grey box identification and surveys experiences and lessons of applying it to a number of industrial processes. Issues to be addressed include advantages and costs of introducing stochastics into the model, the question of what contribution must be expected from the model designer as opposed to what can be formalized in computer algorithms, and an outlook on future plans to resolve present shortcomings.     

Kinetic model for water/oil absorption of mesquite gum (Prosopis juliflora) and gum arabic (Acacia senegal)

The water and oil uptake of mesquite and arabic gums in powdered form was studied at temperatures of 23, 35 and 45°C. A previously proposed equation to predict osmotic equilibrium was tested using the experimental data with both gums and a good statistical fit was obtained. Mesquite gum showed the highest water and oil absorption at all temperatures studied. Temperature dependence of the reciprocal of the S₁ and WL_∞ were determined using an Arrhenius equation. The activation energy for water and oil absorption for gum arabic was 21.98 and 39.57 kJ mol⁻¹, compared to that of mesquite gum having values of 15.79 and 46.16 kJ mol⁻¹, respectively. A second order kinetic model was obtained for water and oil absorption for both gums.     

Verification of wind resource study of a Scottish region

In a survey of the practical wind energy resource present in the Tayside Region of Scotland it was estimated that over 1500 km² of land is suitable for wind energy development in the Region after consideration of a range of physical, technical and institutional factors. Wind speed data for this survey was obtained from the Energy Technology Support Unit (ETSU) UK Wind Speed Data Package. To verify the wind speeds obtained from the ETSU package a representative sample of sites in and around the identified areas of potential in Tayside were modelled for mean annual wind speed using the Wind Atlas Analysis and Application Program (WA^sP). The wind speeds for the sites obtained from the WA^sP analysis were compared with those obtained from the ETSU UK Wind Speed Data Package and conclusions drawn as to the reliability of the Tayside wind energy survey and the general applicability of the ETSU package for broad wind energy resource assessment.