水下机器人的神经网络自适应控制

研究了水下机器人神经网络直接自适应控制方法,采用Lyapunov稳定性理论,证明了存在有界外界干扰和有界神经网络逼近误差条件下,水下机器人控制系统的跟踪误差一致稳定有界.为了进一步验证该水控制方法的正确性和稳定性,利用水下机器人实验平台进行了动力定位实验、单自由度跟踪实验和水平面跟踪实验等验证实验.

基于加速度传感器的机器人极点配置控制

本文为工业机器人提出了一种极点配置控制法．这种控制方法的优点有：一是它的积分作用消除了机器人的微小扰动和稳态误差；二是能任意设置系统的极点，因此能保证闭环系统的稳定性和规定状态变量的暂态响应；三是加入了加速度反馈，抑制了由电枢电感所引起的机械手的振动．最后，给出了ＰＵＭＡ５６２机器人的计算机仿真和实验结果验证了此控制法的有效性。

Multiphase technique improves mud-pulse velocity calculations

Measurement while drilling (MWD) has become a popular survey technology to monitor directional data, drilling data, formation evaluation data and safety data in the world. And closed loop drilling shows promise in recent years. Obviously, the method of tr

The effect of the incident relative phase on the four-wave mixing field and the electromagnetically induced transparency

In a A-type system employing a two-photon pump field, a four-wave mixing field can be generated simultaneously and, hence, a closed-loop system forms. We study theoretically the effect of the relative phase between the two incident fields on the generated four-wave mixing field and the electromagnetically induced transparency. It is found that the phase of the generated four-wave mixing field is the sum of the incident relative phase and a fixed phase that is irrelative to the incident relative phase. Hence, the total phase of the closed-loop system is independent of the incident relative phase. As a result, the incident relative phase has no effect on the electromagnetically induced transparency, which is different from the case of a A-type loop system closed by a third incident field. (c) 2005 Pleiades Publishing, Inc.

一种闭环控制的光纤光栅动态色散补偿仪

利用啁啾光纤光栅的应变调谐特性，将色散补偿的啁啾光纤光栅斜贴于悬臂梁的侧面，通过应力实现啁啾量调整而改变其色散补偿量的大小，同时利用固定在同一悬臂梁的均匀布拉格光栅传感器，实现了闭环自动控制色散补偿量，研制出了一种新型的光纤光栅动态色散补偿仪。该色散补偿仪工作在1550nm波段，典型性能数据为：色散动态补偿范围-1000-1680ps／nm，插入损耗小于1．5dB，动态调谐步进响应时间小于50ms，基本上能满足10Gb／s光纤通信系统中色散动态补偿的要求。

One-dimensional quantum waveguide theory of Rashba electrons

The ballistic spin transport in one-dimensional waveguides with the Rashba effect is studied. Due to the Rashba effect, there are two electron states with different wave vectors for the same energy. The wave functions of two Rashba electron states are derived, and it is found that their phase depend on the direction of the circuit and the spin directions of two states are perpendicular to the circuit, with the +pi/2 and -pi/2 angles, respectively. The boundary conditions of the wave functions and their derivatives at the intersection of circuits are given, which can be used to investigate the waveguide transport properties of Rashba spin electron in circuits of any shape and structure. The eigenstates of the closed circular and square loops are studied by using the transfer matrix method. The transfer matrix M(E) of a circular arc is obtained by dividing the circular arc into N segments and multiplying the transfer matrix of each straight segment. The energies of eigenstates in the closed loop are obtained by solving the equation det[M(E)-I]=0. For the circular ring, the eigenenergies obtained with this method are in agreement with those obtained by solving the Schrodinger equation. For the square loop, the analytic formula of the eigenenergies is obtained first The transport properties of the AB ring and AB square loop and double square loop are studied using the boundary conditions and the transfer matrix method In the case of no magnetic field, the zero points of the reflection coefficients are just the energies of eigenstates in closed loops. In the case of magnetic field, the transmission and reflection coefficients all oscillate with the magnetic field; the oscillating period is Phi(m)=hc/e, independent of the shape of the loop, and Phi(m) is the magnetic flux through the loop. For the double loop the oscillating period is Phi(m)=hc/2e, in agreement with the experimental result. At last, we compared our method with Koga's experiment. (C) 2009 American Institute of Physics. [doi: 10.1063/1.3253752]

Simulation of a monolithically integrated CMOS bioamplifier for EEG recordings

A monolithically integrated CMOS bioamplifier is presented in this paper for EEG recording applications. The capacitive-coupled circuit input structure is utilized to eliminate the large and random DC offsets existing in the electrode-tissue interface. Diode-connected NMOS transistors with negative voltage between gate and source are candidates for large resistors necessary to the bioamplifier. A passive BEF (Band Eliminator Filter) can reduce 50 Hz noise disturbance strength by more than 60 dB. A novel analysis approach is given to help determine the noise power spectral density. Simulation results show that the two-stage CMOS bioamplifier in a closed-loop capacitive feedback configuration,provides an AC in-band gain of 39.6 dB, a DC gain of zero, and an input-referred noise of 87 nVrms integrated from 0.01 Hz to 100 Hz.

Chaotic behavior of pulsating heat pipes

Chaotic behavior of closed loop pulsating heat pipes (PHPs) was studied. The PHPs were fabricated by capillary tubes with outer and inner diameters of 2.0 and 1.20 mm. FC-72 and deionized water were used as the working fluids. Experiments cover the following data ranges: number of turns of 4, 6, and 9, inclination angles from 5 degrees (near horizontal) to 90, (vertical), charge ratios from 50% to 80%, heating powers from 7.5 to 60.0 W. The nonlinear analysis is based on the recorded time series of temperatures on the evaporation, adiabatic, and condensation sections. The present study confirms that PHPs are deterministic chaotic systems. Autocorrelation functions (ACF) are decreased versus time, indicating prediction ability of the system is finite. Three typical attractor patterns are identified. Hurst exponents are very high, i.e., from 0.85 to 0.95, indicating very strong persistent properties of PHPs. Curves of correlation integral versus radius of hypersphere indicate two linear sections for water PHPs, corresponding to both high frequency, low amplitude, and low frequency, large amplitude oscillations. At small inclination angles near horizontal, correlation dimensions are not uniform at different turns of PHPs. The non-uniformity of correlation dimensions is significantly improved with increases in inclination angles. Effect of inclination angles on the chaotic parameters is complex for FC-72 PHPs, but it is certain that correlation dimensions and Kolmogorov entropies are increased with increases in inclination angles. The optimal charge ratios are about 60-70%, at which correlation dimensions and Kolmogorov entropies are high. The higher the heating power, the larger the correlation dimensions and Kolmogorov entropies are. For most runs, large correlation dimensions and Kolmogorov entropies correspond to small thermal resistances, i.e., better thermal performance, except for FC-72 PHPs at small inclination angles of theta < 15 degrees.

Simulation of a Monolithic Integrated CMOS Preamplifier for Neural Recordings

A monolithic integrated CMOS preamplifier is presented for neural recording applications. Two AC-coupied capacitors are used to eliminate the large and random DC offsets existing in the electrode-electrolyte interface. Diode-connected nMOS transistors with a negative voltage between the gate and source are candidates for the large resistors necessary for the preamplifier. A novel analysis is given to determine the noise power spectral density. Simulation results show that the two-stage CMOS preamplifier in a closed-loop capacitive feedback configuration provides an AC in-band gain of 38.8dB,a DC gain of 0,and an input-referred noise of 277nVmax, integrated from 0. 1Hz to 1kHz. The preamplifier can eliminate the DC offset voltage and has low input-referred noise by novel circuit configuration and theoretical analysis.

兰州重离子加速器深层治癌扫描电源研究与设计

This paper describes the technique targets and operation principle of the scanning power supply for the deep tumor therapy facility with heavy ions in Cooler-Storage-Ring of the Heavy Ion Research Facility in Lanzhou(HIRFL-CSR).To ensure the specified accuracy of the current,the hysteresis loop control strategy was adopted,and tracking error was constrained in the specified tolerance.One prototype was designed and installed.And the simulation results and test results were listed in the paper.The results sho...中文摘要：阐述了用于兰州重离子深层治癌装置的扫描电源的技术指标和工作原理,为保证该电源输出电流的精度,采用滞环控制策略,将跟踪误差限制在设计要求的误差范围内。研制了1台扫描电源样机,并给出了电路仿真和测试结果。测试结果显示各项指标均达到了设计要求,表明所选电路结构和滞环控制方案是切实可行的。

逆向物流流量不确定闭环供应链鲁棒运作策略设计

考虑一类同时具有再分销、再制造和再利用的闭环供应链在逆向物流流量不确定环境下的运作问题.采用具有已知概率的离散情景描述逆向物流流量的不确定性,利用基于情景分析的鲁棒线性优化方法建立该闭环供应链的多目标运作模型.设计了一个数值算例,其结果验证了运作策略的鲁棒性.在该算例基础上,分析了逆向物流流量的大小对闭环供应链系统运作性能的影响.

新型4自由度并联机器人位姿误差分析

将一种新型四自由度并联机器人等效为由串联机构构成的空间闭环机构 ,运用 Denavit- Hartenberg方法提出了运动平台位姿误差的一种分析算法。利用这个算法可以分析各种构件加工、安装误差对运动平台位姿精度的影响。进行了数值仿真验证了算法的正确性。最后分析出对位姿精度影响较大的因素 ,通过重视这些因素可提高实际机构的操作精度

AUV闭环系统可辨识性分析及算法实现

针对水下机器人闭环系统辨识问题,应用闭环系统辨识理论,本文给出了水下机器人闭环系统可辨识的充分条件。运用增广的Kalman滤波算法对某水下机器人进行闭环辨识,获得了该系统模型。验证了所提出充分条件的正确性及算法的可行性。

离散型封闭式传送带生产系统的研究——一种通用的分析方法

本文对离散型封闭式传送带生产系统给出了一种通用的分析方法.基于传送带参数和工作站的服务时间,研究了系统中各流量间的相互关系,建立了动态的和稳态的表达式,给出了系统的品质指标,并首次指出了系统中存在一种循环效应及其对系统容量的影响。最后用仿真方法检验了分析结果的正确性.

多路温度测控系统的设计

目的利用单片机技术设计多路温度测控系统,实现多路温度的测量和控制.方法系统以单片机AT89C52为核心,利用多路转换器和新型数字器件MAX6675构成8路K型热电偶温度测量电路,利用D/A转换器AD7528和驱动电路构成输出电路,实现8路一一对应的闭环温度测量控制.系统软件采用PID控制器.结果实践证明,可根据需要增减系统温度信号采样通道的数目,使用软件抗干扰措施,提高了采样数据的可靠性.简化了输入输出硬件结构,使系统具有低成本高速度和较好的测量控制精度.结论多路温度测控系统作为整机适用于现场测量控制应用,也可作为多路温度控制模块应用在体积小、温度测量精度要求较高的大型系统中.