分散式控制和管理的UUV体系结构模型研究

针对传统的分层式体系结构在UUV 控制系统开发设计、维护和升级过程中所遇到的困难，首先分析了集中式控制和管理方法的不足和原因。在此基础上，借鉴自主计算的思想，提出了分散控制和管理的体系结构。这种方法把系统中每个独立的功能模块都抽象成为具有相同模型的控制基元，称之为“自主基元”，然后通过自主基元层次式、嵌套式的组织，构成完整的系统。分析表明，这种方法能够缩短控制系统的开发周期，也降低了维护和升级的难度。

AUV水下对接关键技术研究

对国内外主要AUV水下对接系统进行了研究,从对接方式、对接传感器、控制策略、流体干扰和对接失误对策五个方面阐述了AUV水下对接系统的方法、技术现状以及发展趋势.

基于加速度传感器反馈控制的谐波驱动系统的研究

在机器人驱动中经常采用谐波传动。但谐波减速器的柔性、非线性摩擦、随速度波动、低阻尼等因素会给负载端带来振动 ,导致工作端的轨迹跟踪精度不高。为了抑制其振动 ,实现高精度轨迹跟踪控制 ,提出利用加速度传感器反馈控制来抑制负载端的振动、力矩干扰和动力学效应 ,提高其响应性能。理论分析和实验结果证实了提出方法的可行性。

谐波驱动系统的特性及控制策略研究

谐波传动有很多优点，在机器人驱动中经常被使用．但谐波传动也有一些缺点，如柔性等因素影响负载端轨迹跟踪精度．本文系统地分析了谐波传动系统的动力学特性，建立了包括电机转子惯量在内的动力学模型，疽对系统进行全面实验研究的基础上总结出谐波传动系统中存在的问题，采用相应的基于传感器的控制策略克服存在的问题，提高系统的响应性能．从理论分析和实验结果证实了提出方法的可行性。

A comprehensive comparison of fuel options for fuel cell vehicles in China

Fuel cell vehicles (FCVs) offer the potential of ultra-low emissions combined with high efficiency. Proton exchange membrane (PEM) fuel cells being developed for vehicles require hydrogen as a fuel. Due to the various pathways of hydrogen generation, both onboard and off-board, the question about which fuel option is the most competitive for fuel cell vehicles is of great current interest. In this paper, a life-cycle assessment (LCA) model was made to conduct a comprehensive study of the energy, environmental, and economic (3E) impacts of FCVs from well to wheel (WTW). In view of the special energy structure of China and the timeframe, 10 vehicle/fuel systems are chosen as the study projects. The results show that methanol is the most suitable fuel to serve as the ideal hydrogen source for fuel cell vehicles in the timeframe and geographic regions of this study. On the other hand, gasoline and pure hydrogen can also play a role in short-term and regional applications, especially for local demonstrations of FCV fleets. (c) 2004 Elsevier B.V All rights reserved.

Heating, current drive and confinement regimes with the JET ICRH and lhcd systems

During its 1990 operation, 2 large RF systems were available on JET. The Ion Cyclotron Resonance Heating (ICRH) system was equipped with new beryllium screens and with feedback matching systems. Specific impurities generated by ICRH were reduced to negligible levels even in the most stringent H-mode conditions. A maximum power of 22 MW was coupled to L-mode plasmas. High quality H-modes (tau-E greater-than-or-equal-to 2.5 tau-EG) were achieved using dipole phasing. A new high confinement mode was discovered. It combines the properties of the H-mode regime to the low central diffusivities obtained by pellet injection. A value of n(d) tau-E T(i) = 7.8 x 10(20) m-3 s keV was obtained in this mode with T(e) approximately T(i) approximately 11 keV. In the L-mode regime, a regime, a record (140 kW) D-He-3 fusion power was generated with 10 - 14 MW of ICRH at the He-3 cyclotron frequency. Experiments were performed with the prototype launcher of the Lower Hybrid Current Drive (LHCD) systems with coupled power up to 1.6 MW with current drive efficiencies up to < n(e) > R I(CD)/P = 0.4 x 10(20) m-2 A/W. Fast electrons are driven by LHCD to tail temperatures of 100 keV with a hollow radial profile. Paradoxically, LHCD induces central heating particularly in combination with ICRH. Finally we present the first observations of the synergistic acceleration of fast electrons by Transit Time Magnetic Pumping (TTMP) (from ICRH) and Electron Landau Damping (ELD) (from LHCD). The synergism generates TTMP current drive even without phasing the ICRH antennae.