Adaptive regulation of vector-controlled induction motors

This paper addresses the speed and flux regulation of induction motors under the assumption that the motor parameters are poorly known. An adaptive passivity-based control is proposed that guarantees robust regulation as well as accurate estimation of the electrical parameters that govern the motor performance. This paper provides a local stability analysis of the adaptive scheme, which is illustrated by simulations and supported by a successful experimental validation on an industrial product. © 2009 IEEE.

Reconfigurable predictive control for redundantly actuated systems with parameterised input constraints

A method is proposed for on-line reconfiguration of the terminal constraint used to provide theoretical nominal stability guarantees in linear model predictive control (MPC). By parameterising the terminal constraint, its complete reconstruction is avoided when input constraints are modified to accommodate faults. To enlarge the region of feasibility of the terminal control law for a certain class of input faults with redundantly actuated plants, the linear terminal controller is defined in terms of virtual commands. A suitable terminal cost weighting for the reconfigurable MPC is obtained by means of an upper bound on the cost for all feasible realisations of the virtual commands from the terminal controller. Conditions are proposed that guarantee feasibility recovery for a defined subset of faults. The proposed method is demonstrated by means of a numerical example. © 2013 Elsevier B.V. All rights reserved.

Model-based compressive Harmonic-Aware Matching Pursuit: An evaluation

This paper addresses devising a reliable model-based Harmonic-Aware Matching Pursuit (HAMP) for reconstructing sparse harmonic signals from their compressed samples. The performance guarantees of HAMP are provided; they illustrate that the introduced HAMP requires less data measurements and has lower computational cost compared with other greedy techniques. The complexity of formulating a structured sparse approximation algorithm is highlighted and the inapplicability of the conventional thresholding operator to the harmonic signal model is demonstrated. The harmonic sequential deletion algorithm is subsequently proposed and other sparse approximation methods are evaluated. The superior performance of HAMP is depicted in the presented experiments. © 2013 IEEE.

Blind image restoration based on the theory of high-dimensional space geometry

In practical situations, the causes of image blurring are often undiscovered or difficult to get known. However, traditional methods usually assume the knowledge of the blur has been known prior to the restoring process, which are not practicable for blind image restoration. A new method proposed in this paper aims exactly at blind image restoration. The restoration process is transformed into a problem of point distribution analysis in high-dimensional space. Experiments have proved that the restoration could be achieved using this method without re-knowledge of the image blur. In addition, the algorithm guarantees to be convergent and has simple computation.

An adaptive controller for a class of nonlinear system using direction basis function

For a class of nonlinear dynamical systems, the adaptive controllers are investigated using direction basis function (DBF) in this paper. Based on the criterion of Lyapunov' stability, DBF is designed which guarantees that the output of the controlled system asymptotically tracks the reference signals. Finally, the simulation shows the good tracking effectiveness of the adaptive controller.

Landauer-Buttiker formula for time-dependent transport through resonant-tunneling structures: A nonequilibrium Green's function approach

A nonequilibrium Green's-function formalism is employed to study the time-dependent transport through resonant-tunneling structures. With this formalism, we derive a time-dependent Landauer-Buttiker formula that guarantees current conservation and gauge invariance. Furthermore, we apply the formula to calculate the response behaviors of the resonant-tunneling structures in the presence of rectangular-pulse and harmonic-modulation fields. The results show that the displacement current plays the role of retarding the tunneling current.

镇海棘螈和大凉疣螈年龄结构研究

通过趾骨切片可以准确鉴定年龄，了解一个物种的最长寿命，也为我们研究确定一个物种的生长特点、性成熟期,以及一个地区一个物种的年龄结构、种群生态(Marnell，1998)和群落生态提供重要信息(Morrison，et a1.，2004)。 本论文使用骨骼鉴龄法对中国浙江省宁波市北仑瑞岩寺林场的镇海棘螈（Echinotriton chinhaiensis）雌性繁群进行了年龄结构研究。结果显示：第一次参加繁殖的年龄为3龄；繁群中数量占优势的是5龄、6龄。而在6龄以后参加繁殖的雌性个体数便开始随着年龄的增大而逐渐减少。参加繁殖的雌性年龄最大个体为8龄。平均年龄为5.13龄。同时对其年龄和头体长、体全长的相关性检验,发现其年龄与头体长和体全长不相关,镇海棘螈雌性的生长方式表现为性成熟后能量主要用于繁殖。 另外,对李子坪大凉疣螈(Tylototriton taliangensis) 雄性繁群进行了年龄结构研究。结果显示：大凉疣螈雄性第一次参加繁殖的年龄为4龄；繁群中数量占优势的是5龄、6龄、7龄。而在7龄以后参加繁殖的雄性个体数便开始随着年龄的增大而逐渐减少。参加繁殖的雄性中年龄最大的个体为10龄。平均年龄为6.7龄。对其年龄和头体长、体全长的相关性检验,发现其年龄与头体长和体全长不相关,大凉疣螈雄性生长特点也表现为性成熟后生长缓慢的特点。 研究材料方面，本文采用野外采样与标本馆标本相结合的方式获得了中国蝾螈科2个重要保护物种繁殖群体的剪（指）趾材料，使得建立于其上的年龄结构工作更加可靠、更加具有代表性。 此外,本论文讨论了镇海棘螈瑞岩寺种群繁殖总量年度间的差异及其产生原因。将1998、1999、2000、2008、2009年镇海棘螈（Echinotriton chinhaiensis） 瑞岩寺种群的繁殖量进行比较，发现虽然雌性平均窝卵数比较稳定，但繁殖总量小于1998、1999、2000年任何一年总产卵量的50%。对2008年镇海棘螈繁殖量大幅下降的原因分析发现, 2007年9、10月影响严重台风的两次强台风、瑞岩寺景区开发等因素可能是造成近年该种群繁殖量大幅下降的原因。而2008年初50年不遇的低温是否影响镇海棘螈的繁殖值得进一步追踪研究。2009年繁殖量较2008年没有明显的增长，可能是由于2007年的台风影响了其繁殖营养的积累。台风的影响可能存在滞后现象,对此有待进一步监测证明。 本研究首次对中国蝾螈科物种进行的年龄结构鉴定，为进一步了解中国蝾螈科动物的种群生态打下了坚实的基础。 Using skeletochronology, we can know the life span of a species, age of reaching sexual mature, and of course age structure, which are vital(Morrison，et a1.，2004). Skeletochronology was performed on Echinotriton chinhaiensis Ruiyansi female population. The result shows that: The oldest individuals were 8 years old and the youngest ones were 3 years old. Individuals of age class 5(39.13%) and 6(21.74%) were most numerous. The number of individuals participated in reproduction decreased with the increase of age after the sixth year. Average age is 5.13 years. There is no correlation between age and body size (SVL and TL). For female chinhai salamander, energy is devoted to reproduction after reaching sexual maturation. While using skeletochronology to study Tylototriton taliangensis Liziping male population, the oldest individuals is 10 years old, and the youngest ones is 4 years old. Individuals of the age class 5, 6, and 7 dominat this population. The number of individuals decrease with the increase of age also after the seventh year. Average age is 6.7 years old in this population. there is also no correlation between age and body size (SVL and TL).It turned out that T. taliangensis tend to grow slowly after reaching sexual maturation. In this thesis, specimens from both wild and museum were used to gain enough toe clipping samples. A big sample size guarantees the reliability of this study. In the meantime, E. chinhaiensis’s annual reproduction of the year 1998, 1999, 2000 ,2008,and 2009 was compared. The result shows there is a huge decline in E. chinhaiensis’s annual reproduction in 2008,even the egg clutch is very stable. After analyzing, it turned out the huge decline in 2008 was probably caused by typhoon in 2007, besides the effect of tourism development and cash crop planting. While the impact of extreme weather of 2008 on reproduction needs further investigation. In the year 2009, there is no obvious increase in annual reproduction. It maybe due to lasting impact of typhoon in 2007. It is the first age-structure study on these two Chinese salamanders. A solid foundation was laid for further population ecology study of these two species.

Diffusion and single molecule dynamics on biomolecular interface binding energy landscape

We propose a new approach to study the diffusion dynamics on biomolecular interface binding energy landscape. The resulting mean first passage time (MFPT) has 'U'curve dependence on the temperature. It is shown that the large specificity ratio of gap to roughness of the underlying binding energy landscape not only guarantees the thermodynamic stability and the specificity [P.A. Rejto, G.M. Verkhivker, in: Proc. Natl. Acad. Sci. 93 (1996) 8945; C.J. Tsai, S. Kumar, B. Ma, R. Nussinov, Protein Sci. 8 (1999) 1181; G.A. Papoian, P.G. Wolynes, Biopolymers 68 (2003) 333; J. Wang, G.M. Verkhivker, Phys. Rev. Lett. 90 (2003) 198101] but also the kinetic accessibility. The complex kinetics and the associated fluctuations reflecting the structures of the binding energy landscape emerge upon temperature changes. The theory suggests a way of connecting the models/simulations with single molecule experiments by analysing the kinetic trajectories.

Sol-gel-derived carbon ceramic electrode containing 9,10-phenanthrenequinone, and its electrocatalytic activity toward iodate

9,10-Phenanthrenequinone (PQ) supported on graphite powder by adsorption was dispersed in propyltrimethoxysilane-derived gels to yield a conductive composite which was used as electrode material to fabricate a PQ-modified carbon ceramic electrode. In this configuration, PQ acts as a catalyst, graphite powder guarantees conductivity by percolation, the silicate provides a rigid porous backbone, and the propyl groups endow hydrophobicity and thus limit the wetting region of the modified electrode. Square-wave voltammetry was exploited to investigate the pH-dependent electrochemical behavior of the composite electrode and an almost Nernstian response was obtained from pH 0.42 to 6.84. Because the chemically modified electrode can electrocatalyze the reduction of iodate in acidic aqueous solution (pH 2.45), it was used as an amperometric sensor for the determination of iodate in table salt. The advantages of the electrode are that it can be polished in the event of surface fouling, it is simple to prepare, has excellent chemical and mechanical stability, and the reproducibility of surface-renewal is good.

A HYBRID METHOD OF FRACTIONAL STEPS WITH PREDICTOR-CORRECTOR DIFFERENCE-PSEUDOSPECTRUM FOR NUMERICAL-SOLUTION OF THE CONVECTION-DOMINATED FLOW PROBLEMS

A fractional-step method of predictor-corrector difference-pseudospectrum with unconditional L(2)-stability and exponential convergence is presented. The stability and convergence of this method is strictly proved mathematically for a nonlinear convection-dominated flow. The error estimation is given and the superiority of this method is verified by numerical test.

小型无人直升机实验平台的设计与实现

高级控制算法对于无人直升机实现高机动性非常重要,但是在实现上也经常受制于鲁棒性和实时性的要求。同时这些控制方法在飞行测试时也会带来高风险。本文介绍了一种自制的安装在机械臂上的直升机作为实验平台去验证控制方法的有效性和可行性,这个平台还能够保证飞行测试的安全性。实验结果显示,能够实现转速跟踪控制以及航向动力学的辨识,并证明平台的有效性。

一种基于遗传线性搜索算法的关节手模型匹配方法

提出了一种可替代传统搜索算法的改进型模型匹配算法 这种算法将遗传算法 (GeneticAlgorithm ,GA)和经典的线性搜索算法 (LineSearch ingAlgorithm ,LSA)相结合 它能保证匹配解是全局最优的并且运算是近乎实时的

基于滑转率的六轮纵列式月球车驱动控制研究

基于车轮滑转率和车轮地面力学,研究了月球车在松软月面行驶时的车轮过度下陷问题.将月球车车轮下陷和车轮—土壤作用力表达为车轮滑转率的函数,结合车辆地面力学理论并考虑纵列式车轮多通过性土壤参数的修正,建立了月球车的动力学模型.判断车轮是否发生过度下陷的标准为土壤所提供给驱动轮的土壤推力能否克服土壤对车轮的阻力.利用建立的动力学模型,计算出能够保证车轮不会过度下陷的期望滑转率.考虑到月球车动力学系统的非线性和不确定性,设计了以车轮滑转率为状态变量的滑模驱动控制器.仿真结果表明,采用该控制器可以较快地跟踪期望滑转率,避免车轮的过度滑转下陷,保证月球车能够在软质路面上正常行驶.

基于量子蒙特卡罗的地震波反演方法

The primary approaches for people to understand the inner properties of the earth and the distribution of the mineral resources are mainly coming from surface geology survey and geophysical/geochemical data inversion and interpretation. The purpose of seismic inversion is to extract information of the subsurface stratum geometrical structures and the distribution of material properties from seismic wave which is used for resource prospecting, exploitation and the study for inner structure of the earth and its dynamic process. Although the study of seismic parameter inversion has achieved a lot since 1950s, some problems are still persisting when applying in real data due to their nonlinearity and ill-posedness. Most inversion methods we use to invert geophysical parameters are based on iterative inversion which depends largely on the initial model and constraint conditions. It would be difficult to obtain a believable result when taking into consideration different factors such as environmental and equipment noise that exist in seismic wave excitation, propagation and acquisition. The seismic inversion based on real data is a typical nonlinear problem, which means most of their objective functions are multi-minimum. It makes them formidable to be solved using commonly used methods such as general-linearization and quasi-linearization inversion because of local convergence. Global nonlinear search methods which do not rely heavily on the initial model seem more promising, but the amount of computation required for real data process is unacceptable. In order to solve those problems mentioned above, this paper addresses a kind of global nonlinear inversion method which brings Quantum Monte Carlo (QMC) method into geophysical inverse problems. QMC has been used as an effective numerical method to study quantum many-body system which is often governed by Schrödinger equation. This method can be categorized into zero temperature method and finite temperature method. This paper is subdivided into four parts. In the first one, we briefly review the theory of QMC method and find out the connections with geophysical nonlinear inversion, and then give the flow chart of the algorithm. In the second part, we apply four QMC inverse methods in 1D wave equation impedance inversion and generally compare their results with convergence rate and accuracy. The feasibility, stability, and anti-noise capacity of the algorithms are also discussed within this chapter. Numerical results demonstrate that it is possible to solve geophysical nonlinear inversion and other nonlinear optimization problems by means of QMC method. They are also showing that Green’s function Monte Carlo (GFMC) and diffusion Monte Carlo (DMC) are more applicable than Path Integral Monte Carlo (PIMC) and Variational Monte Carlo (VMC) in real data. The third part provides the parallel version of serial QMC algorithms which are applied in a 2D acoustic velocity inversion and real seismic data processing and further discusses these algorithms’ globality and anti-noise capacity. The inverted results show the robustness of these algorithms which make them feasible to be used in 2D inversion and real data processing. The parallel inversion algorithms in this chapter are also applicable in other optimization. Finally, some useful conclusions are obtained in the last section. The analysis and comparison of the results indicate that it is successful to bring QMC into geophysical inversion. QMC is a kind of nonlinear inversion method which guarantees stability, efficiency and anti-noise. The most appealing property is that it does not rely heavily on the initial model and can be suited to nonlinear and multi-minimum geophysical inverse problems. This method can also be used in other filed regarding nonlinear optimization.