一种新的仿人控制方法研究

以模拟人对混水阀的调节过程为基础,提出一种新的仿人控制算法.该控制算法模拟人在控制时的粗调和微调,并使控制量逐步逼近最终稳定控制量的过程.算法中的参数具有明确的物理意义,可根据不同的控制指标方便地调节,并且能够获得足够的稳态误差.采用本文控制算法,不需要有精确的被控对象模型,即使在有较大干扰的情况下,仍可以获得较好的控制性能.

PCM控制的新型气液位置伺服系统的研究

本文提出了一种新型气液缸和气液位置伺服系统。该系统采用气液连动控制，充分发挥液压与气动各自的优点，大大提高了位置控制精度，同时克服单纯气动的特点。在气液回路上，利用两位三通阀、“ＰＣＭ”阀组及油开关阈实现分区控制和准确定位，解决了快速性和定位精度之间的矛盾，通过分析和实验研究表明，此方案是可行的。

水下机械手液压控制系统动力机构参数的分析计算

本文所介绍的水下机械手液压控制系统为一典型的具有变回油压力封闭式系统。文中阐述了此种系统液压动力机构的设计原理及静、动态参数的分析计算方法。对于在变回油压力下,由四通阀控制的非对称油缸的静态特性进行了详细的分析。给出了在不同回油压力下,不同面积比的非对称油缸、阀的负载压降及最大空载流量的变化规律。这对于确定水下机械手的液压动力机构的参数提供了依据。

新型数字液压驱动单元流动状态及补偿液控阀设计研究

根据数字液压驱动单元的运行原理,分析了在空载与加载情况下该数字驱动单元的内部液体流动状态,并以这一流动状态原理为依据,改进设计了传统的液控单向阀。数字液压驱动单元样机及试验结果表明:该数字液压驱动单元与应用传统液控单向阀体的驱动单元相比,具有更加紧凑的体积、更高的响应速度及运行可靠性和显著的节能效果。

非自喷层测试及评价解释技术研究与应用

Now low porosity and low permeability reservoir is one of the main targets of exploration for the onshore oilfields of China. Most of the reservoirs are none flowing because of bad formation percolation condition, poor gas oil ratio , low formation pressure coefficient and other factors. In the recent years, a number of domestic oilfields have carried out some research work and achieved some success on oil testing and production technology in such formation. But by now, there is still no systematic and mature technology, particularly testing technology in none flowing formation is still needed further study. Based on study the key problem of well testing and interpretation technology in none flowing formation, solve the important problems in well testing technology, continuously improve and innovate geological information acquisition technology for none flowing reservoir, accurately acquire boundary information and evaluate reservoir flow characteristics. Its wide application remarkable result has shown. The main results and cognitions obtained from research are as follows: 1. This new technology research results help solve the occurrent problems in well testing process for none flowing formations, such as small investigation radius, poor representative of interpretation results from the poor data, low level application of interpretation results. This new technology helps create favorable conditions for early precise reservoir evaluation and reduction of the risk of exploration. 2. The technological difficulties for none flowing well testing are successfully solved by using none flowing formation combined mechanical tool string .This method has been proved by its applications to be able to improve the efficiency of the testing and the quantity of the acquired test data ,and so as to enhance the application of the interpretation results of the test in development of oil fields. 3. The application of the rotary formation tester, selective test valve, well testing string and their allier tools help to resolve problems such as the operation of opening and shutting-in the well under different well conditions, to broaden the scope of well test technology for none flowing formations. 4. Refined Testing Technique for production Wells has greatly shortened the testing dwration and improved the efficiency and accuracy of operation, enriched test results, and at the same time created conditions for conducting multi-well interference well testing.

组织中的规则行为：合法性、个体差异的认同-内化作用

This study employed the compliance, identification, and internalization model of attitude change to explore the mechanism of rule-following behaviors in organizations. The objectives of this study were to examine the effects of individual utilitarianism and formalism on rule compliance, deference and rule-breaking behaviors, and the relationships between legitimacy, organizational identification, and value internalization. I surveyed 262 employees from a high-tech corporation in Beijing. After Confirmative Factor Analysis, Regression Analysis, and Structural Equation Modeling, I summarized main conclusions as follow. First, rule legitimacy and organizational identification have different effects on different rule behaviors. Perceived rule legitimacy and organizational identification have direct positive effect on rule deference. But the effects of legitimacy on rule-compliance and rule-breaking are moderated by organizational identification and value internalization. Only under high identification or value congruence with organization, could legitimacy perception predict rule compliance and breaking. Second, individual formalism (IF) has positive effect on rule compliance. IF’s positive effect on rule deference only appear under high value congruence between individuals and organization. Third, organizational identification works as a “valve” in the relationship between individual viewpoints and rule-breaking. Organizational identification turns off the tendency of utilitarianism to break rules, and turns on the tendency of formalism to inhibit rule-breaking. Forth, attitudinal and behavioral facets of utilitarianism and formalism have different influences on rule-following behaviors. Only individuals who are both attitudinal and behavioral formalists show deference to rules, while formalism as behavioral tendency predicts less rule-breaking. Fifth, innovation behaviors coexist independently with compliance and deference to rules. But the division between innovation and rule-breaking is obscure. Organizational identification facilitate both rule following and innovation. Sixth, women comply with rules more than men do, while men break more rules than women do. More aged people develop deeper identification with their organizations, and higher deference to rules. Individuals with higher education are fewer formalists, and accordingly defer to rules less and break more.

Shear effects on the properties and separation characteristics of whey protein precipitates

Selective isoelectric whey protein precipitation and aggregation is carried out at laboratory scale in a standard configuration batch agitation vessel. Geometric scale-up of this operation is implemented on the basis of constant impeller power input per unit volume and subsequent clarification is achieved by high speed disc-stack centrifugation. Particle size and fractal geometry are important in achieving efficient separation while aggregates need to be strong enough to resist the more extreme levels of shear that are encountered during processing, for example through pumps, valves and at the centrifuge inlet zone. This study investigates how impeller agitation intensity and ageing time affect aggregate size, strength, fractal dimension and hindered settling rate at laboratory scale in order to determine conditions conducive for improved separation. Particle strength is measured by observing the effects of subjecting aggregates to moderate and high levels of process shear in a capillary rig and through a partially open ball-valve respectively. The protein precipitate yield is also investigated with respect to ageing time and impeller agitation intensity. A pilot scale study is undertaken to investigate scale-up and how agitation vessel shear affects centrifugal separation efficiency. Laboratory scale studies show that precipitates subject to higher impeller shear-rates during the addition of the precipitation agent are smaller but more compact than those subject to lower impeller agitation and are better able to resist turbulent breakage. They are thus more likely to provide a better feed for more efficient centrifugal separation. Protein precipitation yield improves significantly with ageing, and 50 minutes of ageing is required to obtain a 70 - 80% yield of α-lactalbumin. Geometric scale-up of the agitation vessel at constant power per unit volume results in aggregates of broadly similar size exhibiting similar trends but with some differences due to the absence of dynamic similarity due to longer circulation time and higher tip speed in the larger vessel. Disc stack centrifuge clarification efficiency curves show aggregates formed at higher shear-rates separate more efficiently, in accordance with laboratory scale projections. Exposure of aggregates to highly turbulent conditions, even for short exposure times, can lead to a large reduction in particle size. Thus, improving separation efficiencies can be achieved by the identification of high shear zones in a centrifugal process and the subsequent elimination or amelioration of such.

Balancing Cost and Emissions Certainty: An Allowance Reserve for Cap-and-Trade

On efficiency grounds, the economics community has to date tended to emphasize price-based policies to address climate change - such as taxes or a "safety-valve" price ceiling for cap-and-trade - while environmental advocates have sought a more clear quantitative limit on emissions. This paper presents a simple modification to the idea of a safety valve - a quantitative limit that we call the allowance reserve. Importantly, this idea may bridge the gap between competing interests and potentially improve efficiency relative to tax or other price-based policies. The last point highlights the deficiencies in several previous studies of price and quantity controls for climate change that do not adequately capture the dynamic opportunities within a cap-and-trade system for allowance banking, borrowing, and intertemporal arbitrage in response to unfolding information.

Ecology of a North Sea pockmark with an active methane seep

ABSTRACT: At a large North Sea pockmark, with active methane seeps, surface sediments were found to have higher insoluble sulphide concentrations than sedlments from the surrounding area. The fauna of the pockmark was characterized by 2 species which have not pi-evlously been reported from the Fladen Ground in the northern North Sea. These species were a b~valve, Thyasira sarsi (which is known to contain endosymbiotic sulphur-oxidising bacteria) and a mouthless and gutless nematode, Astomonerna sp., which also contains endosymbiotic bacteria The nematode was the dominant meiofauna species in the pockmark sediments. Both macro-lnfauna and total nematodes were in low abundance in samples taken from the base of the pockmark. Sediment samples from the pockmark contained numerous otoliths, implying that substantial winnowing of the sediment had taken place. This was supported by studies on the sulphide concentrations in the sediment which showed multiple layering of the sediments on the sides of the pockmark, suggesting displacement. The carbon isotope compositions (6I3c) of the tissues of benthic animals from in and around the pockmark were generally in the range -16 to -2O%, indicating that little methane-derived carbon was contributing to their nutrition. T sarsi had the most 13c-depleted tissues, -31.4 to -35.1 L, confirming the nutritional dependence of this species on chemoautotrophic bacteria that utilize reduced sulphur.

Aerobic Metabolism Octopine Production And Phosphoarginine As Sources Of Energy In The Phasic And Catch Adductor Muscles Of The Giant Scallop Placopecten-Magellanicus During Swimming And The Subsequent Recovery Period

1. The energy contributions of aerobic metabolism, phosphoarginine, ATP and octopine in the adductor muscles of P. magellanicus were examined during swimming and recovery. 2. A linear relationship was observed between the size of the phosphoarginine pool and the number of valve snaps. A linear increase in arginine occurred during the same period. 3. 3. Octopine was formed during the first few hours of recovery, particularly in the phasic muscle. 4. The restoration of the phosphoarginine pool appeared to be by aerobic metabolism. 5. It is concluded that the role of octopine formation is to supply energy when the tissues are anoxic and to operate at such a rate as to maintain the basal rate of energy production.

Development and validation of a shipboard system for measuring high-resolution vertical profiles of aqueous dimethylsulfide concentrations using chemical ionization mass spectrometry

A sampling and analytical system has been developed for shipboard measurements of high-resolution vertical profiles of the marine trace gas dimethylsulfide (DMS). The system consists of a tube attached to a CTD with a peristaltic pump on deck that delivers seawater to a membrane equilibrator and atmospheric pressure chemical ionization mass spectrometer (Eq-APCIMS). This allows profiling DMS concentrations to a depth of 50 m, with a depth resolution of 1.3-2 m and a detection limit of nearly 0.1 nmol L-1. The seawater is also plumbed to allow parallel operation of additional continuous instruments, and simultaneous collection of discrete samples for complementary analyses. A valve alternates delivery of seawater from the vertical profiler and the ship�s underway intake, thereby providing high-resolution measurements in both the vertical and horizontal dimensions. Tests conducted on various cruises in the Mediterranean Sea, Atlantic, Indian, and Pacific Oceans show good agreement between the Eq-APCIMS measurements and purge and trap gas chromatography with flame photometric detection (GC-FPD) and demonstrate that the delivery of seawater from the underway pump did not significantly affect endogenous DMS concentrations. Combination of the continuous flow DMS analysis with high-frequency hydrographic, optical, biological and meteorological measurements will greatly improve the spatial/temporal resolution of seagoing measurements and improve our understanding of DMS cycling.

Are Prorocentrum hoffmannianum and Prorocentrum belizeanum (Dinophyceae, Prorocentrales), the same species? An integration of morphological and molecular data.

The taxonomic assignment of Prorocentrum species is based on morphological characteristics; however, morphological variability has been found for several taxa isolated from different geographical regions. In this study, we evaluated species boundaries of Prorocentrum hoffmannianum and Prorocentrum belizeanum based on morphological and molecular data. A detailed morphological analysis was done, concentrating on the periflagellar architecture. Molecular analyses were performed on partial Small Sub-Unit (SSU) rDNA, partial Large Sub-Unit (LSU) rDNA, complete Internal Transcribed Spacer Regions (ITS1-5.8S-ITS2), and partial cytochrome b (cob) sequences. We concatenated the SSU-ITS-LSU fragments and constructed a phylogenetic tree using Bayesian Inference (BI) and maximum likelihood (ML) methods. Morphological analyses indicated that the main characters, such as cell size and number of depressions per valve, normally used to distinguish P. hoffmannianum from P. belizeanum, overlapped. No clear differences were found in the periflagellar area architecture. Prorocentrum hoffmannianum and P. belizeanum were a highly supported monophyletic clade separated into three subclades, which broadly corresponded to the sample collection regions. Subtle morphological overlaps found in cell shape, size, and ornamentation lead us to conclude that P. hoffmanianum and P. belizeanum might be considered conspecific. The molecular data analyses did not separate P. hoffmannianum and P. belizeanum into two morphospecies, and thus, we considered them to be the P. hoffmannianum species complex because their clades are separated by their geographic origin. These geographic and genetically distinct clades could be referred to as ribotypes: (A) Belize, (B) Florida-Cuba, (C1) India, and (C2) Australia.

Simulation of the Unsteady Gas Flow through a Three-way Automotive Catalyst

This paper describes a model of a 1.8-litre four-cylinder four-stroke gasoline engine fitted with a close-coupled three-way catalyst (TWC). Designed to meet EURO 3 emissions standards, the engine includes some advanced emission control features in addition to the TWC, namely: variable valve timing (VVT), swirl control plates, and exhaust gas recirculation (EGR). Gas flow is treated as one-dimensional (1D) and unsteady in the engine ducting and in the catalyst. Reflection and transmission of pressure waves at the boundaries of the catalyst monolith are modelled. In-cylinder combustion is represented by a two-zone burn model with dissociation and reaction kinetics. A single Wiebe analysis of measured in-cylinder pressure data is used to determine the mass fraction burned as a function of crank angle (CA) at each engine speed. Measured data from steady-state dynamometer tests are presented for operation at wide open throttle (WOT) over a range of engine speeds. These results include CA-resolved traces of pressure at various locations throughout the engine together with cycle-averaged traces of gas composition entering the catalyst as indicated by a fast-response emissions analyser. Simulated engine performance and pressure wave action throughout the engine are well validated by the measured data.

A hierarchical physical model-based approach to predictive control of a thermal power plant for efficient plant-wide disturbance rejection

Extending the work presented in Prasad et al. (IEEE Proceedings on Control Theory and Applications, 147, 523-37, 2000), this paper reports a hierarchical nonlinear physical model-based control strategy to account for the problems arising due to complex dynamics of drum level and governor valve, and demonstrates its effectiveness in plant-wide disturbance handling. The strategy incorporates a two-level control structure consisting of lower-level conventional PI regulators and a higher-level nonlinear physical model predictive controller (NPMPC) for mainly set-point manoeuvring. The lower-level PI loops help stabilise the unstable drum-boiler dynamics and allow faster governor valve action for power and grid-frequency regulation. The higher-level NPMPC provides an optimal load demand (or set-point) transition by effective handling of plant-wide interactions and system disturbances. The strategy has been tested in a simulation of a 200-MW oil-fired power plant at Ballylumford in Northern Ireland. A novel approach is devized to test the disturbance rejection capability in severe operating conditions. Low frequency disturbances were created by making random changes in radiation heat flow on the boiler-side, while condenser vacuum was fluctuating in a random fashion on the turbine side. In order to simulate high-frequency disturbances, pulse-type load disturbances were made to strike at instants which are not an integral multiple of the NPMPC sampling period. Impressive results have been obtained during both types of system disturbances and extremely high rates of load changes, right across the operating range, These results compared favourably with those from a conventional state-space generalized predictive control (GPC) method designed under similar conditions.

Crinoids for lunch? An unexpected biotic interaction from the Upper Ordovician of Scotland

Specimens of the polyplacophoran mollusk 'Helminthochiton' thraivensis Reed from the Upper Ordovician of southwest Scotland provide rare examples of complete valve series preserved in near life position, albeit as external molds. Application of high-resolution X-ray microtomography to one such specimen has revealed the exceptional preservation of its last meal, which included elements of a crinoid column, in its intestine. The interaction was either predatory or scavenging; extant chitons are not known to be crinoidivorous. This is the earliest direct record of predation or scavenging on crinoids in the fossil record. It is also the first indication that the broad axial canal of primitive crinoids may have contained nutritious tissues. The predatory or scavenging habit of H. thraivensis is consistent with its inferred phylogenetic position as a stem-group aplacophoran and provides new data suggesting an origin of carnivory early in the evolution of this clade.