基于步态切换的欠驱动双足机器人控制方法

由于高维、非线性、欠驱动等特点, 3-D双足机器人的稳定性控制依然是一个研究难点. 一些传统的控制方法, 如基于事件的反馈控制方法和PD控制方法, 抗扰动能力较弱, 鲁棒性较差. 通过观察, 人类受到外部扰动影响时, 会通过调整步态重新获得稳定性,相较之下仅依靠一个步态获得的稳定性是有限的. 受此启发, 本文针对上述问题提出一种基于步态切换的欠驱动3-D双足机器人控制方法. 首先, 以能耗最少为优化目标, 通过非线性优化方法预先设计多组不同步长、步速的步态作为参考步态, 以构建一个步态库; 然后, 通过综合考虑步态切换过程中的稳定性与能效, 建立了多目标步态切换函数; 最后, 将该步态切换函数作为优化目标, 并求解该最小化问题获得下一步的参考步态, 从而实现步态切换, 达到使用步态库?多轨迹方法来提高鲁棒性的目的. 在仿真实验中运用该步态切换控制方法, 欠驱动3-D双足机器人可实现相对高度在[-20, 20] mm内随机变化的不平整地面上行走, 而仅采用单步态控制策略则无法克服这样的外部扰动, 从而说明了基于步态切换的欠驱动双足机器人控制方法的有效性.      

基于NiCo2O4纳米片电极的非对称混合电容器

The looming global energy crisis and ever-increasing energy demands have catalyzed the development of renewable energy storage systems. In this regard, supercapacitors (SCs) have attracted widespread attention because of their advantageous attributes such as high power density, excellent cycle stability, and environmental friendliness. However, SCs exhibit low energy density and it is important to optimize electrode materials to improve the overall performance of these devices. Among the various electrode materials available, spinel nickel cobaltate (NiCo₂O₄) is particularly interesting because of its excellent theoretical capacitance. Based on the understanding that the performances of the electrode materials strongly depend on their morphologies and structures, in this study, we successfully synthesized NiCo₂O₄ nanosheets on Ni foam via a simple hydrothermal route followed by calcination. The structures and morphologies of the as-synthesized products were characterized by X-ray diffraction, scanning electron microscopy, and Brunauer-Emmett-Teller (BET) surface area analysis, and the results showed that they were uniformly distributed on the Ni foam support. The surface chemical states of the elements in the samples were identified by X-ray photoelectron spectroscopy. The as-synthesized NiCo₂O₄ products were then tested as cathode materials for supercapacitors in a traditional three-electrode system. The electrochemical performances of the NiCo₂O₄ electrode materials were studied and the area capacitance was found to be 1.26 C·cm^-2 at a current density of 1 mA·cm^-2. Furthermore, outstanding cycling stability with 97.6% retention of the initial discharge capacitance after 10000 cycles and excellent rate performance (67.5% capacitance retention with the current density from 1 to 14 mA·cm^-2) were achieved. It was found that the Ni foam supporting the NiCo₂O₄ nanosheets increased the conductivity of the electrode materials. However, it is worth noting that the contribution of nickel foam to the areal capacitance of the electrode materials was almost zero during the charge and discharge processes. To further investigate the practical application of the as-synthesized NiCo₂O₄ nanosheets-based electrode, a device was assembled with the as-prepared samples as the positive electrode and active carbon (AC) as the negative electrode. The assembled supercapacitor showed energy densities of 0.14 and 0.09 Wh·cm^-3 at 1.56 and 4.5 W·cm^-3, respectively. Furthermore, it was able to maintain 95% of its initial specific capacitance after 10000 cycles. The excellent electrochemical performance of the NiCo₂O₄ nanosheets could be ascribed to their unique spatial structure composed of interconnected ultrathin nanosheets, which facilitated electron transportation and ion penetration, suggesting their potential applications as electrode materials for high performance supercapacitors. The present synthetic route can be extended to other ternary transition metal oxides/sulfides for future energy storage devices and systems.     

石油产品酸值测定仪校准方法

通过分析石油产品酸值测定仪工作原理,参考相应的国家技术规范,建立石油产品酸值测定仪的校准方法。使用酸值(以KOH计)为(0.11±0.03) mg/g的酸值标准物质对以颜色指示剂法为原理的石油产品酸值测定仪进行校准,设定校准项目:示值误差为–0.01 mg/g;重复性为0.02 mg/g。对石油产品酸值测定仪示值误差测量结果的不确定度进行评定,扩展不确定度为0.04 mg/g(k=2)。该校准方法计量特性满足校准要求,可用于评价石油产品酸值测定仪的性能。     

一致分数阶非线性微分方程的精确解

同时考虑了Kudryashov方法和Khalil一致分数阶变换,构造了求解一致分数阶非线性微分方程精确解的新方法,并将其用于求解时间-空间一致分数阶Whitham-Boroer-Kaup方程,得到了Whitham-Boroer-Kaup方程新的精确解,验证了该方法的有效性和可行性.     

融合形态学连通域和CV模型的民族服饰图案纹样元素分割方法

对民族服饰图案进行自动分割以提取图案纹样元素，是民族服饰图案素材库构建急需解决的难题。通过融合形态学连通域标记和CV模型（MCC-CV），提出了一种民族服饰图案自动分割方法，首先对民族服饰图案进行预处理，然后采用形态学连通域标记算法获得待分割目标的位置和大致轮廓信息，对CV模型进行初始化，最后通过CV模型对不同分割目标进行边缘追踪，以实现民族服饰图案纹样元素的自动分割。实验表明，融合形态学连通域和CV模型的民族服饰图案纹样元素自动分割方法在边界召回率（BR）为0.5时，分割准确率为60%，与其他自动分割算法相比，该算法更为有效，满足了民族服饰图案素材库建设对图案纹样元素分割的基本要求。     

火电厂CO2捕集系统的LSSVM-Hammerstein建模方法

针对火电厂燃烧后CO_2捕集过程的强非线性及大惯性等动态特性,研究准确性高的建模方法是系统优化设计的前提,本文从控制角度研究CO_2捕集系统的非线性动态辨识建模方法。首先介绍火电厂CO_2捕集系统工作原理,将系统抽象为二输入二输出的受控对象;然后采用基于最小二乘支持向量机的Hammerstein模型(LSSVM-Hammerstein)辨识方法,将CO_2捕集系统表示为静态LSSVM模型与动态线性模型的组合。辨识结果表明该模型有很高的辨识精度和泛化能力,能精确描述CO_2捕集系统非线性动态特性,为后续研究先进控制算法提供仿真平台和设计依据。