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。     

基于分块压缩感知理论的太赫兹波宽光束成像技术

提出了一种基于分块压缩感知理论的太赫兹波宽光束成像技术。模拟结果显示,该技术可以实现高分辨率、高质量的快速成像。采用连续太赫兹波CO_2气体激光器光源,基于宽光束矩阵调制采样,对不同物体进行了分块压缩感知成像,并与基于单像素随机采样的分块压缩感知方法进行了对比。结果表明,所提技术具有更高的成像稳定性,且其采样过程对不同成像物体的普适性更好。     

海洋环境噪声中的α稳定分布模型

针对海洋环境噪声的非高斯特性,将α稳定分布模型应用到噪声统计建模中。基于模型特征指数与样本峰度物理意义的相似性,建立了二者的对应关系,并推导得出相互独立的两个随机变量之和的峰度。通过数值仿真,表明了α稳定分布对尖峰态噪声建模的可行性和适应性。以安静环境、气枪干扰、航船干扰3种典型环境下的海上实测数据为样本,借助分位数图判断了样本的非高斯特性,并利用分位数法和特征函数法联合估计了模型的参数,得出了特征指数的统计规律:安静环境下特征指数接近2.0,趋近于正态分布;气枪干扰下特征指数介于1.2~1.7之间,具有尖峰厚尾特性;航船干扰下与航速、干扰源到接收位置距离有关,航船影响越显著,特征指数越小,该现象恰好与干扰噪声的峰度变化在物理意义上一致。模型验证结果表明,α稳定分布对3类样本均表现出良好的建模效果,尤其对具有尖峰特性的气枪干扰噪声,效果远远优于正态分布。      

Ostrowski-Taussky不等式的推广

行列式的概念是矩阵分析中的一个很基本的概念,其中一个非常重要的应用就是解线性方程组.由于行列式的概念是和矩阵特征值紧密相关的,研究行列式的一些性质可以从侧面反映出该矩阵特征值的一些性质.Ostrowski-Taussky不等式是一个关于行列式的不等式,利用矩阵极分解的概念,给出了不等式的一个新的证明,并且推广了不等式.