考虑运动受限的履带式移动机器人轨迹跟踪控制

针对履带式移动机器人的轨迹跟踪控制问题进行研究,首先,建立了履带式移动机器人的运动学模型和跟踪误差模型；其次,设计了转速有限时间控制和线速度滑模控制的轨迹跟踪控制律,并给出了考虑运动受限作用下的控制律修正表达式；最后,基于MATLAB对所提控制律进行仿真,对比分析了不考虑运动受限情况下跟踪控制效果;结果表明,设计的跟踪控制律能够实现履带式移动机器人对圆轨迹的有效跟踪,且考虑运动受限作用的控制律更加符合实际;文章研究分析了运动受限作用对于移动机器人轨迹跟踪控制的影响,分析结果对其他移动机器人的运动控制研究具有参考价值。     

On circular–linear one-factorizations of the complete graph

In Korchmáros et al. (2018)one-factorizations of the complete graph $K_n$ are constructed for $n=q+1$ with any odd prime power $q$ such that either $q\equiv 1(mod4)$ or $q=2^h?1$. The arithmetic restriction $n=q+1$ is due to the fact that the vertices of $K_n$ in the construction are the points of a conic $\Omega$ in the finite plane of order $q$. Here we work on the Euclidean plane and describe an analogous construction where the role of $\Omega$ is taken by a regular $n$-gon. This allows us to remove the above constraints and construct one-factorizations of $K_n$ for every even $n\ge 6$.     

Edge proximity and matching extension in projective planar graphs

A graph $G$ with at least $2m+2$ vertices is said to be distance $d$ $m$-extendable if, for any matching $M$ of $G$ with $m$ edges in which the edges lie at distance at least $d$ pairwise, there exists a perfect matching of $G$ containing $M$. In this paper we prove that every 5-connected triangulation on the projective plane of even order is distance 3 7-extendable and distance 4 $m$-extendable for any $m$.     

Microstructural evolution of AZ31 magnesium alloy subjected to sliding friction treatment

Microstructural evolution and grain refinement mechanism in AZ31 magnesium alloy subjected to sliding friction treatment were investigated by means of transmission electron microscopy. The process of grain refinement was found to involve the following stages: (I) coarse grains were divided into fine twin plates through mechanical twinning; then the twin plates were transformed to lamellae with the accumulation of residual dislocations at the twin boundaries; (II) the lamellae were separated into subgrains with increasing grain boundary misorientation and evolution of high angle boundaries into random boundaries by continuous dynamic recrystallisation (cDRX); (III) the formation of nanograins. The mechanisms for the final stage, the formation of nanograins, can be classified into three types: (i) cDRX; (ii) discontinuous dynamic recrystallisation (dDRX); (iii) a combined mechanism of prior shear-band and subsequent dDRX. Stored strain energy plays an important role in determining deformation mechanisms during plastic deformation.     

Comments on “Fuzzy fractional order sliding mode controller for nonlinear systems” [Commun Nonlinear Sci Numer Simulat 15 (2010) 963-978]

The aim of this note is to point out some comments to the article [Delavari H, Ghaderi R, Ranjbar A, Momani S. Fuzzy fractional order sliding mode controller for nonlinear systems, Commun Nonlinear Sci Numer Simulat 15 (2010) 963-978].     

Some useful integer arrays for the teaching of generalization skills

Teachers of first-year college mathematics and engineering courses must often spend considerable time reviewing material originally taught in high school. Instead of this being a mere exercise in repetition, this article suggests that such a review can enrich and revitalize by unifying some of the subjects that need to be re-taught. In the example presented, the subjects in question are absolute values, graphs and solutions of equations, and domains of definition. These are unified by the problem of finding an analytic expression for a square and triangle and their interiors. In the course of the development, basic notions such as the additive property of areas and convexity are introduced. The approach presented in the article was tried with secondary school teachers participating in professional development workshops and with students at a technical college; the teachers and students responded enthusiastically to the material.     

Proposition of a compensated pixelwise calibration for photonic infrared cameras and comparison to classic calibration procedures: Case of thermoelastic stress analysis

In this paper, we propose a compensated pixelwise calibration that integrates the effects of the camera housing temperature. The results of this calibration are compared on black body images to classic two points Non Uniformity Correction based calibrations, compensated or not. It is shown that the proposed approach leads to a significant improvement in the thermal resolution with a reduction in the mean error as well as the standard deviation. The approach is finally challenged on a real case measurement focusing on thermoelasticity. The gain in terms of accuracy measurement is highlighted by comparing the proposed calibration to classic calibrations and the scope of interest of this new calibration is discussed.     

Anodic stripping voltammetry of antimony at unmodified carbon electrodes

Antimony is an element of significant environmental concern, yet has been neglected relative to other heavy metals in electroanalysis. As such very little research has been reported on the electroanalytical determination of antimony at unmodified carbon electrodes. In this paper we report the electrochemical determination of Sb(III) in HCl solutions using unmodified carbon substrates, with focus on non-classical carbon materials namely edge plane pyrolytic graphite (EPPG), boron doped diamond (BDD) and screen-printed electrodes (SPE). Using differential pulse anodic stripping voltammetry, EPPG was found to give a considerably greater response towards antimony than other unmodified carbon electrodes, allowing highly linear ranges in nanomolar concentrations and a detection limit of 3.9?nM in 0.25?M HCl. Furthermore, the sensitivity of the response from EPPG was 100 times greater than for glassy carbon (GC). Unmodified GC gave a comparable response to previous results using the bare substrate, and BDD gave an improved, yet still very high limit of detection of 320?nM compared to previous analysis using an iridium oxide modified BDD electrode. SPEs gave a very poor response to antimony, even at high concentrations, observing no linearity from standard additions, as well as a major interference from the ink intrinsic to the working electrode carbon material. Owing to its superior performance relative to other carbon electrodes, the EPPG electrode was subjected to further analytical testing with antimony. The response of the electrode for a 40?nM concentration of Sb(III) was reproducible with a mean peak current of 1.07?µA and variation of 8.4% (n?=?8). The effect of metals copper, bismuth and arsenic were investigated at the electrode, as they are common interferences for stripping analysis of antimony.     

Design rule of indium bump in infrared focal plane array for longer cycling life

In light of the proposed equivalent method, a three-dimensional structural modeling of InSb infrared focal plane arrays (IRFPAs) is created, and the simulated strain distribution is identical to the deformation distribution on the top surface of InSb IRFPAs. After comparing the deformation features at different regions with the structural characteristics of IRFPAs, we infer that the flatness of InSb IRFPAs will be improved with a thinner indium bump array, and this inference is verified by subsequent simulation results. That is, when the diameter of indium bump is smaller than 20 μm, the simulated Z-components of strain on the whole top surface of InSb IRFPAs is uniform, and the deformation amplitude is small. When the diameter of indium bump is larger than 28 μm, the simulated Z-components of strain increases rapidly with the thicker indium bump, and the flatness of InSb IRFPAs is worsened rapidly. According to the changing trend of deformation amplitude with diameters of indium bump, and employing element pitches normalization method, a design rule of indium bump is proposed. That is, when the diameter of indium bump is shorter than 0.4 times the element pitch, the flatness of InSb IRFPAs is in an acceptable range. This design rule was supported by different IRFPAs with different formats delivered by several main research groups for achieving a longer cycling life.