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。     

基于PLC的三维调整机同步控制系统设计与实现

针对三维调整机难以实现多台同步工作，设计了基于PLC的同步控制方案。在同步控制系统方案中，采用西门子PLC通过工业无线以太网进行同步控制，由各维度油缸的位移传感器来保证同步控制的精确性。经实验，证实了此系统的精度满足设计要求，实现了同步控制的效果。     

Aqueous Gold Overgrowth of Silver Nanoparticles: Merging the Plasmonic Properties of Silver with the Functionality of Gold

To date, it has not been possible to combine the high optical quality of silver particles with the good chemical stability and synthetic convenience in a fully aqueous system, while simultaneously allowing chemical surface functionalization. We present a synthetic pathway for future developments in information, energy and medical technology where strong optical/electronic properties are crucial. Therefore, the advantages inherent to gold are fused with the plasmonic properties of silver in a fully aqueous Au/Ag/Au core–shell shell system. These nanoparticles inherit low dispersity from their masked gold cores, yet simultaneously exhibit the strong plasmonic properties of silver. Protecting the silver surface with a thin gold layer enables oxidant stability and functionality without altering the Ag‐controlled optical properties. This combines both worlds—optical quality and chemical stability—and is not limited to a specific particle shape.     

Broadband excitation pulses for high‐field solid‐state nuclear magnetic resonance spectroscopy

In nuclear magnetic resonance spectroscopy, experimental limits due to the radiofrequency transmitter and/or coil means that conventional radiofrequency pulses (“hard pulses”) are sometimes not sufficiently powerful to excite magnetization uniformly over a desired range of frequencies. Effects due to nonuniform excitation are most frequently encountered at high magnetic fields for nuclei with a large range of chemical shifts. Using optimal control theory, we have designed broadband excitation pulses that are suitable for solid‐state samples under magic‐angle‐spinning conditions. These pulses are easy to implement, robust to spinning frequency variations, and radiofrequency inhomogeneities, and only four times as long as a corresponding hard pulse. The utility of these pulses for uniformly exciting ¹³C nuclei is demonstrated on a 900 MHz (21.1 T) spectrometer. Copyright © 2012 John Wiley & Sons, Ltd.     

Control of a turbulent flow separated at mid-chord along an airfoil with DBD plasma actuators

The goal of the present experimental study is to investigate the ability of surface DBD plasma actuators to delay flow separation along the suction side of a NACA0015 airfoil. Three single surface DBD actuators that can operate separately are mounted on the suction side of the profile, at 18%, 27% and 37% of the chord length. The boundary layer is transitioned by a tripper to be sure that the flow control is not due to the laminar-to-turbulent transition. The angle of attack is equal to 11.5° and the free-stream velocity to U₀ = 40 m/s, resulting in a chord-based Reynolds number of Re_c = 1.33 × 10⁶. The flow is studied with a high-resolution PIV system. In such conditions, the baseline flow separation occurs at 50% of chord. Then, the different single DBD have been switched on separately, in order to investigate the actuator location effect. One highlights that the DBD located at x_c/c = 18% is more effective than the two others ones, with a separation delay up to 64% of chord. When the three DBDs operate simultaneously, the separation point moves progressively toward the trailing edge when the high voltage is increased, up to 76% of chord at 20 kV. Finally, the effect of the actuation frequency on the control authority has been investigated, by varying the value of the operating frequency and by burst-modulation. For frequencies equal to 50 Hz and 500 Hz (reduced frequency F⁺ = 0.31 and 3.1), the separation has been delayed at 76 and 80% of chord, respectively.     

What can statistical process control show us about ionization chamber stability?

PurposeStatistical process control (SPC) has been shown to be a suitable tool for medical physicists to monitor quality and keep variability low and within specifications. We report our findings regarding ionisation chamber stability in our department when using a radioactive stability check device (RSCD) and we compare them with similar previously published records, including calibration results.MethodsWe retrospectively studied the stability of a PPC 40 parallel-plate chamber, and two Farmer chambers (FC65-G and FC65-P) by checking them with dedicated RSCDs. We analysed the data following SPC methodology which includes plotting I-MR control charts, monitoring out-of-control observations, calculating process capability ratios (C_p), and estimating conformance to specifications. We also estimated the C_p and adherence to specifications of previously published data.ResultsThe PPC40 chamber hardly went out of the control limits over the whole six-year period assessed. However, Farmer chamber verifications drifted in opposite directions in phase II, and the deviations observed did not agree with their calibration records, which only increased by a maximum of 0.5%. In phase I the most unstable chamber was the FC65-P with a C_p equal to 0.9 at a specification level of ±1%. The PPC40 chamber was stable to within a maximum C_p of 1.3. Several sets of analysed data, including ours and those from other authors, fitted well within these limits: within ±1.9% and ±1.5% for a C_p of 1.5 and 1.33 respectively.ConclusionsSPC with constant long-term RSCD checking gave us a meaningful plot of the instability of our ionisation chambers. Although a period of two years between calibrations should not be surpassed, in the interim this check can conform to specifications of ±1.5%.     

Influence of staff number and internal constellation on surgical site infection in an operating room

Prediction of bacteria-carrying particle (BCP) dispersion and particle distribution released from staff members in an operating room (OR) is very important for creating and sustaining a safe indoor environment. Postoperative wound infections cause significant morbidity and mortality, and contribute to increased hospitalization time. Increasing the number of personnel within the OR disrupts the ventilation airflow pattern and causes enhanced contamination risk in the area of an open wound. Whether the amount of staff within the OR influences the BCP distribution in the surgical zone has rarely been investigated. This study was conducted to explore the influence of the number of personnel in the OR on the airflow field and the BCP distribution. This was performed by applying a numerical calculation to map the airflow field and Lagrangian particle tracking (LPT) for the BCP phase. The results are reported both for active sampling and passive monitoring approaches. Not surprisingly, a growing trend in the BCP concentration (cfu/m³) was observed as the amount of staff in the OR increased. Passive sampling shows unpredictable results due to the sedimentation rate, especially for small particles (5–10 μm). Risk factors for surgical site infections (SSIs) must be well understood to develop more effective prevention programs.     

Global Structure-Acute Toxicity Relationships for Mice Using Structural Parameter Ratios: New Approach to Molecular Design and Screening

Abstract

A method for a preliminary survey of the relationship between molecular structure and performance was described using 1506 random data of structure-acute toxicity for mice (intravenously dosed). The structural patterns of the weakest toxic structures (111) were extracted from the data and the patterns discriminated for 64.2% of the other structures (1395). As for the 826 structures of strongest toxicity, 78.3% were discriminated by these structural patterns. These results were obtained by using structural parameter ratios to describe the structural patterns and the exhaustive elimination process to select the best parameter ratio from many candidates. The results were summarized in the form of a chart which can be used for practical screening for the weakest toxic structures.     

Linear quadratic regulator for laser beam shaping

The performance of an adaptive optics system depends on multiple factors, including the quality of the laser beam before being projected to the mesosphere. In general, cumbersome procedures are required to optimize the laser beam in terms of amplitude and phase. However, aberrations produced by the optics of the laser beam system are still detected during the operations due to, for example, uncertainty in the utilized models. In this paper we propose the use of feedback to overcome the presence of model uncertainty and disturbances. In particular we use a Linear Quadratic Regulator (LQR) for closed loop laser beam shaping using a setup of two deformable mirrors. The proposed method is studied and simulated to provide an automatic optimization of the Amplitude of the laser beam. The performance of the LQR control algorithm is evaluated via numerical simulations using the root mean square error (RMSE). The results show an effective amplitude correction of the laser system aberrations after 20 iterations of the algorithm, a RMSE less than 0.7 was obtained, with about 140 actuators per mirror and a separation of z=3 [m] among the mirrors.