试探《物理学》的美学原理

本文通俗地描述物理学中所包含的美学原理．使工科师生也能从非功利的视角来认识物理学的博大精深．     

Tracking control of high-performance robots via stabilizing controllers for uncertain systems

The development of flexible manufacturing systems calls for industrial robots characterized by robustness of performance with regard to the variations of the loads and real time specification of the trajectory in the work space. In this paper, the design of a feedback controller guaranteeing such performance is considered. At first, the manipulator dynamics are embedded into a larger class of uncertain dynamical systems and a class of feedback controls is proposed that guarantees uniform ultimate boundedness of the tracking error. Successively, the methodology is specialized for the case of robotic manipulators to track trajectories described in task-oriented coordinates; the proposed control algorithm operates without requiring any explicit coordinate transformation.     

一种互补型自适应滤波最小均方法在SQUID测量的心磁信号中的应用

提出了一种互补型自适应滤波最小均方算法在SQUID测量的心磁信号中的应用，快的收敛速度和很好的跟踪能力通过根据最小均方原则在两个滤波器之间来回转换加权参量来实现     

五象限法声源自动跟踪器

介绍由两同心圆组成的等投影面积五象限声－电测量装置的工作原理。当声波与声－电转换器的主要测象限垂直时，其声波在主要测象限内产生的声－电电压最强。根据声－电电压的变化大小来确定声源的方向，实现自动跟踪。     

Colloidal particle motion as a diagnostic of DNA conformational transitions

Tethered particle motion is an experimental technique to monitor conformational changes in single molecules of DNA in real time, by observing the position fluctuations of a micrometer-size particle attached to the DNA. This article reviews some recent work on theoretical problems inherent in the interpretation of TPM experiments, both in equilibrium and dynamical aspects.     

On the nonlinear dynamics and control of flexible orbiting manipulators

The paper studies nonlinear dynamics and control of a class of space station based mobile flexible two-link manipulators, normally referred to as the Mobile Servicing System (MSS).The governing nonlinear, nonautonomous and coupled equations of motion are described first followed by the modal discretizations procedure. A parametric response study suggests situations with unacceptable levels of deflections and accelerations for certain proposed missions, as well as station libration and payload positioning errors.An inverse control technique is proposed to achieve high tracking accuracy of the MSS in presence of maneuver induced disturbances. The control strategy is so designed as to regulate the libration of the Space Station as well as to insure joints tracking of prescribed trajectories, while limiting the effect of the structural vibration during large slewing maneuvres of the MSS. Two different control schemes, both based on the feedback linearization technique, are developed and their relative merit assessed.This investigation was supported by the Centers of Excellence Program, Grant No. IRIS/C-8, 5-55380, and Natural Sciences and Engineering Research Council of Canada, Grant No. A-2181.     

Some new results of IR systems'' sensitivity equations

Typical IR systems' sensitivity equations have been established for decades, these include the NETD equation for IR imaging systems, and the acquisition and tracking range equations for IR searching and tracking systems, but they only fit the specific or simplified conditions. For example, the NETD equation can only be used for systems tested under the standard condition. In the field application, we must deal with the noise equivalent radiance difference NELD, not the NETD, and give out its explicit equation for concrete calculation. For the range equation, when the small target, often called a point source, is not strong enouph, i. e., when the target contrast is seriously decreased, we must consider the unneglectable background effect. In this paper, we summarrize some more general and valuable IR systems' sensitivity equations, which can be used for the practical engineering analysis and projection effectively.     

位相物体的暗场成像

本文介绍一种便于实现的位相物体暗场成像方法，并给出了实验结果．     

光电跟踪系统轴角编码与数字显示

介绍一种光电跟踪系统所采用的轴角编码与数字显示器。分析跟踪型轴角编码器的基本原理，探讨并提出了提高分辨率的具体方法，保证系统测角精度并可进行数字显示。     

Design and optimal tuning of nonlinear PI compensators

In this paper, linear time-invariant single-input single-output (SISO) systems that are stabilizable by linear proportional and integral (PI) compensators are considered. For such systems, a five-parameter nonlinear PI compensator is proposed. The parameters of the proposed compensator are tuned by solving an optimization problem. The optimization problem always has a solution.Additionally, a general nonlinear PI compensator is proposed and is approximated by easy-to-compute compensators, for instance, a six-parameter nonlinear PI compensator. The parameters of the approximate compensators are tuned to satisfy an optimality condition. The superiority of the proposed nonlinear PI compensators over linear PI compensators is discussed and is demonstrated for two feedback systems.