Robust Output Tracking Control of an Uncertain Linear System via a Modified Optimal Linear-Quadratic Method

This study investigates the robust output tracking problem for a class of uncertain linear systems. The uncertainties are assumed to be time invariant and to satisfy the matching conditions. According to the selected nominal parameters, an optimal solution with a prescribed degree of stability is determined. Then, an auxiliary input via the use of an adapting factor, connected to the nominal optimal control, is introduced to guarantee the robustness and prescribed degree of stability for the output tracking control of the uncertain linear systems. This method is very simple and effective and can reject bounded uncertainties imposed on the states. A maglev vehicle model example is given to show its effectiveness.     

KNbO3：Fe晶体的时间微分效应及图像追踪

本文观察到了KNbO_3:Fe晶体的时间微分效应,并用这个微分效应进行了图像追踪的演示,为KNbO_3:Fe晶体在光折变器件领域的应用进行了有益的探索。     

基于界面跟踪方法的汽蚀模型和算法的有效性验证

针对两相附着汽蚀流动机理,基于界面跟踪方法发展了新的汽蚀模型和算法。所发展的汽蚀模型和算法不仅考虑了液相／气相界面处的压力差,而且考虑了耦合Reynolds-Averaged Navier-Stokes方程求解技术得到的流场压力梯度信息来迭代计算附着汽蚀形状。采用具有试验数据的半球形头部圆柱体汽蚀绕流作为算例来验证所提出的汽蚀模型和算法的有效性。采用不同的网格数和松弛因子数值验证了发展的汽蚀模型和算法的有效性。三种汽蚀数下的数值计算结果得到的压力系数分布与试验数据完全吻合。结果表明所提出的汽蚀模型和算法能够准确模拟出汽蚀发生点和汽蚀长度。     

椭圆法用于阳极溶出伏安法测定微量银

用新物理量Ｖｏｐ的椭圆法对阳极溶出伏安法分析的含银离子浓度为１０＾５－１０＾－９ｍｏｌ／Ｌ的一系列溶液进行了研究。结果表明：光学方法与电化学方法所得分析结果相同；椭圆法可检测的浓度下限比电化学方法低一个数量级以上。而且测量的相对平均偏差也小于电化学方法。     

The intersection marker method for 3D interface tracking of deformable surfaces in finite volumes

Currently, the majority of computational fluid dynamics (CFD) codes use the finite volume method to spatially discretise the computational domain, sometimes as an array of cubic control volumes. The Finite volume method works well with single‐phase flow simulations, but two‐phase flow simulations are more challenging because of the need to track the surface interface traversing and deforming within the 3D grid. Surface area and volume fraction details of each interface cell must be accurately accounted for, in order to calculate for the momentum exchange and rates of heat and mass transfer across the interface. To attain a higher accuracy in two‐phase flow CFD calculations, the intersection marker (ISM) method is developed. The ISM method is a hybrid Lagrangian–Eulerian front‐tracking algorithm that can model an arbitrary 3D surface within an array of cubic control volumes. The ISM method has a cell‐by‐cell remeshing capability that is volume conservative and is suitable for the tracking of complex interface deformation in transient two‐phase CFD simulations. Copyright © 2015 John Wiley & Sons, Ltd.     

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。     

环路跟踪卡尔曼滤波算法的性能分析

基于卡尔曼滤波的环路跟踪算法多是通过一定仿真证明算法性能,没有系统性性能评估,难以较好指导工程应用。在原有算法基础上进行了优化,并系统性地对比分析、评估了基于卡尔曼环路滤波算法性能,以期为算法工程化提供指导。首先提出对跟踪环路反馈调整量进行预测,使之更符合系统实际,减小环路跟踪误差。而后基于卫星信号模拟器输出信号和自生产信号源,充分评估基于卡尔曼滤波环路跟踪算法的收敛时间和灵敏度。仿真结果表明,相比目前工程常用的二阶FFL辅助三阶PLL算法,基于卡尔曼滤波环路跟踪算法能够缩短环路所需稳定时间约90%,并能提升跟踪灵敏度约5 d B,有效改善弱信号场景中接收机输出信息的完好性和连续性。     

A velocity program using the Kanade–Lucas–Tomasi feature-tracking algorithm with demonstration for pressure and electroosmosis conditions

Investigating microfluidic flow profiles is of interest in the microfluidics field for the determination of various characteristics of a lab-on-a-chip system. Microparticle tracking velocimetry uses computational methods upon recording video footage of microfluidic flow to ultimately visualize motion within a microfluidic system across all frames of a video. Current methods are computationally expensive or require extensive instrumentation. A computational method suited to microparticle tracking applications is the robust Kanade–Lucas–Tomasi (KLT) feature-tracking algorithm. This work explores a microparticle tracking velocimetry program using the KLT feature-tracking algorithm. The developed program is demonstrated using pressure-driven and EOF and compared with the respective mathematical fluid flow models. An electrostatics analysis of EOF conditions is performed in the development of the mathematical using a Poisson's Equation solver. This analysis is used to quantify the zeta potential of the electroosmotic system. Overall, the KLT feature-tracking algorithm presented in this work proved to be highly reliable and computationally efficient for investigations of pressure-driven and EOF in a microfluidic system.     

The Reaction Activity of Aromatic Carbonyl Compounds with Diphenylphosphine Oxide Studied by 31P NMR

Abstract

A series of α-hydroxyphosphine oxides were prepared by the reactions of diphenylphosphine oxide and aromatic carbonyl compounds and characterized by ¹H NMR, ¹³C NMR, ³¹P NMR, FT-IR, ESI-MS, and HR-MS spectra. The reaction rates and experimental conditions of aromatic aldehydes and aromatic ketones were obviously different due to the activity of their carbonyls. The different substituents of the aromatic aldehydes affected the reaction rate too, and the quantitative reactivity of their substituent conformed to the Hammett equation. The results were confirmed by ³¹P NMR spectroscopy.     

室内环境中脑控轮椅的路径跟踪控制

为了实现室内环境中脑控轮椅的自主导航,提出了一种简单有效的路径跟踪控制方法。给定的路径通常被表示为一系列离散点,根据这一特点,提出了分段直线路径跟踪方法,即依次跟踪由前后两个路径点构成的直线路径到达目标点。基于预瞄点技术并结合模糊算法和传统的PID控制方法设计控制器,完成各分段直线路径的跟踪,并给出了有效的切换条件。实验结果表明,本文提出的路径跟踪控制方法能够使脑控轮椅在室内环境中精确地跟踪给定路径。