考虑柔性关节的机械臂自适应运动控制策略研究

具有柔性关节的轻型机械臂因其自重轻、响应迅速、操作灵活等优点,取得了广泛应用。针对具有柔性关节的机械臂系统的关节空间轨迹跟踪控制系统动力学参数不精确的问题,提出一种结合滑膜变结构设计的自适应控制器算法。通过自适应控制的思想对系统动力学参数进行在线辨识,并采用Lyapunov方法证明了闭环系统的稳定性。仿真结果表明,该控制策略保证了机械臂系统对期望轨迹的快速跟踪,具有良好的跟踪精度,系统具有稳定性。     

M-Mode Color Doppler Ultrasonic Imaging of Vertical Tongue Movement During Articulatory Movement

To observe and estimate the movement of the tongue, ultrasonic investigation is the most harmless real-time monitoring procedure for analyzing articulatory movements. Color Doppler ultrasonic imaging is special in that it can only sample a moving target, and it can indicate the velocity and direction of the target by color and brightness in real time. This study assessed and demonstrated the validity of M-mode color Doppler ultrasonic imaging to observe the movements of the tongue during syllable repetition tasks performed by normal subjects and dysarthric patients, those affected by amyotrophic lateral sclerosis, cerebellar ataxia, Parkinsonism, and polymyopathy. When the transducer was set below the jaw, upward movement was indicated by a blue signal and downward movement was indicated by a red one on the screen of the ultrasound machine. We also measured the velocity of the tongue by contrast scale classified by 15 degrees. Thus, we could observe vertical tongue movement by a color-coded pattern after quantitative analysis. The Doppler signal patterns of normal subjects were verified by simultaneous video x-ray fluorography recordings. The findings for dysarthric patients corresponded well with previously reported features analyzed by other methods. Therefore, color Doppler ultrasonic imaging of the tongue is a useful procedure to researchers for clinical speech and voice studies.     

Laser Controlling Wavepacket Trains of a Paul Trapped Ion

We have studied the quantum and classical motions of a single Paul trapped ion interacting with a time-periodic laser field. By using the test-function method, we construct n exact solutions of quantum dynamics that describe the generalized squeezed coherent states with the expectation orbits being the corresponding classical ones. The space-time evolutions of the exact probability densities show some wavepacket trains. It is demonstrated analytically that by adjusting the laser intensity and frequency, we can control the center motions of the wavepacket trains. We also discuss the other physical properties such as the expectation value of energy, the widths and heights of the wavepackets, and the resonance loss of stability.     

EFFECT OF FISH MOVEMENT AND FLEET SPATIAL BEHAVIOR ON MANAGEMENT OF FISH SUBSTOCKS

I investigated the questions (i) how much movement of fish between areas within a stock is required before the areas can be managed jointly instead of separately and (ii) how is the trade-off between separate and joint management affected by the spatial behavior of the fishing fleet? I addressed these questions using a simulation model of a fishery on a stock that is divided into two areas (substocks) between which fish can move. Under joint management, fleet spatial behavior is characterized by its “switching level,” or the biomass level in the currently fished area at or below which the fleet will switch to the other area. Catch levels were calculated under both separate and joint management for a range of movement rates and switching levels. I also studied the effect of differences in natural mortality rates between the two areas. When the natural mortality rates were the same for the two areas, (i) separate management resulted in higher catch than joint management, (ii) joint management only approached the catch of separate management when movement rate of fish between the two areas was very high, (iii) the difference between separate and joint management was greatest when (a) the switching level of the joint fleet was low (i.e., inertia was high) and (b) the joint fleet had a preference for one area. When natural mortality rate was different in the two areas, and (i) the joint fleet did not prefer one area, (a) separate management produced higher catches at low fish movement rates while joint management produced higher catches at high movement rates and (b) switching level had no effect on catch, and (ii) when the fleet had a preference for the area with the higher natural mortality rate, separate management resulted in higher catches than joint management, and the difference increased with increasing fish movement rate. These simulations suggest that the relative merits of separate and joint management of two areas depends on the assumptions one makes about the spatial behavior of the fishing fleet. This behavior is as important as movement of fish between the areas, which is normally assumed to be the overriding determinant of the relative merits of separate and joint management.     

The Relationship Between Chronic Cough and Paradoxical Vocal Fold Movement: A Review of the Literature

SUMMARY: Chronic cough (CC) and paradoxical vocal fold movement (PVFM) are debilitating conditions. PVFM has been given many labels, including vocal cord dysfunction, Munchausen's stridor, functional inspiratory stridor, nonorganic functional or psychogenic upper airway obstruction, factitious asthma, psychogenic stridor, emotional laryngeal wheezing, and episodic laryngeal dyskinesia. Although CC and PVFM have been considered separate entities in many reports, there is preliminary support for the notion that there may be an underlying link between these two conditions. Speech pathologists have become increasingly involved in the treatment of these patients and therefore need to understand the theoretical background of these disorders, the pathophysiological links between the two, and the impact of voice disorders on these populations. The aim of this article is to review the current literature on CC and PVFM from a speech pathology perspective to provide a model for defining and conceptualizing the disorders and to provide a framework for management and future research.     

Efficient Scheduling of Traffic on a Railway Line

Scheduling trains on a single railway line is an important issue in it own right and a building block for scheduling trains in railway networks. A local, state-dependent, travel-advance strategy combined with a discrete-event model of a railway line represents a more efficient way of approaching the scheduling problem than the nonlinear programming approach used in the past. The new approach produces suboptimal time-efficient and energy-efficient schedules and can be used for fast rescheduling in case of significant perturbation in the schedule.     

Mechanical analysis of orbit tracking movement of feed system in large spherical radio-telescope

The curve equation and its mechanics analysis of suspended-cable under the condition of end load are given. Then on the basis of it, the mechanical analysis of suspended-cable system for large spherical radio-telescope is studied, and procedures of the control for the orbit tracking movement of the line feed in large spherical radiotelescope are given. The validity of the results mentioned above is confirmed by means of computer simulations.     

Interaction of in-band and in-gap lattice soliton trains in optically induced two-dimensional photonic lattices

We demonstrate the coherent interactions of lattice soliton trains, including in-band solitons (IBSs) and gap soliton trains (GSTs), in optically induced two-dimensional photonic lattices with self-defocusing nonlinearity. It is revealed that the $\pi$-staggered phase structures of the lattice soliton trains will lead to anomalous interactions. Solely by changing their initial separations, the transition between attractive and repulsive interaction forces or reversion of the energy transfer can be obtained. The `negative refraction' effect of the soliton trains on the interaction is also discussed. Moreover, two interacting IBSs can merge into one GST when attraction or energy transfer happens.     

轴向运动正交各向异性板的超谐波共振及稳定性

研究了轴向运动正交各向异性条形薄板在线载荷作用下的超谐波共振问题。通过哈密顿原理导出了几何非线性下正交各向异性条形板的非线性振动方程。运用伽辽金积分法,推得了关于时间变量的量纲归一化非线性振动微分方程组。应用多尺度法求解三阶超谐波共振问题,得到了稳态运动下一阶、二阶、三阶共振形式的共振幅值响应方程。利用Liapunov方法推得不同共振形式稳态解的稳定性判据,并据此分析不同参数对系统稳定性的影响。绘制了振幅特性变化曲线图和与之对应的激发共振多解临界点曲线图,分析系统参数对共振的影响,并预测系统进入非线性共振区域的临界条件。得出激励在特定位置区间时可激发系统的超谐波共振,随着激励幅值的增加,上稳定解支减小,下稳定解支增加,且一阶模态振幅大于二阶、三阶振幅。     

证券组合M-V有效前沿旋移分析的进一步研究

在市场上存在无风险资产且允许卖空的条件下,研究了新增加k种证券后对原有效前沿的影响.引入了有效证券和无效证券,给出了M-V证券组合有效前沿旋移的方向.研究结果表明新增加证券后有效前沿的斜率变大.