Double-level ball-riding robot balancing: From system design,modeling, controller synthesis,to performance evaluation

In this research, a new robot, double-level ball-riding robot, is introduced. The robot consists of an upper ball-riding subsystem and a lower ball-riding subsystem. The robot’s dynamics model can be considered separately in two identical planes. Euler–Lagrange equation of motion is applied in order to obtain the dynamics model. Motors are included in the robot’s model. The model is then linearized. The robot’s parameters are identified. The robot’s prototype is manufactured and assembled. Linear Quadratic Regulator with Integral (LQR + I) controller is proposed and applied in order to balance both levels of the robot. The complementary and orientation transformation are used to fuse sensors in order to obtain robot leaning angles. Balancing performance of the developed double-level ball-riding robot is evaluated by simulations and experiments. The results show efficient control performance of LQR + I controller.     

Adaptive depth truncation filter for MVC based compressed depth image

In multiview video plus depth (MVD) format, virtual views are generated from decoded texture videos with corresponding decoded depth images through depth image based rendering (DIBR). 3DV-ATM is a reference model for the H.264/AVC based multiview video coding (MVC) and aims at achieving high coding efficiency for 3D video in MVD format. Depth images are first downsampled then coded by 3DV-ATM. However, sharp object boundary characteristic of depth images does not well match with the transform coding based nature of H.264/AVC in 3DV-ATM. Depth boundaries are often blurred with ringing artifacts in the decoded depth images that result in noticeable artifacts in synthesized virtual views. This paper presents a low complexity adaptive depth truncation filter to recover the sharp object boundaries of the depth images using adaptive block repositioning and expansion for increasing the depth values refinement accuracy. This new approach is very efficient and can avoid false depth boundary refinement when block boundaries lie around the depth edge regions and ensure sufficient information within the processing block for depth layers classification. Experimental results demonstrate that the sharp depth edges can be recovered using the proposed filter and boundary artifacts in the synthesized views can be removed. The proposed method can provide improvement up to 3.25 dB in the depth map enhancement and bitrate reduction of 3.06% in the synthesized views.     

蒸汽加氧吹洗新技术的研究与应用

本文着重介绍了蒸汽加氧吹洗新技术的原理及应用情况。该方法具有创造性、新颖性和实用性。解决了基建炉过热器、再热器的酸洗难题，并能在金属表面形成致密的保护膜，是提高我国吹管技术管理水平，提高水汽品质的一种有效方法。能确保机组在投产后安全、经济地运行，延长锅炉的使用寿命。如在全国范围内大力推广应用，其社会经济效益显著。     

The quadrupole plus pairing interaction model in large configuration space for W,Os and Pt nuclei

The equilibrium deformations of tungsten, osmium and platinum nuclei are studied with the self-consistent quadrupole plus pairing interaction model by considering all the nucleons in nucleus explicitly. It is shown that similar results can be obtained by performing calculations with or without the assumption of an inert core. The only difference is in the strength of the quadrupole and pairing interactions to be employed in the respective calculations. The experimental static quadrupole moments and theB (E2) values are correctly reproduced by performing calculations with bare nucleon charge for all the nucleons.     

基于可编程器件的任意进制计数器的设计方法

采用可编程器件设计电路,利用MAX＋plusⅡ设计软件中LPM元件库所提供的lpm_counter元件．实现任意进制计数器的设计。该计数器电路与结构无关,可编程器件的芯片利用率及效率达到最优,加快复杂计数器设计进程．减少调试时间,优化系统设计。     

A discrete convolution involving Fourier sine and cosine series and its applications

ABSTRACT

In this paper, we introduce a discrete convolution involving both the Fourier sine and cosine series. We study Young's type inequality and a discrete transform related to this convolution and solve in closed form a class of discrete Toeplitz plus Hankel equations.     

新时代下我国数字农业发展的机遇、不足及对策

近年来,在政策推动及市场环境的变化下,我国数字农业发展取得了一定成效,但也依然面临着人才短缺、技术薄弱、主动投资不足等挑战。对当下我国数字农业发展的现状、机遇和挑战进行分析研究,并给出相关对策建议。     

空时误差情况下的STAP方法性能分析

空时自适应处理（Space-Time Adaptive Processing,STAP）技术可以实现对机载雷达杂波的有效抑制,显著提高机载雷达对运动目标的检测性能。但在实际工程应用过程中,STAP技术不可避免地会受到各种空时误差的影响,导致其性能严重下降。本文首先给出了各种空时误差的数学模型,然后从目标导向矢量失配和杂波自由度增加两方面系统分析了误差影响STAP性能的内在机理,并以信杂噪比（Signal to Clutter plus Noise Ratio,SCNR）损失为指标分析了不同误差对STAP性能的影响,最后通过仿真实验对相关分析进行了验证。本文工作量化了不同误差对STAP性能的影响程度,可为机载脉冲多普勒雷达空时误差补偿提供重要的理论支撑。      

"互联网+"时代的宿舍智能用电监控系统——以广东培正学院为例

随着"互联网+"行动计划的发展,高校进行学生宿舍大功率电器的人工检查即将成为过去式,而错误率低,更快速,更准确,效率高,采用电脑计量电费,让学生实时了解用电详情,可以节省学校对于检查大功率所耗费的人力、物力及财力的"互联网+高校学生宿舍智能电表"将会普遍高校.本文将从研究背景与意义、系统设计和数据监控三个方面以广东培正学院为例进行研究分析.