柔性变截面滑移式机械手的控制

研究了柔性变截面滑移式机械手臂的控制。首先，基于有限元法导出系统的动力学方程，然后分别建立了两种控制方式的状态方程：１）以加速度和角加速度作为控制变量：２）以力和力矩作为控制变量。控制过程分为“粗控”和“精控”两步进行。“精控”过程采用线性二次型高斯控制。最后给出了数值模拟的结果。     

Optimal algebraic multilevel preconditioning for local refinement along a line

The application of some recently proposed algebraic multilevel methods for the solution of two-dimensional finite element problems on nonuniform meshes is studied. The locally refined meshes are created by the newest vertex mesh refinement method. After the introduction of this refinement technique it is shown that, by combining levels of refinement, a preconditioner of optimal order can be constructed for the case of local refinement along a line. Its relative condition number is accurately estimated. Numerical tests demonstrating the performance of the proposed preconditioners will be reported in a forthcoming paper.     

W-算子在设计电气传动控制系统中的应用

本文利用作者最近提出的一种新的算子方法——W-算子方法,从理论和应用方面探讨了电气传动控制系统的设计问题,并对算法的收敛性进行了分析。该算法具有结构简单,算法严密,计算方便的特点,避免了实际应用中用传统最优控制方法设计所带来的困难。     

浮雕造型机器人运动规划

本文论述了一种结构简单，行之有效的机器人运动规划系统，能迅速判断机器人与工件的关系，实现浮雕造型机器人无碰撞轨迹规划．     

拟线性椭圆变分不等式的障碍最优控制问题

对拟线性椭圆变分不等式的障碍最优控制问题(即以障碍为控制变量)进行了研究．指标泛函为Lagrange型,其中含有控制变量二阶导数的p次幂,这使得最优性条件的推导颇为不易．对所考虑的问题给出了最优控制的存在性定理以及必要条件．     

Long-term optimal operation of series parallel reservoirs for critical period with specified monthly generation and average monthly storage

We present in this paper an efficient approach for solving the problem of planning the long-term (multiyear) operation of a multireservoir hydroelectric power system for the critical period with a monthly variable load. This load is equal to a certain percentage of the total generation at the end of the year, subject to satisfying a number of constraints on the hydrosystem, using the minimum norm formulation.The proposed method is efficient in computing time and in calculating the total expected benefits from the system during the critical period. Numerical results are reported for a real system in operation consisting of two rivers. Each river has two series reservoirs.This work was supported by the Natural Science and Engineering Research Council of Canada, Grant No. A4146.     

On Characterizations of Proper Efficiency for Nonconvex Multiobjective Optimization

In this paper, nonconvex multiobjective optimization problems are studied. New characterizations of a properly efficient solution in the sense of Geoffrion's are established in terms of the stability of one scalar optimization problem and the existence of an exact penalty function of a scalar constrained program, respectively. One of the characterizations is applied to derive necessary conditions for a properly efficient control-parameter pair of a nonconvex multiobjective discrete optimal control problem with linear constraints.     

A new method for constructing infinite families of k-tight optimal double loop networks

The double loop network (DLN) is a circulant digraph with n nodes and outdegree 2. DLN has been widely used in the designing of local area networks and distributed systems. In this paper, a new method for constructing infinite families of k-tight optimal DLN is presented. For k = 0,1,…,40, the infinite families of k-tight optimal DLN can be constructed by the new method, where the number nk(t,a) of their nodes is a polynomial of degree 2 in t and contains a parameter a. And a conjecture is proposed.     

An implicit method for linear ill‐posed problems with perturbed operators

An implicit iterative method is applied to solving linear ill‐posed problems with perturbed operators. It is proved that the optimal convergence rate can be obtained after choosing suitable number of iterations. A generalized Morozov's discrepancy principle is proposed for the problems, and then the optimal convergence rate can also be obtained by an a posteriori strategy. The convergence results show that the algorithm is a robust regularization method. Copyright © 2006 John Wiley & Sons, Ltd.