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Robust digital controller design for robot manipulator 机械臂鲁棒数字控制器设计
B.V. Shatalov, V. Yurkevich
The problem of the robust digital controller design to solve a tracking problem for robotic manipulators is studied. The design method based on the formation of two-time-scale motions in the closed-loop system is used. It has been shown that if a sufficient time-scale separation between the fast and slow modes in the discussed closed-loop system and stability of fast modes are provided then slow modes have the desired form and thus the output transient performance indices are insensitive to parameter variations of the robotic manipulator. Numerical simulations of the two-link robotic manipulator are presented.
研究了解决机械臂跟踪问题的鲁棒数字控制器设计问题。采用了基于闭环系统中双时间尺度运动形成的设计方法。结果表明,如果闭环系统的快、慢模在时间尺度上有足够的分离,并且保证快模的稳定性,那么慢模就具有理想的形式,因此输出的瞬态性能指标对机械臂的参数变化不敏感。对双连杆机械臂进行了数值仿真。
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引用次数: 0
Influence of underlying surface on thunderstorm activity 下垫面对雷暴活动的影响
A. Dulzon, V. Gorbatenko
Inhomogeneity of thunderstorm activity is formed against the background of the same synoptically processes. Even within dozens of miles an average number of thunderstorm days and thunderstorm hours can be changed by 1.5-2 times. The authors focus on the spotty spatial distribution of thunderstorm activity in the regions with fairly smooth relief. Analysis of influence of different factors of atmosphere-lithosphere system on irregularity of a spatial distribution of thunder activity was carried out for two regions with different physical and geographical situation and climate: Siberia and Kazakhstan. For revealing the causes of an irregularity of thunder activity in space the analysis of influence of the following factors upon thunder activity was done by the authors: geographical situation of a region as characteristics of remoteness from poles and oceans, orographical peculiarities in a radius of survey of a meteoobserver, air temperature and resiliency of water steam, temperature and humidity characteristics of an underlying surface, quantities of geographical fields anomalies in a region of observation. Irregularity of temperature and humidity condition of underlying surface and orograpy are the most important factors, influencing thunder activity in both regions.
雷暴活动的不均匀性是在相同天气过程的背景下形成的。即使在几十英里范围内,雷暴日数和雷暴时数的平均变化也会达到1.5-2倍。在地形较为平缓的地区,雷暴活动呈点状分布。以西伯利亚和哈萨克斯坦两个具有不同自然地理条件和气候条件的地区为研究对象,分析了大气-岩石圈系统不同因子对雷电活动空间分布不规则性的影响。为了揭示雷电活动在空间上不规律的原因,作者分析了以下因素对雷电活动的影响:一个地区的地理情况,如远离极地和海洋的特征、气象观测者调查半径内的地形特征、空气温度和水蒸气的弹性、下垫面温度和湿度特征、观测区域内地理场异常的数量。下垫面温湿度条件的不均匀性和地形的不均匀性是影响这两个地区雷电活动的最重要因素。
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引用次数: 1
Stimulation of bactericidal activity of umbilical cord blood monocytes by immunoactivating peptide 免疫激活肽刺激脐带血单核细胞杀菌活性的研究
S. Ju, Byung-Sam Kim, Sang-Kyu Park
Seong-A Ju', Byung-Sam Kun', and Sang-Kyu Park2 Dept. of Biological Science, University of Ulsan, San-29 Moogu-2 Dong, Namgu, Ulsan 680-749, Korea and 2College of Medicine, University of Ulsan, Ulsan 682-060, Korea Tel: +82(52)2592393, Fax: +82(52)2591694 E-mail: Sang@uuh.ulsan.kr Abstract Mononuclear phagocytes play a central role in the host defense against infections. We report that synthetic novel peptide, WKYMVm which is In vivo tests, WKYMVm increase killing activities of monocytes against S. aureus. Rats were preinfected with S. aureus and treated with WKYMVm. The number of bacteria remaining on blood of WKYMVm-treated rats was rapidly decreased compare with control group. In vitro cell cultures, WKYMVm increase bactericidal and fungicidal activities of monocytes derived from adult human peripheral blood and neonatal cord blood. 1
Seong-A Ju, Byung-Sam Kun, Sang-Kyu Park2韩国蔚山大学生物科学系,蔚山南区,mogu -2 Dong, San-29,韩国蔚山682-060韩国蔚山大学医学院,电话:+82(52)2592393,传真:+82(52)2591694 E-mail: Sang@uuh.ulsan.kr摘要单核吞噬细胞在宿主防御感染中起核心作用。我们合成了一种新的肽WKYMVm,在体内实验中,WKYMVm增加了单核细胞对金黄色葡萄球菌的杀伤活性。采用金黄色葡萄球菌预感染大鼠,并用WKYMVm治疗。与对照组相比,wkymvm治疗大鼠血液中细菌残留数量迅速减少。在体外细胞培养中,WKYMVm可提高成人外周血和新生儿脐带血单核细胞的杀菌和杀真菌活性。1
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引用次数: 0
Influence of the shape factor on efficiency of the green compact ultrasonic compacting and properties of sintered zirconia ceramics 形状因子对绿色超声压实效率及烧结氧化锆陶瓷性能的影响
O. Khasanov, Jae‐Shin Lee, Y. Pokholkov, E. Dvilis, V. Sokolov, B. An
The properties of green compacts and ceramics from ZrO/sub 2/-Y/sub 2/O/sub 3/ nanopowder compacted under ultrasonic action (power of 0.5; 1; 2; 3 kW) were studied. The shape factor of the green compacts (the ratio of height to diameter) was h/D=0.05 and 0.37. Phase constitution, grain structure, density and shrinkage, of ceramics sintered at 1650/spl deg/C from the green compacts with different h/D, were investigated. The possibility for improvement of mechanical properties of advanced ceramics by using optimum regimes of ultrasonic compaction was shown.
超声波(功率为0.5)压实ZrO/sub - 2/-Y/sub - 2/O/sub - 3纳米粉体的绿色压实剂和陶瓷的性能;1;2;3 kW)进行了研究。绿坯的形状因子(高径比)分别为h/D=0.05和0.37。研究了在1650℃/spl温度下,不同h/D的生坯烧结陶瓷的相组成、晶粒结构、密度和收缩率。指出了采用最佳超声压实工艺改善高级陶瓷力学性能的可能性。
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引用次数: 2
In-situ intermetallic matrix composites fabricated by MA-PDS process MA-PDS原位制备金属间基复合材料
Y. Park, B. Park, Se-Hyun Ko
In-situ intermetallic matrix composites were fabricated by the MA-PDS process. The matrix was Fe-28 at.%Al and in-situ reinforcements were TiC and TiB/sub 2/. Mechanical alloying was carried out using a vibratory mill. For the TiC reinforced composites, milling time was systematically changed from 1 to 400 hours to observe the effect of milling parameters. For the TiB/sub 2/ reinforced composites, volume fraction of reinforcements was systematically changed from 0 to 25 at.%. Mechanically alloyed powders were sintered in the plasma discharge sintering system. Fe/sub 3/Al matrix and in-situ reinforcements, TiC and TiB particles, were successfully synthesized by in-situ process using MA-PDS.
采用MA-PDS工艺制备了原位金属间基复合材料。基体为fe - 28at。%Al和原位增强材为TiC和TiB/sub 2/。采用振动磨机进行机械合金化。对于TiC增强复合材料,系统地将铣削时间从1小时改变到400小时,观察铣削参数的影响。对于TiB/sub - 2/增强复合材料,增强体的体积分数从0 at.%系统地变化到25 at.%。采用等离子体放电烧结系统烧结机械合金粉末。采用MA-PDS原位法制备了Fe/sub - 3/Al基体和原位增强TiC、TiB颗粒。
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引用次数: 1
Concentration dependence of volume changes during sintering of binary systems 二元体系烧结过程中体积变化的浓度依赖性
A. Savitskii, A. Tabachenko, Young-Soon Kwon, Ji-soon Kim, Joon-Oh Bae, J. Moon
The dependencies of densification of W-Fe, Ti-Cr and Cu-Cr compacts, during solid state sintering, on the mixture composition, have been investigated. It was shown that ideas on the existence of only S- and V-shaped curves for concentration dependencies of the densification value, as a result of solid phase sintering, were valid. These curve shapes can be explained on the basis of diffusion interaction of components, applying the multiparticle model of a two-component compact.
研究了固态烧结过程中W-Fe、Ti-Cr和Cu-Cr的致密性与混合物成分的关系。结果表明,固相烧结致密化值的浓度依赖关系只存在S型和v型曲线的观点是正确的。这些曲线形状可以在组分扩散相互作用的基础上,应用双组分致密体的多粒子模型来解释。
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引用次数: 0
Principle of superposition in design of feedback control signals for dexterous multi-fingered robot hands 多指灵巧机械手反馈控制信号设计中的叠加原理
S. Arimoto
Concerns the skilled motions of a multifingered hand with soft fingertips in dexterous tasks, based on human ability. As an elementary example, dynamics of punching an object by means of two multi-DOF robot fingers with soft and deformable tips are derived and analyzed. It is shown that passivity analysis leads to effective design of a feedback control signal that realizes dynamic stable pinching, regardless of a complicated nonlinear structure of motion equation of the overall system in which extra terms of Lagrange's multipliers arise for holonomic constraints of tight area-contacts between finger-tips and object surfaces. It is shown that a principle of linear superposition is applicable to design of additional feedback signals for controlling both the posture (rotational angle) and the position (some of task coordinates of the mass center) of the object under the condition of unique stationary resolution of the controlled position-state variables. It is finally claimed that complexity of learning such an over-all skilled motion of pinching an object stably and controlling it at a prescribed posture and position can be drastically reduced from exponential order to linear order of the sum of complexities of learning each resolved from exponential order to linear order of the sum of complexities of learning each resolver motion separately, correspondingly to 1) stable pinching, 2) specification of the rotational angle for the object, and 3) that of some of position coordinates.
以人类的能力为基础,关注多指手在灵巧的任务中以柔软的指尖进行熟练的动作。作为一个初步的算例,推导并分析了两根具有柔软可变形尖端的多自由度机器人手指对物体的冲击动力学。结果表明,无源分析可以有效地设计出实现动态稳定挤压的反馈控制信号,而不考虑整个系统复杂的非线性运动方程结构,其中由于指尖与物体表面之间的紧密接触区域的完整约束会产生拉格朗日乘子的额外项。结果表明,在被控位置状态变量具有唯一静止分辨率的条件下,线性叠加原理适用于控制物体姿态(转角)和位置(质心的某些任务坐标)的附加反馈信号的设计。最后指出,学习这样一种稳定地夹紧一个物体并将其控制在规定的姿态和位置的全面熟练动作的复杂性可以从指数级急剧降低到学习每个动作的复杂性之和的线性阶,从指数级分解到分别学习每个动作的复杂性之和的线性阶,对应于1)稳定夹紧,2)指定物体的旋转角度,3)一些位置坐标。
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引用次数: 0
Ecologically harmless electrotechnologies for municipal and industrial wastes processing 用于城市和工业废物处理的生态无害电子技术
Larisa Cherednichenko
The comparative analysis of traditional one-stage industrial technologies of oxidation hydrocarbon wastes with exhausting carbon dioxide (CO,) and new wastes processing electrotecnologies with deriving synthesis-gas (50% [CO], 50% [&I) is considered. In a base of electrotechnologies optimization of hydrocarbon waste raw materials processing the solutions of ecological and power problems are founded in which ones the wastes are treated as renewable power raw materials. The minimal hazardous influence on environment including essential reducing of specific exhausted gases mainly carbon dioxide per power unit are taken as a priority point. Additionally, new electrotechnologies in compare with traditional technologies has allowed to reduce approximately 7 times the amount the total exhausted gases being generated in a working volume of furnace. The excluding from technology process the oxidizing stage has principally changed the design of gas filter and has allowed to quench the exhausted gases. The developed electrotechnology allows to extract all potential energy being contained in a wastes and transform it into power product: the synthesis-gas with specific combustion heat of order 13 MJ/m3 and
对比分析了传统的排放二氧化碳(CO)氧化烃类废弃物的一期工业技术和产生合成气(50% CO, 50% CO)的新型废弃物处理电技术。在对碳氢化合物废弃物原料处理进行电气技术优化的基础上,提出了将碳氢化合物废弃物作为可再生能源处理的生态和电力问题的解决方案。将对环境的有害影响降到最低,包括基本减少以二氧化碳为主的特定排放气体。此外,与传统技术相比,新的电气技术可以减少大约7倍的炉内工作体积产生的总废气量。将氧化阶段从工艺过程中排除,主要改变了气体过滤器的设计,并允许对废气进行淬火。发达的电工技术可以提取废物中包含的所有势能,并将其转化为电力产品:燃烧比热为13兆焦耳/立方米的合成气和
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引用次数: 0
Anisotropic interaction between electrons and piezoelectric phonons in semiconductor heterojunctions in magnetic field 磁场中半导体异质结中电子与压电声子的各向异性相互作用
O. Kibis
In any 2D electron system with asymmetric quantizing potential in the presence of a magnetic field parallel to the 2D plane, different interactions between the electron system and any phonons having mutually opposite directions of wave vectors (anisotropic interaction) appear, which leads to the emergence of a new unusual thermomagnetic effect: the electromotive force for homogeneous heating of the electron system appears. This universal phenomenon is analyzed for the case of anisotropic interaction between electrons and piezoelectric phonons in GaAs-GaAlAs heterojunction. The consequence of this anisotropic interaction is an anomalous temperature dependence of the thermomagnetic effect at low temperature.
在平行于二维平面的磁场存在下,任何具有不对称量子化势的二维电子系统中,电子系统与任何具有相互相反波矢量方向的声子之间的不同相互作用(各向异性相互作用)都会出现,从而导致出现一种新的不寻常的热磁效应:电子系统均匀加热的电动势出现。分析了GaAs-GaAlAs异质结中电子与压电声子各向异性相互作用的普遍现象。这种各向异性相互作用的结果是低温下热磁效应的反常温度依赖性。
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引用次数: 0
Generation of relativistic positronium atoms by high-energy photons and charged particles in aligned crystals 由排列晶体中的高能光子和带电粒子产生相对论性正电子原子
Y. Kunashenko, Y. Pivovarov
We consider different generation mechanisms of relativistic positronium (Ps) atoms (positronium atoms moving with relativistic velocity) by high-energy photons and charged particles in aligned crystals. Coherent effect in a crystal leads to sufficient enhancement in Ps yield at certain photon energies. The energy spectrum of singlet and triplet Ps atoms generated by high-energy charged particles penetrating through a crystal contains strong peaks at the certain Ps energies. In addition, we discuss a possible new mechanism of Ps generation via transitions between bound states of a channeled electron (positron) in a crystal. Possible experiments are discussed.
我们考虑了在排列晶体中高能光子和带电粒子作用下相对论性正电子原子(Ps)的不同产生机制。晶体中的相干效应导致在一定光子能量下Ps产率的充分提高。高能带电粒子穿透晶体产生的单重态和三重态Ps原子能谱在某些Ps能量处包含强峰。此外,我们还讨论了通过晶体中通道电子(正电子)束缚态之间的跃迁产生Ps的可能新机制。讨论了可能的实验。
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引用次数: 0
期刊
Proceedings KORUS 2000. The 4th Korea-Russia International Symposium On Science and Technology
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