Design and implementation of 2DOF spherical inverted pendulum

1.INTRODUCTION Theinvertedpendulumsystemisaclassicalbench markfortheeducationandresearchintheautomation andmechanicalengineeringfield.Manyeducatorsfo cusontheinvertedpendulumcontrolsystembecause theexperimentsexhibittheadvantageandvalidityof moderncontroltheoryveryintuitively.Researchers alsohopetoverifynewalgorithmsonthesystem. Thebasicobjectiveoftheinverted pendulumsystem iskeepingthebalanceofthependulumatthe‘invert ed’status[1～3].Wehavecomparedtheperformance ofthreemoderncontrolm…     

纵观中国的核力量

瑞典斯德哥尔摩国际和平研究所1986年出版的《世界军备与裁军》年鉴中,首次刊登一篇系统研究我国核政策的文章《纵观中国的核力量》,尽管文中真真假假,似是而非,并有多处歪曲我国核政策的论述,但它不失为外国人看中国的一篇有趣资料,现摘译发表,供读者鉴别、分析。     

全息胚针刺疗法对糖尿病的功效

临床中我已经运用张颖清教授创立的全息胚诊疗法广泛治病,其有效率达90％以上。现将运用全息生物学方法治疗糖尿病患者的情况报告如下。根据临床记录,只要病人所患疾病不是处于后期(根据其血糖含量),其有效率为95％。约半年后,同一病人回医院寻求其他方式的治疗,同时检查其血糖含量,发现他们体内保持了稳定而正常的血糖,病情没有恶化。采用全息生物诊疗法,经过平均两个月的一系列洽疗,即能生效。据我观察,血糖含量从320mg/dl下降到160mg/dl。经过四个月的继续治疗,病人体内的血糖含量能仍保持在120mg/dl至160mg/dl之     

眼袋是怎么形成的？

眼睛下方产生的“黑眼圈”及“眼袋”有几个由来：该处的皮肤比身体其它部份都要薄，当年龄渐长，也会变得比较松弛。这层皮肤下方正好是紫色的肌肉与血管，所以颜色也会显得较深，另外，有些人则是在该处有遗传性的色素累积。年纪变大时，眼睛周围称为眼窝的空间会出现脂肪，并在眼睛下方形成空泡般的肿胀。而脂肪组织可能由水填满，使得松弛看起来更明显。当水分一直留在脂肪层中时，眼袋就更容易被注意到。水分滞留的原因，包括摄取太多盐分、平躺在床上、睡眠不足、过敏，甚至每个月周期性的内分泌变化。     

PRELIMINARY STUDY ON RETRO-REFLECTIVE COATED PAPER BASED ON MICROGLASS BEADS

INTRODUCTIONThe micro-glass bead[1-2] is a new kind of silicate material, with good properties of chemical stability, mechanical strength as well as electro-resistance. When its diameter is below 0.08mm and the reflective index is in the range of 1.9~2.1, retro-reflective characteristics can be achieved. When a beam of ray from any direction irradiates the surface of the micro-glass beads, it can be converged at the special reflective layer consisted of focuses of micro-glass beads, owing …     

乙烷—丙烷混合裂解模型及产率预计

本文研究了乙烷和丙烷的混合裂解,并与乙烷、丙烷单独裂解进行了比较。解决了微分方程组的刚性问题,提出了混合裂解反应动力学模型。明确了三种选择性的概念,即;真实选择性、迭加选择性和总选择性,从而澄清了国际上对于选择性有正偏差和负偏差的不同观点。为乙烯生产提供了有效利用乙烷和丙烷的分析评价方法。     

A High Speed Detection Scheme for Point Targets in a Multitarget Environment

The purpose of this paper is to develop a high speed detection scheme for moving and / or stationary point targets in a multitarget environment as registered in an IR image sequence. An iterative approximate 3-D line searching algorithm based upon the geometric representation of lines (for non-maneuvering targets in space) in a 3-D space is derived. The convergency of the algorithm is proved. An analysis is performed of the theoretical detection performance of the algorithm. The statistical experiment results show high effectiveness and computational efficiency of the algorithm in the case of low SNR. The idea may be employed to satisfy the real-time processing requirement of an IR system.     

STABILITY CRITERIA FOR A CLASS OF UNCERTAINSYSTEMS WITH TIME—DELAY

Some stability criteria are obtained for a class of uncertain systems with time-delay usingLyapunov functional and analytic techniques. It is easy to check the criteria by making use of theboundedness of the uncertainties.