A hybrid Jacobian control for uncalibrated robot visual servoing

This paper focuses on the visual servo control of an uncalibrated robotic arm with an eye-in-hand camera. Without a prior knowledge of the kinematics of the robotic arm or camera calibration, the proposed hybrid Jacobian controller can track a moving object using visual feedback and joint-space velocity feedback. The proposed hybrid control method is a combination of the uncalibrated visual servoing and approximate Jacobian feedback control. First, the Jacobian matrix from joint-space to image-space is estimated by recursive least-squares (RLS) algorithm, and then the approximate Jacobian feedback controller is designed by using visual feedback and joint-space velocity feedback. The performances of the proposed control methods are illustrated by computer simulations.     

低温漂便携式水平校正仪设计

为了给潜艇航行自动化提供可用信息，满足潜艇部分仪器工作平台实时水平校正的要求，利用NS45/P2数字输出双轴倾角传感器设计了一种便携式水平校正仪，并通过实验对倾角传感器零点温漂进行了补偿。实际应用表明，该水平校正仪转换线性好，工作稳定，可实时、准确的测量倾角。     

一个严格介于完备与D-正规空间之间的空间类

引入并研究了一类严格介于完备空间与D-正规空间之间的空间——集态D-正规空间，证明了空间X是集态D-正规空间当且仅当X是集态δ-正规且D-正规的。与此同时，还得到了其它一些相关结果。     

基于数字预畸变的UMTS功率放大器线性化技术

提出了适用于UMTS系统上行线路的基于查阅表数字预畸变的功放线性化技术 .通过仿真和测量可以看出 ,数字预畸变可以将邻道功率比性能改善 10dB .尽管这一性能的改善并不是UMTS标准所必需的 ,但它能减少功率放大器的工作点回退 ,或者降低对功放线性特性的要求 ,从而增加功放的效率 .     

低渗透油藏不稳定渗流规律的研究

用无因次分析法对低渗透岩心的实验数据进行了分析 ,得出新的渗流规律。具体表述为 :低于亚临界雷诺数 (Rem=8.5× 10 -5)为非达西渗流 ,其运动方程为v =c(dp/dl) 3 ;高于亚临界雷诺数为达西渗流。从微观角度出发 ,应用边界层理论进一步证实了这一渗流规律。运用新的运动方程 ,建立了低渗透油藏不稳定渗流的数学模型。根据拉氏变换和Stehfest数值反演 ,求得了有限半径井的实空间近似解 ,并应用数值分析方法验证了近似解析方法的可行性。对低渗透油藏的压力动态特征以及边界对压力动态影响的分析结果表明 ,低渗透油层试井曲线的压力动态特征为 :短时曲线与达西渗流模型相似 ,而长时曲线则受到非达西渗流的影响。对于恒压边界油藏 ,压力趋于稳定的时间比达西渗流要迟一些 ;在无限大地层中 ,其导数曲线是一簇平行的倾斜线。对于同一区域低渗透油层试井曲线 ,其导数曲线出现“阶跃”的时间较迟的井区 ,流动系数比较好 ;反之则较差     

Design Optimization of Charger Based on PSPICE Simulation

The design of a high-frequency switching mode charger (HFSMC) was optimized using a PSPICE simulation of the charging system including a valve regulated lead-acid (VRLA) battery pack and the HFSMC.A high-frequency battery charging circuit model was developed to describe the battery dynamics when charging with DC current having high-frequency ripples. An IGBT circuit model, a high-frequency pulsed transformer coupling model and a silicon fast recovery diode model were also developed. Simulations were compared to laboratory measurements to verify the battery and system models. Simulation of the working states of an Fe-based nanocrystalline magnetic core used in the transformer shows that the transformer design can be optimized by adjusting the core gap and by employing an RC network. Further simulations show that the components in the output unit of the charger main circuit can also be optimized. Simulations also show that the battery dynamics Including the inductance should be considered for design optimization of the HFSMC.     

Genetic Diversity in Populations of Sepiella maindroni Using 16S rRNA Gene Sequence Analysis

Part of the 16S rRNA gene is amplified with PCR and sequenced for 5 populations of common Chinese cuttlefish Sepiella maindroni:three from the South China Sea,one from East China Sea and one from Japan.The result shows that a total of 5 nucleotide positions are found to have gaps or insertions of base pairs among these individuals,and 13 positions are examined to be variable in all the sequences,which range from 494 to 509 base pairs.All of the individuals are grouped into 7 haplotypes (h1-h7).No marked genetic difference is osberved among those populations.All of the individuals from Nagasaki belong to h1 and the h3 haplotype is found only in the coastal waters of China.A→←G transition in Nucleotide 255 is suggested to be taken as a kind of genetic marker to identify the populations distributed in East-South China Sea and the Nagasaki waters of Japan.     

阿尔金断裂的研究现状及其控油意义

阿尔金断裂是中国西北一条巨型的NEE断裂构造,也是青藏高原的西北边界,它在青藏高原的隆升及中国大陆动力学演化方面有着及其重要的地位,一直成为国内外地学界研究的热点.断裂活动的时间、方式、速度及规模等是阿尔金断裂问题争论的焦点.针对目前国内外研究现状,结合柴达木盆地一些实际资料,认为阿尔金断裂带的活动具有多期次性,而至少在中新世时期开始阿尔金总体呈左行走滑的趋势;阿尔金断裂带对柴达木盆地与塔里木盆地的沉积构造演化起着重要的作用,从而对西部大陆构造格架及两侧盆地油气运聚具有重要的控制意义.     

干燥控制化学添加剂在制备硅气凝胶中的应用

以硅溶胶为主要原料,通过硅溶胶体系的凝胶过程中添加干燥控制化学添加剂(DCCA),并结合非超临界干燥技术制备了硅气凝胶,研究了DCCA对凝胶过程和最终所得气凝胶品质的影响。DCCA能使凝胶的生成时间增加,凝胶结构均匀化,构成凝胶的基本微粒的粒径有所减小。在一定的DCCA添加量范围内,随着DCCA添加量的增加,所得气凝胶样品的密度有所减小,比表面积增加,微观结构变得更加完善,孔分布也更加集中。不同DCCA对气凝胶品质的影响规律不尽相同,气凝胶的品质就有可能通过调节添加DCCA的种类和量得到控制。     

基于比率的离散型捕食系统的周期解

针对一类基于比率的离散型捕食系统，利用重合度理论给出了该系统正周期解的存在性判据．