空间4-UPU并联机器人的运动学研究

运用自然坐标法研究了空间4-UPU（万向铰-移动铰-万向铰）并联机器人的运动学正解问题．通过共用并联机器人两两构件间的公共点或公共向量的笛卡尔坐标减少自然坐标的数量,从而简化了整个分析过程．在用自然坐标法处理多体机器人系统时,由于变量仅仅引进了末端执行器上关键点的笛卡尔坐标,因此,约束方程或者是二次的或者是线性的,这就使得并联机器人的运动学分析中不会出现任何超越函数．该建模过程方法简单、统一,非常有利于计算机编程处理．     

主链型不饱和聚磷酸酯交联体系体外降解性能

研究了主链重复结构单元中含富马酸酯的不饱和聚磷酸酯（UPPE）与N-乙烯基吡咯烷酮（NVP）交联体系的体外降解过程,采用扫描电镜观察了降解一定时间后试样断面的形态结构．结果表明：交联体系试样是按照先表层、后中心。由外至内的规律进行降解,降解过程包括表层扩散溶出和基体降解两部分．在表层扩散溶出占主导阶段。交联试样中聚乙烯基吡咯烷酮（PVP）和NVP快速溶出,试样失重明显,试样吸水率、长度、直径也迅速增大;在基体降解占主导阶段,试样降解比较缓慢,试样失重、吸水率、长度和直径变化较小．     

多点损伤梁的波传播与振动功率流特性

基于结构噪声的观点研究了在集中力作用下多点损伤梁的波传播与振动功率流特性．采用局部转动弹簧来模拟梁中的损伤,利用断裂力学的有关理论得到局部弹簧的转动刚度。分析得到了两点损伤梁的弯曲波运动及振动功率流的输入和传播．讨论了振动功率流与损伤位置及其深度的关系,结果表明多点损伤梁中的振动功率流与各损伤点的位置以及其特征尺寸是相关联的．     

实时荧光定量PCR法检测环境假单胞菌属细菌丰度

应用实时荧光定量PCR法,建立了总细菌及假单胞菌属的标准曲线,并以环境样本中假单胞菌属与总细菌的比值反映其细菌丰度.应用该方法评价人工除藻反应器中组合填料、无纺布、弹性填料等介质对太湖水中溶藻细菌之一的假单胞菌属的富集情况.结果显示:该方法对总细菌的检测范围为103~108个基因拷贝/μL(R2=0.997);假单胞菌属的检测范围为1~105个基因拷贝/μL(R2=0.994).对除藻反应器溶藻细菌富集效果的评价显示,所建立的方法能有效检测反应器中填料对该类溶藻细菌的富集程度.初步证明所建立的方法可有效定量假单胞菌属在环境样本中的丰度.     

O2/CO2气氛下燃煤过程中SO2排放特性实验

通过沉降炉对O2/CO2气氛和空气气氛下煤粉燃烧过程中SO2排放特性进行实验,结果表明,随燃料/氧化学当量比的增加,烟气中SO2浓度升高,单位煤生成SO2的量随燃料/氧化学当量比的增加而减少.在实验条件下,不加石灰石时,气氛和温度对SO2的生成无明显影响,SO2的生成量只与煤中含硫量以及煤的种类有关.当煤中加入石灰石后,O2/CO2气氛下SO2的排放量远小于空气气氛下,这主要是因为石灰石在O2/CO2气氛下取得的脱硫效率大大高于空气气氛下的脱硫效率.     

高压浓相煤粉气力输送差压信号多分辨分析

为了探究高压浓相气力输送过程中时频空间的内部特征,利用六尺度多分辨小波分析对试验差压信号进行时频分解.引进能量、Shannon熵和标准差STD作为特征量对气固两相流频域空间进行分析.分析表明:浓相气力输送过程中,差压信号中的能量主要分布在低频区,Shannon熵从高频到低频上呈先减小后增大分布趋势.在相同的试验压力条件下,随着表观速度的增大,低频所占据的能量份额减小,信号脉动向高频移动;高频d1和d2的Shannon熵和a6上的STD增大,低频d4~d6上的Shannon熵和d1~d6上的STD减小.为进一步研究流型辨识及流动稳定性提供了新方法.     

Nuclear Norm Subspace System Identification and Its Application on a Stochastic Model of Plague

The discrete-time model of plague is deduced by zero-order holder based on the continuoustime model. Due to the existence of stochastic disturbances, the stochastic model is given corresponding to the discrete-time model. The state estimation and noise reduction of the stochastic model are achieved by designing Kalman filter. Nuclear norm minimization is to structure the low-rank matrix approximation instead of the singular value decomposition in the process of subspace system identification. According to the plague data from the World Health Organization, the system matrices and noise intensity of the model are identified. Simulations are carried out to show the higher approximation capability of the proposed method.     

城市疫情传播和复工强度建模及相关性分析

以多源大数据为基础构建模型,分析全国34个典型城市因疫情导致的人口迁徙变化和人力缺口,并通过迁徙基数推算其他各城市的复工强度。仿真结果证明SEIR仓室模型能够较好地模拟此次疫情发展趋势,利用其估计各城市内部新型冠状病毒感染肺炎的基本再生数,结合人力缺口对复工强度进行回顾性的矩阵分析,以总结我国此次抗疫经验。相关性分析阶段对K-means无监督聚类后的城市集群进行回归分析,结果表明对于大部分城市而言,复工强度的大小与其人力缺口、基本再生数以及人均GDP水平有明显的相关关系。     

Credit Scoring Based on the Set-Valued Identification Method

Credit scoring is one of the key problems in financial risk managements. This paper studies the credit scoring problem based on the set-valued identification method, which is used to explain the relation between the individual attribute vectors and classification for the credit worthy and credit worthless lenders. In particular, system parameters are estimated by the set-valued identification algorithm based on a given recognition criteria. In order to illustrate the efficiency of the proposed method, practical experiments are conducted for credit card applicants of Australia and credit card holders from Taiwan, respectively. The empirical results show that the set-valued model has a higher prediction accuracy on both small and large numbers of data set compared with logistic regression model. Furthermore, parameters estimated by the set-valued identification method are more stable,which provide a meaningful and logical explanation for extracting factors that influence the borrowers' credit scorings.     

Dynamic Event-Triggered Control for Nonlinear Systems: A Small-Gain Approach

An event-triggered control(ETC) system transmits data packages and updates control inputs only when the predefined criterion is satisfied. In this way, network communication and computing resources are scheduled more reasonably in contrast to the traditional periodic sampling strategy.Small-gain approach proposed in recent literatures is a new modeling method to deal with nonlinear ETC systems. Different from traditional ETC models, stability criteria are proposed in the form of input to state stability(ISS) gain to design the triggering mechanisms. This paper introduces additional dynamic variables in this model and proposes a small-gain based dynamic event-triggered strategy.Sufficient conditions to guarantee the stability of the system are derived with the help of cyclic-smallgain theorem and Zeno behaviors are avoided to ensure the feasibility of this method in practical applications. Numerical simulations are given to demonstrate the effectiveness of our approach.