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.     

Genetic analysis of segregation distortion of mating-type factors in Lentinula edodes

Analyses of the mating-type ratio of protoplast monokaryons to spores in 28 strains of Lentinula edodes were performed through statistical methods. The results showed that the segregation distortion phenomenon commonly exists in both types of Lentinula edodes, 17 out of the 28 samples did not display the expected 1∶1 ratio of protoplast monokaryons; and among them 8 fruiting strains distorted 1∶1∶1∶1 segregation of spores. The degree of distortion in all tested wild strains was significantly lower than that of cultured strains. In fruiting test of positive-negative parent, predominant spores were those with the mating type identical to dikaryotic parent, indicating that the predominance of nuclei mainly depends on the mating type of dikaryotic parent. Data from di-mon mating test verified that monokaryons with acceptor nuclear type are present exclusively in a large amount after dedikaryotization, suggesting that the specificities among B factors and some other unknown factors in cytoplasm are probably responsible for the phenomenon of skewed segregation.     

Allocation of power generating and shipping of Hanjiang upstream cascade

The optimal model and simulating model of the Hanjiang cascade reservoirs operation with one day as its calculating period are established to coordinate the contradictions between power generating and shipping. The optimal model is solved by progressive optimality algorithm method adopting the theory of large system decomposing and coordinating. By analyzing the water allocation results obtained from six schemes, which are two cascades, four cascades and seven cascades joint operation considering shipping or not, the contradiction degree between power generating and shipping is investigated and some joint operation schemes are proposed.     

Computational fluid dynamics for dense gas-solid fluidized beds

Many computational fluid dynamics (CFD) models for describing the hydrodynamics of dense gas-solid flows in fluidized beds have been put forward in the past few decades. These models treat the solid phase as continuum or discrete particles, which leads to Eulerian-Eulerian or Eulerian-Lagrangian formulations, respectively. Different governing equations and closure relations essentially result from an insufficient understanding of the complex gas?particle and particle?particle interactions for gas?solid flows. The current status of these models is discussed briefly in this paper. All the approaches in the literature modify only the solid phase momentum balance equation introducing various forms of the solid phase stress tensor and the solid phase pressure drop in the Eulerian-Eulerian models. Taking them into consideration, a new model for predicting the fluid behavior of dense gas?solid flows in fluidized beds has been developed, which contains new terms in both the particle and gas phase momentum balance equations and requires only the use of an experimental drag force correlation. Several results are shown to verify the model’s reliability, which include the homogeneous fluidization of Geldart type A particles, the bubbling and jetting fluidization of Geldart type B particles in rectangular beds, and fluid dynamics in a complicated geometry for a bubbling?bed of a fast internally circulating fluidized?bed biomass gasifier.     

The fate of injectant coal in blast furnaces: The origin of extractable materials of high molecular mass in blast furnace carryover dusts

The aim of the work was to investigate the fate of injectant coal in blast furnaces and the origin of extractable materials in blast furnace carryover dusts. Two sets of samples including injectant coal and the corresponding carryover dusts from a full sized blast furnace and a pilot scale rig have been examined. The samples were extracted using 1-methyl-2-pyrrolidinone (NMP) solvent and the extracts studied by size exclusion chromatography (SEC). The blast furnace carryover dust extracts contained high molecular weight carbonaceous material, of apparent mass corresponding to 10⁷?10⁸ u, by polystyrene calibration. In contrast, the feed coke and char prepared in a wire mesh reactor under high temperature conditions did not give any extractable material. Meanwhile, controlled combustion experiments in a high-pressure wire mesh reactor suggest that the extent of combustion of injectant coal in the blast furnace tuyeres and raceways is limited by time of exposure and very low oxygen concentration. It is thus likely that the extractable, soot-like material in the blast furnace dust originated in tars is released by the injectant coal. Our results suggest that the unburned tars were thermally altered during the upward path within the furnace, giving rise to the formation of heavy molecular weight (soot-like) materials.     

扩散的非自治Lotka-Volterra型竞争斑块系统的概周期解

本文考察了非自治Lotka-Volterra型竞争斑块系统，在已得到的系统最终有界性基础上，利用Liapunov函数，研究了对应概周期系统的正概周期解的存在性、唯一性以及全局渐近稳定性。     

Rn中有界域上调和函数的积分表示

在前人讨论R^n中闭逐块流形上高斯积分的边界性质的基础上，建立了R^n空间中有界域上可微分函数和调和函数的积分表示公式．     

P-拉普拉斯方程正解和多解的存在性

研究在RN中的一般形式的P-拉普拉斯方程-div(|Du|p-2Du)=f(x,u)(N>P>1).在一定的条件下得到正确和多解.首先建立相应的变分范函,利用H lder和Sobolev不等式证明此范函满足Palais-Smale条件,然后利用爬山原理证明了解的存在性.最后利用严格最大值原理证明了正解的存在性.     

三维微肋管内沸腾两相流型及其换热

以R134a为工质在作者研制的三维微肋管内进行了水平流动沸腾换热实验研究，通过可视化措施对流型及其转换进行了观测，结果表明，在Tailer-Dukler流型图上，三维微肋管内沸腾流型的分界线与光滑管有所不同，其中间歇流与环状流的判据由Xtt等于1．6减小到Xtt等于0．42，而波状流向环状流转变的Fr数有所增加；而在中等质量流速下环状流与局部蒸干区的转变主要受热流密度的影响。同时，对三维微肋管内沸腾换热特点进行了讨论，并对得到的实验数据建立了分区换热关联式，这些不同流型下的换热关联式的计算值能较好地同实验数据相吻合。