多关节机器人的全局快速终端模糊滑模控制

针对多关节机械臂轨迹跟踪控制,提出了一种全局快速终端模糊滑模控制方法.该方法根据滑模控制原理,采用模糊控制调节滑模控制的切换增益,并利用积分的方法自动对系统的建模误差和干扰的上界进行评估,实现了对建模误差和干扰的自动跟踪,削弱了抖振.文中利用李亚普诺夫定理证明了系统的稳定性,仿真结果表明了其有效性.     

General and efficient parallel approach of finite element-boundary integral-multilevel fast multipole algorithm

A general and efficient parallel approach is proposed for the first time to parallelize the hybrid finiteelement-boundary-integral-multi-level fast multipole algorithm （FE-BI-MLFMA）. Among many algorithms of FE-BI-MLFMA, the decomposition algorithm （DA） is chosen as a basis for the parallelization of FE-BI-MLFMA because of its distinct numerical characteristics suitable for parallelization. On the basis of the DA, the parallelization of FE-BI-MLFMA is carried out by employing the parallelized multi-frontal method for the matrix from the finiteelement method and the parallelized MLFMA for the matrix from the boundary integral method respectively. The programming and numerical experiments of the proposed parallel approach are carried out in the high perfor- mance computing platform CEMS-Liuhui. Numerical experiments demonstrate that FE-BI-MLFMA is efficiently parallelized and its computational capacity is greatly improved without losing accuracy, efficiency, and generality.     

捷联惯导系统快速初始对准的多级组合滤波实现

捷联惯导系统初始对准中利用卡尔曼滤波器进行状态估计时,其数学平台的东向和北向水平失准角估计速度很快,而天向方位失准角的收敛很慢。为了解决这个问题,在基本卡尔曼滤波的基础上引入了多级组合滤波的思想,利用对捷联矩阵的修正和对天向方位失准角φU估计的改进产生了新的信息,形成了两级卡尔曼滤波,并且与小波软阈值法相结合,实现了捷联惯导系统的快速初始对准。     

Understanding the importance of selenium and selenoproteins in muscle function

Selenium is an essential trace element. In cattle, selenium deficiency causes dysfunction of various organs, including skeletal and cardiac muscles. In humans as well, lack of selenium is associated with many disorders, but despite accumulation of clinical reports, muscle diseases are not generally considered on the list. The goal of this review is to establish the connection between clinical observations and the most recent advances obtained in selenium biology. Recent results about a possible role of selenium-containing proteins in muscle formation and repair have been collected. Selenoprotein N is the first selenoprotein linked to genetic disorders consisting of different forms of congenital muscular dystrophies. Understanding the muscle disorders associated with selenium deficiency or selenoprotein N dysfunction is an essential step in defining the causes of the disease and obtaining a better comprehension of the mechanisms involved in muscle formation and maintenance. Received 13 July 2005; received after revision 9 September 2005; accepted 4 October 2005     

辅助训练对移动靶运动员伤病防治效果的观察

射击运动员长期进行静力性工作,易导致劳损性骨骼肌肉损伤。解决这一难题的关键在于射击移动靶运动员在专项训练课结束后,进行逆向牵拉及小力量练习训练。此类训练能有效地降低劳损的发生和发展,提高运动员的运动寿命。     

Construction of protograph LDPC codes with circular generator matrices

The application of protograph low density parity check(LDPC) codes involves the encoding complexity problem.Since the generator matrices are dense,and if the positions of "1" s are irregularity,the encoder needs to store every "1" of the generator matrices by using huge chip area.In order to solve this problem,we need to design the protograph LDPC codes with circular generator matrices.A theorem concerning the circulating property of generator matrices of nonsingular protograph LDPC codes is proposed.The circulating property of generator matrix of nonsingular protograph LDPC codes can be obtained from the corresponding quasi-cyclic parity check matrix.This paper gives a scheme of constructing protograph LDPC codes with circulating generator matrices,and it reveals that the fast encoding algorithm of protograph LDPC codes has lower encoding complexity under the condition of the proposed theorem.Simulation results in additive white Gaussian noise(AWGN) channels show that the bit error rate(BER) performance of the designed codes based on the proposed theorem is much better than that of GB20600 LDPC codes and Tanner LDPC codes.     

一种玻璃钢移动门承载性能有限元分析

应用有限元方法模拟研究了一种洞库工程口部伪装用玻璃钢框架结构在荷栽作用下的应力分布和变形，校核强度和刚度是否满足使用的要求．计算结果表明，移动门斜面（倾角≤60°）上布置4个储水式植物箱（单个重100kg）和36个植草式植物箱（自重加10cm厚土层重量）、正面分压1640N／m2的条件下，框架结构各杆件、植草箱和储水式植物箱的应力小于其强度值，结构稳定．研究结果表明，该型移动门能够用于沿海地区洞库工程口部伪装工程结构．     

提高手绘效果图“快速性”的几点建议

阐述了提高手绘效果图快速表现能力的重要性,分析了手绘效果图课程中存在的问题,并针对这些问题提出了课程改革意见。     

INVESTIGATION ON A FLOWRATE MEASURING SYSTEM USING LIGHT FIBRE FLUOROMETERS

In this paper a flowrate measurement method in pipe directly using light fibres with some fluorescent tracer is proposed. This method will work better than traditional tracers measurement such as using radioactive or salt tracers. It is shown that the flowrate signals are sensitive and intensive also if the injected tracer volume is very small and if the tracer concentration is very lew (<10ppm) ico. It is also show that the calibration factor K is constant within a certain flowrate range. An estimation of uncertainty of flowrate measurement is given, which shows that the measuring accuracy can be within ±2%.     

热传导、渗流和快速扩散三类方程的比较

对热传导方程，渗流方程，快速扩散方程在相同初边值情形下的解进行了比较，建立了有关不等式。