Based on the electro-hydraulic proportional system of a demolition robot working device,a simplified mathematical model was established by analyzing dynamic characteristics of the electro-hydraulic proportional valve,flow equation,the continuity equation and force equilibrium equations,and the fuzzy self-adaptive PID controller was designed to realize position control of working equipment.The simulations reveal that,compared with traditional PID,the fuzzy self-adaptive PID controller has these advantages such as smaller overshoot,good dynamic response and steady state performance.

关键词：拆除机器人;电液比例系统;模糊自适应PID;位置控制

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According to the problem that the intelligence is not high of the soccer robot,using the mechanical theory as a guide,making some mechanical analyses and calculations on the pressure and transmutation states of chip kick mechanics,and conducting optimal design too,then making the structure of chip kick mechanics more and more rationalization.Experiments show that the new soccer robot controller features a quick response and high servo rigidity,and provide a kind of method for improving and perfecting the soccer robot control system,at the same time,filling the needs of producing.

关键词：M序列;信息隐藏;最低有效位算法;安全

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This report documents the development of a framework for a numerical modeling application that can help installation managers develop optimal land- use policies that support competing uses to the greatest extent feasible. Specifically, this framework is de-signed for modeling landscapes that must concurrently maximize a military training mission, conservation of ecosystem services needed by species at risk, and development of renewable energy resources. These competing land uses have become necessary in recent decades due to emerging regulatory requirements for environmental conservation and strategic requirements for producing renewable energy on military lands. The modeling framework includes a table of land-use needs, land-use suitability maps, and a land-use compatibility matrix, which will be implemented as part of the user interface for the proposed numerical model. In a later phase of this work the framework will be extended to include the time domain, which will play a significant role in scheduling military training and testing activities to avoid interfering with certain essential but conflicting factors such as endangered species breeding cycles or the seasonal availability of solar exposure for photovoltaic production.

关键词：生态系统;濒危物种;数值模拟;可持续发展

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The virtual motion camouflage varying manifold based optimal planning algorithm, inspired by the observation in mating hoverflies, is investigated and the performance is enhanced significantly in terms of the convergence speed and collision avoidance capability. The dimension and time complexities of the innovative algorithm are analyzed. A new strategy based on local pursuit is compared with the virtual motion strategy in constructing the varying manifold. The algorithm is validated in an enhanced low cost robot testbed.

关键词：避免碰撞;通信协议;成本低;性能（工程）;机器人

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This report documents the demonstration of a self-adhering, thin-film photovoltaic (PV) technology applied to a new aluminum-zinc coated standing-seam metal roof (SSMR) with a high-performance coating. The demonstration took place at Kilauea Military Camp (KMC), HI, which has a uniquely corrosive environment due to the periodic presence of volcanic gases. It also has high electric utility costs and limited grid capacity. The corrosion performance of the roof and PV solar array was evaluated by periodic visual examination, onsite atmospheric coupon testing, and accelerated weathering laboratory tests of material coupons. Sensors were also installed at the interface between the PV membrane and roofing material, mounted in outdoor exposure at the site, to record any developing signs of corrosion. Af-ter a year in service, the PV appliqu modules were found to have no deleterious effect on the new SSMR, and the PV system performed as expected. However, due to the high first-costs related to procuring the thin-film PV components, the 30 year return on investment (ROI) ratio was only 0.19. Although the system is not economical enough to warrant Army-wide implementation, it may be specified in individual cases where energy sustainability is a higher priority than ROI.

关键词：光电电池（半导体）;耐腐蚀;军事设施;电力系统

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Today's utility planners have a different market and economic context than their predecessors, including planning for the growth of renewable energy. State and federal support policies, solar photovoltaic (PV) price declines, and the introduction of new business models for solar PV ownership are leading to increasing interest in solar technologies (especially PV); however, solar introduces myriad new variables into the utility resource planning decision. Most, but not all, utility planners have less experience analyzing solar than conventional generation as part of capacity planning, portfolio evaluation, and resource procurement decisions. To begin to build this knowledge, utility staff expressed interest in one effort: utility exchanges regarding data, methods, challenges, and solutions for incorporating solar in the planning process. Through interviews and a questionnaire, this report aims to begin this exchange of information and capture utility-provided information about: (1) how various utilities approach long-range resource planning; (2) methods and tools utilities use to conduct resource planning; and, (3) how solar technologies are considered in the resource planning process. The National Renewable Energy Laboratory (NREL) and the Solar Electric Power Association (SEPA) worked together to engage utilities directly to research this topic and author this report. An advisory council of electric industry experts guided the methodology used and provided feedback on draft analysis. The main sources of information captured in this report were predominantly from utilities. The authors conducted interviews with electric sector representatives from 13 entities (9 of which were utilities) and developed a utility questionnaire that secured more specific modeling data sources and methodologies from 28 utilities in 22 states.

关键词：太阳能发电机；电力公用事业；经济分析；电力

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Radioisotope power systems (RPS) for space applications have powered over 27 U.S. space systems, starting with Transit 4A and 4B in 1961, and more recently with the successful landing of the Mars Science Laboratory rover Curiosity in August 2012. RPS enable missions with destinations far from the Sun with faint solar flux, on planetary surfaces with dense or dusty atmospheres, and at places with long eclipse periods where solar array sizes and energy storage mass become impractical. RPS could also provide an enabling capability in support of human exploration activities. It is envisioned that with the higher power needs of most human mission concepts, a high efficiency thermal-to-electric technology would be required such as the Advanced Stirling Radioisotope generator (ASRG). The ASRG should be capable of a four-fold improvement in efficiency over traditional thermoelectric RPS. While it may be impractical to use RPS as a main power source, many other applications could be considered, such as crewed pressurized rovers, in-situ resource production of propellants, back-up habitat power, drilling, any mobile or remote activity from the main base habitat, etc. This paper will identify potential applications and provide concepts that could be a practical extension of the current ASRG design in providing for robust and flexible use of RPS on human exploration missions.

关键词：光电转换；航空航天系统；储能

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The world shipbuilding industry since the beginning of the last century with flux cored wire material.Since the flux cored wire material use welding materials has developed into a more efficient submerged arc welding consumables and gas shielded welding welding consumables and can be more easily combined with automated welding and robot welding.So far,flux cored material applications favored.Gas shielded arc welding consumables mainly divided solid wire and flux cored wire,flux cored wire applications has increased year by year because of its practicality and efficiency.Flux cored wire as the main welding consumables trends,especially in the thick carbon steel plate welded favored.In order to understand the nature of the thick-walled components weld cracking and produces original Due on a thick-wailed T-joints butt weld ultrasonic flaw found Two crack metallographic and SEM fracture analysis.

关键词：包芯丝材料;气体保护;焊接裂纹;分析

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Since CuInSe2 (commonly called as CIS) materials has become one of most important photovoltaic materials,they are investigated with optical spectroscopies in this paper.The crystal structure,surface microstructure morphology and composition of the samples are analyzed in XRD and SEM with EDX,and the surface electronic state and optical properties of the samples are characterized in X-ray photoelectron spectroscopy (XPS) and Ultraviolet-visible Spectrum instruments.The results show that CIS phase is very uniform,some impurity phases appear in the samples,the atomic distributing percentages of the surfaces of bulk samples are very consistent in the composition ratio forming the crystal phases of the samples,and the atomic electrons are more active than ones in the relevant elements.Furthermore,the thin film of the sample has high solar energy absorptivity,and is suitable for to be manufactured as solar cell.

关键词：太阳能电池; CulnSe2;组织;电力系统

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At present,there are many commonly used maximum power point tracking (MPPT) control methods for solar photovoltaic system which have different degrees of output fluctuations.In order to solve the problem and improve the response speed further,a novel MPPT algorithm based on the extreme learning machine was put forward in this paper.Using the extreme learning machine which has small error,fast speed and simple structure train a mathematical model with the environmental temperature and light intensity as input and the maximum power point as output,the model can be used as the controller of the photovoitaic cells.The simulation results show that the error of the model meets the requirements,when the ambient temperature and light intensity change,it can respond quickly so as to photovoltaic cells work at the maximum power point and operate stably.

关键词：光伏; MPPT;极端学习机;快速; SIMULINK

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