In this research effort, a Microelectromechanical system (MEMS) cantilever pressure sensor was designed, modeled, and fabricated to investigate the photoacoustic (PA) response of gases to terahertz (THz) radiation under low vacuum conditions. Previous efforts in this project were improved upon, to include lowering resting out-of-plane curvature to improve sensitivity of devices. Dimensional analysis is taken into consideration and altered dimensions also serve to boost sensitivity while improving fragility of devices. All devices were fabricated on silicon-on-insulator (SOI) wafers and tested in a custom designed THz vacuum chamber. Fabricated devices have a minimum normalized noise equivalent absorption (NNEA) coefficient of 4.28x10(- 10), an improvement of 69% on prior 10micro devices.

关键词：吸收；加速阶段；悬臂；化学检测；化学传感器

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为提高ISG混合动力汽车的燃油经济性,开展控制规则优化与转矩分配策略研究,以保证发动机工作在高效区域。从控制发动机输出负荷角度出发,综合考虑ISG效率特性和电池组充放电特性,对发动机、ISG、电池组稳态工作区域进行划分。以混合动力系统工作模式分析为基础,提出各模式下能量管理策略,并根据车辆行驶过程中工作模式动态切换的需要,制定了模式切换策略。以IVECO并联混合动力汽车为例,按照ECE+EUDC工况进行了基于优化规则的转矩分配策略硬件在环仿真,结果表明采用基地规则的转矩分配策略能有效地协调转矩在发动机和ISG之间的分配,综合油耗比原车降低20%。

关键词：混合动力汽车；ISG；规则优化；转矩分配策略

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Impedance/admittance control algorithms are considered as key technologies in human-robot interaction and other fields of advanced robotics where complex physical interaction plays role. In this chapter, we utilize a Tensor Product (TP) Model Transformation based method to derive the delay and stiffness dependent polytopic LPV representation of the impedance controlled physical interaction. The applied transformation method is feasible with bounded delay that is the non-linear function of the environmental stiffness. Thus, the ideal transformation space is non-rectangular that makes it improper for the TP model transformation. We propose a dimensionless parametrisation to define a rectangular grid upon witch the transformation is viable. The resulted model form is promptly appropriate for the modern multi-objective LMI based control design techniques.

关键词：互动机器人；LPV/ qLPV造型；阻抗控制

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This paper proposes a method of motor-position acquisition from hall sensors installed on the mover of linear synchronous motor. The sensors are combined to Dual-rate sampling observer to estimate motor speed and position. Then this paper describes a design method of speed and position controllers for smooth transition between alternating speed and position control. And the parameters of speed controller are variable with motor speed.

关键词：直线同步电机；双速率采样观测；位置和速度控制器；霍尔传感器

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The Morpheus vertical test vehicle is an autonomous robotic lander being developed at Johnson Space Center (JSC) to test hazard detection technology. Because the initial ground contact simulation model was not very realistic, it was decided to improve the model without making it too computationally expensive. The first development cycle added capability to define vehicle attachment points (AP) and to keep track of their states in the lander reference frame (LFRAME). These states are used with a spring damper model to compute an AP contact force. The lateral force is then overwritten, if necessary, by the Coulomb static or kinetic friction force. The second development cycle added capability to use the PolySurface class as the contact surface. The class can load CAD data in STL (Stereo Lithography) format, and use the data to compute line of sight (LOS) intercepts. A polygon frame (PFRAME) is computed from the facet intercept normal and used to convert the AP state to PFRAME. Three flat plane tests validate the transitions from kinetic to static, static to kinetic, and vertical impact. The hazardous terrain test will be used to test for visual reasonableness. The improved model is numerically inexpensive, robust, and produces results that are reasonable.

关键词：荷载（部队）；多边形；机器人技术；模拟

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This study proposes a novel sliding mode control with self-turning law for nonlinear systems with time-delay and external disturbances possessing uncertain parameters. The adjustable control gain and a bipolar sigmoid function are online tuned to force the tracking error to approach zero. The proposed control scheme provides good transient and steady-state performance. Moreover as the proposed controller, the chatting phenomenon can be avoided and the problem of time-delay and external disturbances are solved for a class of nonlinear systems. The closed-loop control system stability is proved to use the Lyapunov method. Steady-state system performance and chattering are considerably improved. Numerical simulation results are given to illustrate the effectiveness of the proposed procedure.

关键词：滑模控制；自适应控制；李雅普诺夫方法；边界层

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In this chapter, it is presented a utilization of a novel tool for symbolic regression, which is analytic programming, for the purpose of the synthesis of a new feedback control law. This new synthesized chaotic controller secures the fully stabilization of selected discrete chaotic systems, which is the two-dimensional Lozi map. The paper consists of the descriptions of analytic programming as well as selected chaotic system, used heuristic and cost function design. For experimentation, Self-Organizing Migrating Algorithm (SOMA) and Differential evolution (DE) were used. Two selected experiments are detailed described.

关键词：分析编程；符号回归；混沌控制

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An unprecedented challenge of the new generation launch vehicle control is its four parallel strap-on engines are oscillateable by the servomechanism. It increases the manoeuvrability of the vehicle and the control complexity simultaneously. The chapter investigates actuator failure compensation for new generation launch vehicle control. A control reconfiguration scheme of fault-tolerant control is developed to enhance the reliability of launch vehicle attitude control systems and prevent the control invalidation caused by the deadlock of the oscillating actuator, based on the congruity of the composite moment before and after the failure happens. This reconfiguration scheme is capable of utilizing the remaining control authority to achieve the desired performance in the presence of deadlock at certain detectable angle occurring in one or several actuators at unknown time instants.

关键词：启动车辆；容错性；控制重配置；姿态跟踪

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为了改善柴油机瞬态加载过程中燃烧与排放性能恶化的问题,在一台增压中冷柴油机上,利用瞬态测控系统,试验研究了先快后慢的多段加载策略,探索不同的加载停滞时间对柴油机θCA10,θCA50,烟度和CO,NOx等排放物的影响规律。试验结果表明:与匀速加载策略相比,加载停滞时间越长,排放性能越好,烟度和CO峰值最大分别降低20.8%和38.32%,但NOx略有增加;在第二段加载过程中θCA10和θCA50延后程度降低;加载过程后期缸内空燃比下降趋势更加缓和。

关键词：增压柴油机；瞬态工况；加载策略；排放；燃烧相位

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The terminal sliding mode (TSM) control method has become a hot topic in recent years due to its special merit on finite-time convergence and good robustness. One critical issue is how to balance the singularity of control law and the fast convergence of closed-loop system. The chapter reviews the research history of the singularity and introduces the recent advance on nonsingular and fast terminal sliding mode (NFTSM) control method. The synthesis of NFTSM controller synthesis is based on a newly proposed nonsingular fast terminal function and a terminal attrac-tor with nonnegative exponential coefficient. Both theoretical analyses and computer simulations have proved its effectiveness under the condition that plant uncertainties are bounded.

关键词：终端滑模；控制方式；非负指数系数

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