摘要：A novel reconfigurable tracked robot based on four-link mechanism was proposed and released for the complicated terrain environment. This robot was modularly designed and developed, which is composed of one suspension and one pair of symmetrical deployed reconfigurable track modules. This robot can implement multiple locomotion configurations by changing the track configuration, and the geometric theory analysis shows that the track length keeps constant during the process of track reconfiguration. Furthermore, a parameterized geometric model of the robot was established to analyze the kinematic performance of the robot while overcoming various obstacles. To investigate the feasibility and correctness of design theory and robot scheme, an example robot was designed to climb 45° slopes and 200 mm steps, and a group of design parameters of the robot were determined. Finally, A prototype of this robot was developed, and the test results show that the robot own powerful mobility and obstacle overcoming performance, for example, running across obstacle like mantis, extending to stride over entrenchment, standing up to elevate height, and going ahead after overturn.

摘要：The tokamak start-up is a very important phase during the process to obtain a suitable equalizing plasma, and its governing model can be described as a set of nonlinear ordinary differential equations（ODEs）. In this paper, we first estimate the parameters in the original model and set up an accurate model to express how the variables change during the start-up phase, especially how the plasma current changes with respect to time and the loop voltage. Then, we apply the control parameterization method to obtain an approximate optimal parameters selection problem for the loop voltage design to achieve a desired plasma current target. Computational optimal control techniques such as the variational method and the costate method are employed to solve the problem, respectively. Finally, numerical simulations are performed and the results obtained via different methods are compared. Our numerical parameterization method and optimization procedure turn out to be effective.

摘要：This paper introduces the design and construction of global navigation satellite systems(GNSS)vulnerability simulation,verification,and mitigation *** platform contains five modules:simulation of the signal-in-space environment,simulation of the vulnerabilities in the space segment,signal quality monitoring and data processing,vulnerability assessment and validation,and integrated *** provides a set of integrated simulations of different types of interference in the GNSS signal propagation domain,including electromagnetic interference,atmospheric disturbances,multipath,and interference in the inter-satellite *** paper focuses on the design of the main system modules and testing through an experimental *** results demonstrate both the effectiveness and realism of the modules and overall platform.

摘要：A kind of new design method for two-degree-of-freedom(2DOF)PID regulator was presented,in which,a new global search heuristic--improved generalized extremal optimization(GEO)algorithm is applied to the parameter optimization design of 2DOF PID *** simulated results show that very good dynamic response performance of both command tracking and disturbance rejection characteristics can be achieved *** the same time,the comparisons of simulation results with the improved GA,the basic GEO and the improved GEO were *** the comparisons,it is shown that the improved GEO algorithm is competitive in performance with the GA and basic GEO and is an attractive tool to be used in the design of two-degree-of-freedom PID regulator.

摘要：The key exchange is a fundamental building block in the cryptography. Several provable security models for the key exchange protocol are proposed. To determine the exact properties required by the protocols, a single unified security model is essential, The eCK , eCK and CK models are examined and the result is proved that the eCK＇ model is the strongest provable security model for the key exchange. The relative security strength among these models is analyzed. To support the implication or non-implication relations among these models, the formal proofs and the counter-examples are given.

摘要：Gas-liquid microreaction technology has shown great potential in a variety of industrial relevant mass transfer operations and reactions. This paper outlines the current research status of this technology with emphasis on reactor design, hydrodynamics and mass transfer phenomena as well as reaction applications. The future challenges of this important technology are also summarized.

摘要：This work presents an integrated pressure-tracking controller for a novel electro-hydraulic brake(EHB) system considering friction and hydraulic disturbances. To this end, a mathematical model of an EHB system, consisting of actuator and hydraulic sub-systems, is derived for describing the fundamental dynamics of the system and designing the controller. Due to sensor inaccuracy and measurement noise, a Kalman filter is constructed to estimate push rod stroke for generating desired master cylinder pressure. To improve pressure-tracking accuracy, a linear friction model is generated by linearizing the nonlinear Tustin friction model, and the unmodeled friction disturbances are assumed unknown but bounded. A sliding mode controller is designed for compensating friction disturbances, and the stability of the controller is investigated using the Lyapunov method. The performance of the proposed integrated controller is evaluated with a hardware-in-the-loop(HIL) test platform equipped with the EHB prototype. The test results demonstrate that the EHB system with the proposed integrated controller not only achieves good pressure-tracking performance, but also maintains robustness to friction disturbances.

摘要：This paper presents a transimpedance amplifier （TIA） capacitance detection circuit aimed at detecting micro-capacitance, which is caused by ultrasonic stimulation applied to the capacitive micro-machined ultrasonic transducer （CMUT）. In the capacitance interface, a TIA is adopted to amplify the received signal with a center frequency of 400 kHz, and finally detect ultrasound pressure. The circuit has a strong anti-stray property and this paper also studies the calculation of compensation capacity in detail. To ensure high resolution, noise analysis is conducted. After optimization, the detected minimum ultrasound pressure is 2.1 Pa, which is two orders of magni- tude higher than the former. The test results showed that the circuit was sensitive to changes in ultrasound pressure and the distance between the CMUT and stumbling block, which also successfully demonstrates the functionality of the developed TIA of the analog-front-end receiver.

摘要：Low pressure chemical vapor deposition(LPCVD) is one of the most important processes during semiconductor ***,the spatial distribution of internal temperature and extremely few samples makes it hard to build a good-quality model of this batch ***,due to the properties of this process,the reliability of the model must be taken into consideration when optimizing the *** this work,an optimal design strategy based on the self-learning Gaussian process model(GPM) is proposed to control this kind of spatial batch *** GPM is utilized as the internal model to predict the thicknesses of thin films on all spatial-distributed wafers using the limited *** the conventional model based design,the uncertainties of predictions provided by GPM are taken into consideration to guide the optimal design of manipulated variables so that the designing can be more prudent Besides,the GPM is also actively enhanced using as little data as possible based on the predictive *** effectiveness of the proposed strategy is successfully demonstrated in an LPCVD process.

摘要：Based on the monitoring and discovery service 4 （MDS4） model, a monitoring model for a data grid which supports reliable storage and intrusion tolerance is designed. The load characteristics and indicators of computing resources in the monitoring model are analyzed. Then, a time-series autoregressive prediction model is devised. And an autoregressive support vector regression（ ARSVR） monitoring method is put forward to predict the node load of the data grid. Finally, a model for historical observations sequences is set up using the autoregressive （AR） model and the model order is determined. The support vector regression（SVR） model is trained using historical data and the regression function is obtained. Simulation results show that the ARSVR method can effectively predict the node load.