摘要：The output-feedback stabilization control problem is investigated for a class of nonlinear uncertain systems. Based on the multivariable analog of circle criterion, an observer is designed to estimate the system states and hence the dynamical equations that the estimation error satisfies are derived first. Then, by using integral backstepping approach together with completing square technique, the output-feedback stabilization control is constructively designed such that the closed-loop system is asymptotically stable. Finally, an example is given to illustrate the main results of this paper.

摘要：This paper presented a control design methodology for a proton exchange membrane fuel cell (PEMFC) generation system for residential applications. The dynamic behavior of the generation system is complex in such applications. A comprehensive control design is very important for achieving a steady system operation and efficiency. The control strategy for a 60 kW generation system was proposed and tested based on the system dynamic model. A two-variable single neuron proportional-integral (PI) decoupling controller was developed for anode pressure and humidity by adjusting the hydrogen flow and water injection. A similar controller was developed for cathode pressure and humidity by adjusting the exhaust flow and water injection. The desired oxygen excess ratio was kept by a feedback controller based on the load current. An optimal seeking controller was used to trace the unique optimal power point. Two negative feedback controllers were used to provide AC power and a suitable voltage for residential loads by a power conditioning unit. Control simulation tests showed that 60 kW PEMFC generation system responded well for computer-simulated step changes in the load power demand. This control methodology for a 60 kW PEMFC generation system would be a competitive solution for system level designs such as parameter design, performance analysis, and online optimization.

摘要：Palletizing robot technology has been applied more and more extensively in logistics automation *** there are some limitations in the current single-arm palletizing robot that it cannot do effective work in the process of moving back to the taking-end and the mechanical arm has so many freedoms that its control system is relatively *** on the translating cam principle,a novel palletizing robot is *** horizontal movement of the palletizing mechanical arm is controlled by changeable outer slides,and the vertical movement is controlled by partitioned up-and-down *** improve palletizing efficiency,the single palletizing mechanical arm is changed into ***,to improve its kinematic properties,the acceleration operating performance,joint driving force and palletizing trajectory are optimized through the multi-objective delaminating sequence *** to the optimization results,the 3D model of the multi-arm palletizing robot is built in Pro/E,and the kinematic simulation is *** simulation results show that the novel mechanism and optimization parameters are rational and *** novel palletizing robot has the advantages of cam mechanism,so it simplifies the driving mode of palletizing movement and can lower the requirements for controlling *** the same time,it can increase palletizing efficiency further by adding mechanical arms.

摘要：我们设计合成了一例共价有机框架材料(TB-COF),并将其开发应用为癌症的光热治疗试剂.TB-COF是基于供体-受体原理,由富电子构建单元(供体)和缺电子构建单元(受体)构建而成.当受到激光照射时,TB-COF中供体和受体之间会发生显著的光诱导电子转移,将吸收的光能转化为热能并用于肿瘤消融.TB-COF具有优异的光热转换效率,其值可达43.65%,与常用的光热试剂相当.此外,我们还将透明质酸(HA)包覆在TB-COF上,以提高其生物相容性并实现肿瘤靶向功能.体外和体内实验均证实了TB-COF-HA高效的光热抗癌功能.

摘要：金属有机骨架(MOFs)衍生的Co基催化剂用于芳香硝基化合物选择加氢引起了广泛的关注,但催化剂合成过程中使用大量溶剂,且对催化剂中活性中心的认识存在争议.本文开发了一种固相合成策略,在不使用任何溶剂的情况下获得MOF前体材料,经发泡和热解处理获得Co@NC催化剂.研究发现,800℃热解所得的催化剂中Co纳米颗粒被氮掺杂石墨烯壳层包裹,在3-硝基苯乙烯的加氢过程中表现出~100%的转化率,3-乙烯基苯胺的选择性大于99%,同时,该催化剂具有良好的循环稳定性和底物普适性.表征和实验结果证明该催化剂中Co–N物种为活性中心,其含量可通过热解温度进行调变,且催化性能与Co–N物种的含量存在正相关关系.本工作为设计用于选择加氢反应的高效Co基催化剂提供了一种新的绿色合成策略.

摘要：作为一种稳定、价廉的光催化剂,TiO_2被广泛应用于各种污染物的降解;但是,较大的宽禁带(~3.2 eV)和较低的电子迁移率不仅使TiO_2很难吸收可见光,而且光生电子和空穴的复合几率高,从而导致TiO_2的总体光电效率不高.因此,设计能够被可见光激发、并具有快速光生电子传输的TiO_2一直是研究热点.研究表明,Ti^(3+)自掺杂的TiO_2(还原态TiO_(2-x))不仅能够被可见光激发,而且使TiO_2具有良好的电子导电性,从而有利于提高TiO_2的光电转换效率.另外,非金属元素的掺杂能够减小TiO_2的禁带宽度,使TiO_2能够响应可见光并具有良好的可见光催化性能,其中S元素的掺杂被广泛研究.目前,S掺杂纳米TiO_2的制备通常采用TiS2,单质S,硫脲、二甲亚砜等为S源,但这类原料通常价格昂贵或者具有一定的毒性,因而实际应用受到限制.而制备Ti^(3+)自掺杂TiO_2的方法大都是基于'还原法',在真空或强还原性气氛如H_2,CO中加热TiO_2,或采用高能粒子(电子、氩离子)轰击.在实际应用中,这些方法存在步骤多、条件苛刻、反应时间长和设备昂贵等不足.而且,还原法反应通常发生在颗粒的表面,形成的Ti^(3+)很容易被空气和水中的溶解O2氧化,降低材料的稳定性.虽然在温和的液相中还原Ti4+可用于制备Ti^(3+)掺杂的TiO_2,但是由于反应过程中有副产物生成,需要进行后续处理才能得到纯的Ti^(3+)自掺杂TiO_2.因此,设计一种简单的制备S掺杂还原态TiO_(2-x)光催化剂仍具有十分重要的意义.前期我们采用H_2O_2氧化TiH_2得到不同状态的前驱体凝胶,然后进行不同方式的后处理得到Ti^(3+)自掺杂的纳米TiO_2.本文以TiH_2和H_2O_2反应得到的黄色前驱体凝胶为Ti源,以价格低廉、无毒、稳定的二氧化硫脲为S源和还原剂,采用不同的方法制备了S掺杂的还原态TiO_(2-x)光催化剂.本文初步研究了在凝胶中加入二氧化硫脲后进行水热处理,以及将干燥的凝胶粉末与二氧化硫脲混合热处理对所得产物的影响.并与纯的TiO_2、还原态TiO_(2-x)和S掺杂TiO_2的光吸收、电化学、光催化性能进行对比研究.采用X射线衍射、透射电子显微镜、高分辨透射电子显微镜、X-射线光电子能谱、紫外-可见漫反射光谱、比表面分析和电化学工作站等技术对产物的结构、形貌和光电性能进行了表征.以罗丹明B(RhB)溶液为模拟废水,考察样品的可见光催化性能.结果表明,不同的后续处理方式不仅影响S掺杂TiO_(2-x)的结晶性和形貌,而且影响产物的光吸收性能和电子传输性能,从而使不同条件下所得产物的可见光催化性能不同.其中,采用热处理方式得到的S掺杂TiO_(2-x)样品在可见光下降解RhB的速率分别是纯的TiO_2,TiO_(2-x)和S掺杂TiO_2的31,2.5和3.6倍,而且样品具有良好的循环稳定性.

摘要：颅颌面解剖结构复杂使得外科手术难度较大,因此十分必要进行术前模拟以保证手术成功,颅颌面结构的三维重建与手术仿真是目前国内外研究的热点。应用薄层CT扫描数据集,利用Mimics软件对336层,层厚为1.0mm的CT二维图像数据进行分析处理,并进行颅颌面的三维重建研究与虚拟手术设计。初步建立了数字化可视颅颌面虚拟手术仿真平台,并精确地模拟了颌面外科常见的3种手术方式,即LefortⅠ截骨术、下颌角截骨术和颏成形术。结果提示在普通计算机上应用Mimics软件可以建立数字化可视颅颌面虚拟手术仿真平台,并对其应用进行了探讨,为科研、教学及临床手术规划提供了方便、快捷、直观的方法,并就虚拟手术设计在普通计算机上的应用进行了讨论。

摘要：在三级倒立摆(TIP)系统中, 应用神经网络与模糊控制相结合的自适应神经模糊推理系统(adaptive neural-fuzzy inference system), 根据样本数据调整隶属函数和控制规则参数, 使得训练后ANFIS控制器很好地模拟期望的输入输出数据. 仿真结果表明所设计的ANFIS控制器对三级倒立摆系统的稳定控制是可行的. 与LQR控制相比, 基于ANFIS控制的倒立摆系统具有良好的动态性能和抗干扰性能.