最新刊期

    39 5 2007
    • Vol. 39, Issue 5, Pages: 1-6(2007)
      摘要:Abstract:The lowest ecological water demand in the 119 km reducing reach of Yalong river downstream of Jinping waterpower station stageⅡ (Jinping Ⅱ) as an example is studied by the method of eco hydraulics. The results indicate that the lowest ecological discharge in the reducing reach in the dry season is 45 m3/s in order to meet the subsistence of fish. In the condition of 45 m3/s river flow, the 95% river channels can satisfy the hydraulic factors for the subsistence of fish. These hydraulic factors include water depth, velocity, water surface width, wetted perimeter ratio, cross section area, and water surface area. The change of water temperature will not affect fish spawning in 45 m3/s. The place of hydraulic form, which includes torrent, subcritical flow, riffle, deep pool will change, but their amount remains above the same in 45 m3/s. Generally speaking, as the reduction of river discharge, the biomass will reduce. However, the amount of animal community will remain as long as the river discharge exceeds 45 m3/s. This example severs as an exploring work in calculating ecological based on flow in river channels.  
      关键词:reducing reach;eco hydraulics;the lowest ecological discharges;Yalong river   
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      发布时间:2023-11-28
    • Vol. 39, Issue 5, Pages: 7-9(2007)
      摘要:Abstract:Engineering practices show that lining hanging concrete in time is an important technique to make sure of the construction safety of large-scale surge tank project at complex geologic condition.This paper introduces hanging concrete accelerated construction technique such as hanging model technique,concrete rapid housed technique and alternate lining technique.Those techniques are used successfully in Futang power station surge tank project which is the maximum excavating diameter open surge tank that in commission.It provides references to other projects alike.  
      关键词:large-scale surge tank project;hanging concrete;accelerated construction technique   
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    • Vol. 39, Issue 5, Pages: 10-15(2007)
      摘要:Abstract:Many bridges have been and will be built up on Qiantang River,but so far people know little about the effect of multiple bridges on the tidal current.Delft3D mathematic model is used to numerical experiment on tidal current in Qiantang River with some different bridge schemes so that complex response of tidal flow to multiple bridges is studied.In comparison with the scheme of no bridges,velocity decreases upstream and downstream for single bridge scheme and the region of backwater in the strength of flood is more than 10 km.The lower bridge lied,the greater variation of tidal velocity was.Response of tidal flow to multiple bridges was complicated.In the region where multiple bridges’ effect occurred, tidal current velocity is obviously reduced,and the gradational decrease of velocity at the same point exists along with the increase in bridge number.The influence of bridges to tidal level superposed at the upstream and downstream of all bridges in each scheme,while this partially counteracted between multiple bridges.The tidal prism decreased due to bridge piers,especially for the case of multiple bridges.  
      关键词:Qiantang River;tidal flow;complex response;bridge;numerical simulation   
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    • Vol. 39, Issue 5, Pages: 16-20(2007)
      摘要:Abstract:This paper studied the water flow of SPAC system in Zoige wetland, so as to evaluate accurately and utilize suitably water resource of wetland. Based on the distinctive studies on the sub systems of soil plant atmosphere systems and their interfaces, a new approach of simulation is carried out using coupled model by inputting data needed. The model is tested by using the measured parameters, and the model is run under the conditions of changing the values of the main parameters within certain range to analyze the sensitivity of the parameters. This model can describe the eco hydrology process of Zoige wetland. The result shows that for Zoige wetland plant, the “ideal” ground water level is 60~100 cm, and the “feasible” ground water level is 0~60 cm and 100~250 cm.  
      关键词:Zoige wetland;SPAC system;water flow;ground water level;biomass   
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    • Vol. 39, Issue 5, Pages: 21-25(2007)
      摘要:Abstract:Optimization of earth-rock allocation is an important problem in subgrade construction of road engineering. Based on systematical analysis of composition and allocation relations of earth-rock allocation system, we develop the linear programming optimization model for earth-rock allocation in road engineering to achieve the minimum cost of the system. The model takes into account excavation, fill sections, borrow pits, disposal sites and disposal materials. And we constitute the coordinate system for earth-rock allocation to calculate transportation distances. It remarkably decreases the required data amount in optimization calculation and improves the practicability of the model in project practice. Application in actual projects shows that the model realizes optimal earth-rock allocation in road engineering, increases the cut materials usage, reduces borrow and disposal amount, realizes the minimum cost of earth-rock allocation system and environment protection along the road ultimately. The model can be used in earth-rock allocation of road engineering and levee engineering widely.  
      关键词:earth-rock allocation;linear programming;road engineering;project management   
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    • Vol. 39, Issue 5, Pages: 26-30(2007)
      摘要:Abstract:Seepage velocity of groundwater is a very important hydrogeological parameter of aquifer which can be estimated by tracer technique. There exist shortcomings or restricted conditions in preceding formulae of obtaining the seepage velocity. A tracer dilution physical model of measuring seepage velocity was reestablished according to tracer mass conservation, and a new formula of calculating the horizontal seepage velocity was given by infinitesimal method which modified the generalized dilution formula. Then, the internal relationship between the traditional formula and the new one was discussed. A method to deal with the practical data was given combining with an engineering case. The result indicated that the new formula could get more abundant information of the horizontal seepage velocity in the aquifer, which was much close to the local geological condition and more reliable.  
      关键词:mass conservation;seepage velocity;vertical flow;geological condition;generalized dilution formula   
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    • Vol. 39, Issue 5, Pages: 31-37(2007)
      摘要:Abstract:China is located in the peculiar geological region.Geological disaster appeared frequently and brought about many casualties and economic losses. Early warning system is an important way in restraining geology disaster. Based on the characteristics of geological disaster attribution and the idiographic condition in Huaying,Sichuan province. The paper is suggests that build the model of three factors’structure by time, space and intensity. At the same time, it should build the rational and effective system of early warning and make decision to announcing the geology disaster in consideration of the three factors.  
      关键词:early warning factor;induced factor;lurking intensity;system framework   
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    • Vol. 39, Issue 5, Pages: 44-48(2007)
      摘要:Abstract:Soil nailing is one of the support pattern widely used today. It is useful to discuss the problem of the mechanism of soil nailing. The mechanism of action, deformation and stress state of the soil nailing were analyzed by using the finite element method. In the finite element model, the modified Goodman Jointed Element was adopted to simulate the interface between the steel bar and the rock or soil medium, and the Drucker Prager rule which reflects the Shear-Swell performance of the soil was adopted in the model,too. The comparison between monitoring results and inspecting in practical engineering examples shows that the soil nailing model is very effective and feasible,which turns out to meet the design requirements completely and has a wide application value in the design and construction in the soil nailing.  
      关键词:soil nailing;finite element method;foundation ditch;joint element   
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    • Vol. 39, Issue 5, Pages: 49-52(2007)
      摘要:Abstract:In order to determine the initial stress of pneumatic membrane structures in form finding analysis in the condition that the internal pressure is given, the Taylor Expansion of a multi variable function is used to establish the volume differential equation. With the nonlinear finite element method based on Updated Lagrangian formulations, this paper presents a new approach to calculate the nodal displacements and initial stress in pneumatic membrane structures form-finding analysis. A numerical procedure has been developed and two air supported membrane structures are selected as the analytical models. By comparing the numerical results with the corresponding theoretical results, the validity of the presented approach is shown.  
      关键词:Taylor Expansion;volume differential;pneumatic membrane structures;form-finding analysis   
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    • Vol. 39, Issue 5, Pages: 59-63(2007)
      摘要:Abstract:The random characteristic of particles motion and separation process were studied. A Lagrange method was introduced to detect the particle motion trajectory by height speed analyzer. More than a hundred tests were carried to evaluate the particle motion trajectory and separation characteristics. Statistical analysis of the particle motion trajectory showed that the separation process of particles has stochastic characteristics which is related with the initialization position at inlet section and diameter of a particle, as well as the cone angle of hydrocyclone. On the other hand, for single particle, the chance of particle entrance into underflow or overflow is random. For particles cluster, they had statistical property and kept the characteristic which was the probability of a big particle entering into underflow is larger than a small particle. Those above have provided the evidence for comprehensively understanding separation mechanism and reliable structure design of the hydrocyclone.  
      关键词:hydrocyclone;particle motion trajectory;stochastic characteristic   
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    • Vol. 39, Issue 5, Pages: 64-69(2007)
      摘要:Abstract:Candida krusei which consumed glucose to produce glycerol and Klebsiella pneumoniae which consumed glycerol to produce 1,3-propanediol were co cultured in a co substrate medium composed of glucose and glycerol to study their ability of convering glucose to 1,3-propanediol. The effect of initial glucose and glycerol concentration on products concentration was investigated firstly. The results showed that higher 1,3-PD concentration was obtained at the initial glucose concentration of 100 g/L and initial glycerol concentration of 80 g/L. The growth curves of individual Candida krusei, Klebsiella pneumoniae and co culture in co substrate medium were compared, and correspondingly the glucose, glycerol, 1,3-PD concentration curves were compared. The results showed that the present of glucose in medium would inhibit the growth of Klebsiella pneumoniae, especially in individual culture in co substrate medium, but with the consumption of glucose by Candida krusei the inhibition function was decreasing. Co culture of Candida krusei and Klebsiella pneumoniae converted partial glucose into 1,3-PD, but the yield was lower and the correlation of Candida krusei and Klebsiella pneumoniae deserved advance research.  
      关键词:co-culture;fermentation;glycerol;1,3-propanediol   
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    • Vol. 39, Issue 5, Pages: 70-74(2007)
      摘要:Abstract:The mesoporous molecular sieves Si-MCM-41 was synthesized by hydrothermal method, and the catalysts supported the HRh(CO)(PPh3)3 on the Si-MCM-41 material were prepared. The proper parameters of the Si-MCM-41carrier synthesis were investigated. The isobutene Hydroformylation was studied as a model reaction. The results indicated that the optimum process of Si-MCM-41carrier were selected: n (Si)∶ n (CTAB) =1∶0.2, pH=10, crystallizing temperature=120 ℃, the selectivity of isovaleraldehyde was the best. The good mesopore-structure order of Si-MCM-41 and HRh(CO)(PPh3)3-MCM-41 were proved by BET data and XRD spectra. The uniform pore diameter distribution was beneficial for the selectivity of isovaleraldehyde for isobutene Hydroformylation reaction.  
      关键词:mesoporous Si-MCM-41 materials;HRh(CO)(PPh3)3;isobutene;hydroformylation;isovaleraldehyde   
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    • Vol. 39, Issue 5, Pages: 75-80(2007)
      摘要:Abstract:The PIV and CFD technique were adopted to investigate the turbulent flow fields in stirred vessels with novel combined inner-outer agitator. The velocity fields and turbulent kinetic energy stirred by the combined inner outer agitator with different rotating speed ratios were analyzed. Results show that, in the turbulent flow regime, the introduction of outer agitator leads to the slight change of the velocity fields. The combined inner-outer agitator could enhance the turbulent level in stirred vessels, especially in the regions near the vessel wall and bottom, and the region located at mid-height of the two pitched paddles. The lower speed ratio could be beneficial to the rapid mixing of fluids.  
      关键词:novel combined inner-outer agitator;flow fields;PIV;CFD   
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    • Vol. 39, Issue 5, Pages: 81-85(2007)
      摘要:Abstract:Effect of compund fertilizer (nitrogen, phosphor) on anaerobic fermentation types in hydrogen bioproduction (HBP) from CST reactor was studied. The organic load rate (OLD) was maintained at 21.8 kg COD/m3·d during the experiments. The compound fertilizer of N/P dosing were 40, 20, 10 and 0 mg/L,respectively. After 20 days operation, the fermentation type was converted from butyric type to ethanol type. During the period, the biogas production kept steady, while hydrogen yield was increased. The results indicated that nutrition was one of the most important factors which affected the fermentation types. In the experiments, adding N,P-compound fertilizer more than 10 mg/L conduce to the establishment of butyric type fermentation, lower than 10 mg/L, the ethanol type fermentation would come into being. The ORP and pH was not affected obviously by the nutrition dosage. In the HBP reactor, special microbe was the precondition of the fermentation type, but the other factors such as nutrition also have significant effects on the formation of ethanol type fermentation.  
      关键词:fermentation type;compound fertilizer;hydrogen bioproduction   
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    • Vol. 39, Issue 5, Pages: 92-96(2007)
      摘要:Abstract:A series of PBT/PEG/LA block copoly(ether-ester) with the constant mass ratio (r=1) of soft to hard segment of PBT/PEG (Mn=1000) and LA molar fraction to PET hard segment varying from 0~30% were synthesized and characterized by means of intrinsic viscosity[η],FT-IR,1H-NMR,DSC,mechanical properties and degradation behavior. The analysis on the hard segments in the copolymer chain and the thermodynamic properties showed that the molar faction of PBT decreased from 83.70% to 58.58% and the melting points (Tm,h)of hard segments decreased from 193.6 ℃ to 170.1 ℃,with the increase of LA molar ratio from 0 to 30% to the molar faction of PBT in the initial PBT/PEG copolymer. The mechanical properties testing showed that the higher molar fraction of LA impacts degradation of fibers, while the lower one improves the tensile strength. The biodegradable properties of PBT/PEG/LA fibers are related to its chain structure,collective structure and the molar faction of LA. The regression equation based on the correlations between the remaining percent of tensile strength Y(%)of degradable fibers and time of degradation t(week) is Y=A+B1×t+B2×t2+B3×t3+B4×t4, and the coefficient of determination R2>0.997.  
      关键词:PBT/PEG;LA;biodegradable;fiber;mechanical propertiesPBT/PEG   
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      发布时间:2023-11-28
    • Vol. 39, Issue 5, Pages: 97-100(2007)
      摘要:Abstract:SEM、XRD and EDS were used to analyze the morphologies and composition of precipitations. The effects of alloy elements on the microstructure and properties of Cu-Te-Cr alloys during aging process were studied. The results showed that Te、Cr were precipitated as Cu2Te, CrxTey or fine bcc Cr during aging process, so the hardness of alloys can be improved. With aging temperature increasing, the grain size of Cr increases, coherent relation decreases and some precipitation re-solute in copper grain at the same time, leading to decrease of hardness of alloys. Furthermore, CrxTey appeared and increased with Te content increased, combined with solution of Cr in copper dropping, thus the hardness of alloys decreased but electrical conductivity increased.  
      关键词:Cu-Te-Cr alloys;aging process;electrical conductivity   
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    • Vol. 39, Issue 5, Pages: 101-105(2007)
      摘要:Abstract:Residual stress of polymer bonded explosive(PBX) was tested by x-ray diffraction method and a new diffraction peak, which has not yet been reported in TATB (triamino trinitrobenzene) PDF card,was discovered at near 72.5°. Residual stress of the explosives were all draw stress with several MPa, and the stress of edge is larger than the central. The residual stress of explosive would be reduced through thermal treatment or laying for somg time . Grain sizes were different with pressure change. The results showed that x-ray diffraction is a convenient and effective method for the residual stress measurement of PBX and has importance significance for the research into residual stress and applicatios of PBX.  
      关键词:polymer bonded explosive;X-ray diffraction;residual stress;stress distribution;thermal treatment   
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    • Vol. 39, Issue 5, Pages: 106-110(2007)
      摘要:Abstract:Based on Mei’s potential function, the pressure effect on elastic properties of Au are calculated by molecular dynamics method in the pressure range of 0~100 GPa. By fitting the Birch-Murnaghan equation of state, the pressure derivative of bulk modulus B0′ was obtained of 5.3. The calculation shows that the strength and rigidity of Au are enhanced by compression. The Zener anisotropy factor decreases with pressure, but within the considered range of pressure, elastic anisotropy still keeps large. The acoustic anisotropy factor is not sensitive to pressure, which means that the ratio of two longitudinal elastic wave velocities propagating along [100] and [111] direction is almost unchange.  
      关键词:molecular dynamics;Au;elasticity;pressure effect   
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    • Vol. 39, Issue 5, Pages: 111-115(2007)
      摘要:Abstract:A blind watermark detecting model was proposed to reduce the false alarm rate and the miss alarm rate on detecting. With Matlab software,image samples were detected by 7 different digital watermark detecting mothods one by one, whose detected results were analysed by data fusion method to discriminate the watermark information in the images.Compared by a single algorithm, the pan methods discussed can shorten testing time and improve dectecting efficiency. When 17 digital watermark embedded systems were detected in the simulation experiment, the false alarm rate was 5.495%,the miss alarm rate was 1.648%,the validity rate reached 92.857%. In addition, the methods discussed is less vulnerable to attacks of certain. In a word, the methods discussed has more feasibility than a single algorithm.  
      关键词:digital watermarking;blind watermark detector;data fusion method   
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    • Vol. 39, Issue 5, Pages: 116-120(2007)
      摘要:Abstract:A new denial of service intrusion detection model based on the immune danger theory was presented, according to the characteristic of denial of service intrusion.The model and the antibody evolution algorithm were designed and realized. In the model, antigen/antibody was classified by consanguinity, the procedure of antigen apoptosis and necrosis were defined, and both danger signal and risk of network were calculated. This model can detect denial of service intrusion by the danger signal and risk of network. The results of the experiment showed that the method can not only keep the advantages of self learning and self adaptation of intrusion detection based on tradition artificial immune artificial immune, but also decrease the false positive rate by 87.5%.  
      关键词:immune danger theory;danger signal;denial of service intrusion;antigen apoptosis and necrosis;consanguinity classification   
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    • Vol. 39, Issue 5, Pages: 121-126(2007)
      摘要:Abstract:To process multi-dimensional discrete data, formal concept of meta rule including connective “AND” “OR” or “NOT” was proposed. Support degree and confidence degree of meta-rule instance were defined. Solution space of meta rule problem was analyzed. Furthermore, formal concept of frequent k-ary Meta Rule in First Order (k-MR) was introduced. The concept of frequent degree and the bound equation of solution space of k-MR were presented. The k-MR, with smaller solution space, is more abstract than its base rule. It can represent distribution of strong meta rule instance and relationship between meta data. Space distribution of k-MR was also studied and verified in experimental evaluation where k < 5. Experimental results showed that the new method for multi dimensional dicrete data mining was effective. On real data sets, number of meta-rule about strong meta rule instance is about 10 times less than that of strong meta-rule instance, and number of meta-rule whose frequent degree equals 100% is about 100 times less than that of strong meta-rule instance.  
      关键词:data mining;meta-rule;k-ary meta rule in first order;multi-dimensional;discrete data   
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    • Vol. 39, Issue 5, Pages: 127-132(2007)
      摘要:Abstract:Traditional Gene Expression Programming (GEP) is bare of discovering recursive functions. The limitation of function mining of the traditional GEP was analyzed.Revised algorithm GEP RecurMiner based on recursive chromosomes and Dynamic Selection, Crossover and Mutation Strategy (DSCMS) based on best fitness were proposed. The theoretical proof and experiments showed that GEP RecurMiner extremely extends the domain of function mining and can discover recursive functions. The experiments also showed that the performance of GEP RecurMiner is improved by the combination of DSCMS. The number of average evolution generations decreases 10%, and the success rate increases 20%.  
      关键词:Gene Expression Programming (GEP);recursive function;function mining;GEP-RecurMiner   
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    • Vol. 39, Issue 5, Pages: 133-136(2007)
      摘要:Abstract:An improved watermarking algorithm is proposed to deal with public watermarking verification and large information reserves. This algorithm is based on two dimensional discrete Fourier transform (2DFT). The phase of the reference watermark is shifted randomly in the 2DFT domain to obtain many embedding watermarks. They are correlated with one another and have the same correlation with the reference one. To decide the presence of the watermark, the detector compares the correlation coefficient with the decision threshold. The simulation results show that with the proper threshold, the reference watermark can be used to detect the embedding watermark, but other embedding watermarks cannot. The publication of reference watermark does not compromise the embedding one. This algorithm realizes the public verification of watermark, and needs only one reference watermark for detecting embedding watermarks, which decreases the watermark storage.  
      关键词:asymmetric digital watermarking;random-phase-shift;2DFT   
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    • Vol. 39, Issue 5, Pages: 137-142(2007)
      摘要:Abstract:Single Sign On (SSO) provides uniform authentication entrance for multi application integration system, but has a security issue on which it normally does not focus— authentication management in Single Sign Out. A Message System-based and Customizable Single Sign Out Service —MSC SSOS integrating Yale ITS CAS into a multi-application online service system, was designed and implemented. Many services such as security management, business customization, message persistency and balance loading are provided through a message bus. MSC SSOS demonstrates characteristics of security, stability and efficiency in the online system which is visited by more than 400000 pages a day.  
      关键词:Single Sign On;Single Sign Out;CAS;MSC-SSOS   
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    • Vol. 39, Issue 5, Pages: 143-148(2007)
      摘要:Abstract:A scheme was presented based on visual pleasing generating of character animation sequences and visual pleasing designing of in between model with the feature of key models. The scheme is suitable for restructure of 2D or 3D curves shape blending with global optimizing after various local interpolations, and it made the blending algorithm of open and closed curves has identical forms. Optimizing equation of shape restructuring with uniquely steady solution was given by least-squares minimization;and the vector coordinates and proportion function relative to the angles and edge length were applied. Characteristic of perimeters and areas of in-between shapes were obtained through experiments of various proportion functions and curves data. A non-learn local interpolation algorithm of avoiding self-intersection and distortion, 3D curves blending, and surface merging and applications were given. Experimental results showed that the scheme can generate visual-pleasing blending sequences,and has advantage in the simplicity of algorithm.  
      关键词:computer animation;shape blending;coordinate optimizing;merging surface   
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    • Vol. 39, Issue 5, Pages: 149-154(2007)
      摘要:Abstract:An approach for diagnosing analog VLSI circuits based on Octave Haar wavelet was presented in order to lower the difficulty level of testing analog parametric fault. Sub-band filtering of testing response signal was accomplished by wavelet filter banks. The cross-correlation coefficient(CCC) was computed to sequence acquired from sub-band filtering. Consequently, for each fault, subband with lowest CCC value was determined and this value could be used as faulty signature for this fault, and auto-correlation coefficient of normal response in corresponding sub-band was referred to as fault-free signature. Hence, fault diagnosis can be finished by comparing the faulty signature with its fault-free counterpart. Experiments of international Benchmark circuit showed that methodology had high precision for diagnosing parametric fault.  
      关键词:testing of analog circuits;fault diagnosis;wavelet filter bank;correlation coefficient;signature extraction   
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    • Vol. 39, Issue 5, Pages: 155-158(2007)
      摘要:Abstract:In acoustic signal processing,it is valuable to determine whether a real room acoustic system is nonlinear deterministic. In order to detect the nonlinear determinism, the method of surrogate is employed. The null hypothesis that a real system response is from a stationary Gaussian linear process distorted by an invertible, static, nonlinear measurement function is made and tested. Since the hypothesis can't be rejected by the experiment result, the nonlinear determinism of the real room acoustic system cannot be determined yet with the method of surrogate under the given experimental condition. Farther detection of the nonlinear determinism of a real room acoustic system will be carried out by employing other nonlinear analysis techniques and improving experimental conditions.  
      关键词:room acoustic system;nonlinear determinism;surrogates;hypothesis test   
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    • Vol. 39, Issue 5, Pages: 159-163(2007)
      摘要:Abstract:Code structure is an important factor which affects performance of IRA codes. THe structure of IRA codes was optimized based on Gaussian approximation. The graph model theory of IRA codes was introduced, and the Tanner graph was presented. The impact of 2 degree to the structure of codes was analysed. Based on given noise variance, the Gaussian approximation of IRA codes was researched on AWGN channel, and the degree sequences was designed. IRA codes were designed based on Gaussian approximation and simulated by computer. Simulation results showed that the IRA codes have better performance than MacKay LDPC codes, and the convergence of message are well.  
      关键词:IRA codes;Tanner graph;Gaussian approximation;degree   
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    • Vol. 39, Issue 5, Pages: 164-170(2007)
      摘要:Abstract:Analytical dynamic model of 3-DOF spherical parallel manipulators is established based on sub-structure method,and a distributed parallel computing environment for dynamic simulation of spherical parallel manipulators is developed based on grid computing technology. In grid computing environment, the dynamic simulation for spherical parallel manipulators was executed with gird nodes by paralled method using analytical dynamic model,therefore the online calculation amount and computing time can be reduced,which is of advantage to real-time control and simulation of manipulators. The numerical examples of analytical code generation for dynamic model matrix elements and simulation calculation are given for illustration. The influence of adjustable parameters on drive forces of actuators for 3-DOF spherical parallel manipulators is studied.  
      关键词:spherical parallel manipulator;analytical dynamic model;adjustable parameters;grid computing   
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    • Vol. 39, Issue 5, Pages: 171-174(2007)
      摘要:Abstract:The trajectory tracking control problem of the uncertain mobile robot with nonholonomic constraints was analyzed. A new trajectory tracking control algorithm was presented based on the kinematic models analysis, the non-singular terminal sliding mode technique was used and the singularity problem was eliminated. The system state vector was designed using backstepping method, this method broke down nonlinear systems into low dimensional systems and simplified the controller design. By combining Lyapunov method, it was proved that under this control law, the mobile robot could track the desired trajectory when the desired velocity satisfied some assumptions. Simulation results validate the theoretical analysis.  
      关键词:mobile robot;backstepping;trajectory tracking;terminal sliding mode   
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