河北省大型钢铁企业可持续发展战略

本文通过研究河北省大型钢铁企业的发展现状,深入分析了此次全球性金融危机对我省大型钢铁企业的影响及深层根源,并探讨其实现可持续发展的基本路径。     

天线测试平台系统设计与安装

简要介绍了天线测试平台系统的基本工作原理、系统（机械系统、测量系统、控制系统）设计、材料选择、误差分析和系统的现场安装。     

Virtual Reality-based Teleoperation with Robustness Against Modeling Errors

This article investigates virtual reality (VR)-based teleoperation with robustness against modeling errors. VR technology is an effective way to overcome the large time delay during space robot teleoperation. However, it depends highly on the accuracy of model. Model errors between the virtual and real environment exist inevitably. The existing way to deal with the problem is by means of either model matching or robot compliance control. As distinct from the existing methods, this article tries to combine model matching and robot compliance control. On one hand, the status of the virtual robot is corrected by using the position sensor data from robot joints before and during teleoperation, and the pose of the virtually manipulated object is obtained with visual recognition technology. On the other hand, compliance control algorithms of impedance control based on joint torque sensors and hybrid position/force control based on a wrist sensor have been executed in order to eliminate the small sustaining model errors. A VR-based teleoperation system of satellite on-orbit self-serving is built up. In order to verify the proposed method, an experiment deploying the solar panel troubled by malfunction is carried out through teleoperation. It shows that the large model errors are removed with the model matching method and the adopted compliance control is robust against the remaining small model errors.     

浅谈新会计准则对上市公司财务会计信息披露的影响

2006年2月15日财政部会计准则委员会颁布了中国会计准则体系，该会计准则体系由1项基本准则、38项具体会计准则和相关应用指南构成，自2007年1月1日起在上市公司施行。新会计准则在上市公司的实施，从形式和内容上对其会计信息的披露产生了较大的影响。本文仅就新会计准则在公允价值应用、关联方披露、每股收益的计算及披露等三方面对上市公司财务会计信息披露产生的影响进行分析和探讨。     

Approach to Interference Aircraft Automatic Riveting Process Control of Drilling and Riveting

Interference fit riveting is an effective way to improve the fatigue life of aircraft. The accurate control of riveting interference of aircraft automatic drilling and riveting equipment is achieved by process parameters including upsetting force and upset head height. It is valuable for aircraft manufacturing engineering. An approach to interference riveting process control based on the analysis of interference riveting stress field is proposed. According to assembly structure, the upsetting force is calculated by the material property and interference fit level, and the upset head height is deduced by the upsetting force. The experimental result shows that the interference fit level can be controlled accurately by the upsetting force and upset head height, and then, the quality of aircraft auto- matic riveting can be improved. The proposed approach is verified by the good match between the predicted result and the experimental result.     

An IPC-based Prolog design pattern for integrating backward chaining inference into applications or embedded systems

Prolog is one of the most important candidates to build expert systems and AI-related programs and has potential applications in embedded systems. However, Prolog is not suitable to develop many kinds of components, such as data acquisition and task scheduling, which are also crucial. To make the best use of the advantages and bypass the disadvantages, it is attractive to integrate Prolog with programs developed by other languages. In this paper, an IPC-based method is used to integrate backward chaining inference implemented by Prolog into applications or embedded systems. A Prolog design pattern is derived from the method for reuse, whose principle and definition are provided in detail. Additionally, the design pattern is applied to a target system, which is free software, to verify its feasibility. The detailed implementation of the application is given to clarify the design pattern. The design pattern can be further applied to wide range applications and embedded systems and the method described in this paper can also be adopted for other logic programming languages.     

基于加权全变差最小化的中子外部CT重建算法

针对中子外部CT检测需求，提出了基于加权方向全变差（WDTV）最小化的中子外部CT重建算法。首先，利用平行束数据对称性原理将正弦图中旋转中心另一侧缺失的投影数据进行补充；其次，采用传统FBP算法进行了外部CT扫描模式下的CT重建。为了抑制传统FBP、SART算法重建图像中径向边缘伪影，采用WDTV算法计算沿径向和周向方向的局部方向差分并作加权和。另外，在重建模型的WDTV项中引入2个权重参数以控制径向边缘和切向边缘的不同响应强度。最后，采用所提算法研究了重建图像质量与投影数据量的关系。计算机仿真和真实冷中子实验表明:基于WDTV最小化的中子外部CT重建算法能够有效抑制径向边缘伪影，获得高质量重建图像。      

Adaptive neural network control of nonlinear systems with unknown dynamics

In this study, an adaptive neural network control approach is proposed to achieve accurate and robust control of nonlinear systems with unknown dynamics, wherein the neural network is innovatively used to learn the inverse problem of system dynamics with guaranteed convergence. This study focuses on the following three contributions. First, the considered system is transformed into a multi-integrator system using an input–output linearization technique, and an extended state observation technique is used to identify the transformed states. Second, an iterative control learning algorithm is proposed to achieve the neural network training, and stability analysis is given to prove that the network’s predictions converge to ideal control inputs with guaranteed convergence. Third, an adaptive neural network controller is developed by combining the trained network and a proportional-integral controller, and the long-standing challenge of model-based methods for control determination of unknown dynamics is resolved. Simulation results of a virtual control mission and an aerospace altitude tracking mission are provided to substantiate the effectiveness of the proposed techniques and illustrate the adaptability and robustness of the proposed controller.     

基于单参数迭代的TAEM在线轨迹生成方法

针对大升力体轨道再入飞行器末端能量管理（TAEM）段制导控制能力强、末端约束不惟一的问题，将TAEM段分为动压跟踪和着陆预备2个阶段，设计了不同的纵向轨迹剖面，从而将TAEM段在线轨迹生成问题转化为单参数搜索问题。第1阶段设计标称动压剖面为纵向参考轨迹，使得飞行器过程约束得到保证。第2阶段纵向剖面设计为标称高度剖面，从而使得末端点高度和倾角约束得到保证。根据末端动压误差设计修正律，迭代修正第一阶段动压剖面，从而使得最终的纵向轨迹满足所有的状态约束。在线轨迹递推采用以时间为自变量的数值积分，递推过程引入闭环制导律，通过实时修正攻角跟踪纵向剖面，修正倾侧角跟踪地面轨迹，从而保证在线生成的轨迹符合物理特性，降低闭环制导难度。在考虑初期再入末端大范围状态散布情况下，数值仿真显示了所提算法的鲁棒性。