基于在线ZMP校正的下肢外骨骼上楼梯步态规划

为提高下肢外骨骼机器人上楼梯的稳定性，合理的步态规划与误差校正是至关重要的两个方面，为此，提出一种上楼梯过程中零力矩点（ZMP）的在线校正方法。首先，建立下肢上楼梯的运动模型，并进行运动学分析，利用5次B样条曲线进行下肢关节轨迹规划。其次，针对由穿戴过程中人不稳定扰动作用造成的实际与规划ZMP轨迹之间的较大误差，采用在线ZMP校正进行调节。最后，通过仿真和实际实验证明，这种在线校正能够明显减小机器人的ZMP误差，提高机器人ZMP的稳定裕度，保证下肢机器人系统的整体稳定性

Design of the self-adaptive filter for nanometer positioning control system

国内尚无针对纳米位置控制系统噪声的滤波器设计。如果改变纳米位置控制系统环境或者改变负载,常规定常数的滤波器难以有效滤除系统噪声。考虑位置控制系统为纳米级的精确控制系统,本文采用文化算法和案例推理技术,自适应确定滤波器参数,设计带阻滤波器滤除系统噪声。实验结果说明,即使纳米位置控制系统处于变化环境中,本文设计的滤波器依然可以找到适合的参数,实现噪声的有效滤除

Application of sequence quadratic programming algorithm to deconvolution of molecular weight distributions of polypropylene

以多活性中心催化剂而言,确定活性中心的数目是模拟催化反应动力学及后续反应工程的前提之一。工业上常用的聚丙烯Ziegler-Natta催化剂具有多活性中心的特点。因此,用Ziegler-Natta催化剂催化的丙烯聚合工程模拟前,需要确定该催化剂的活性中心数目。为了确定其活性中心数目,用序贯二次规划算法、实测的聚合产物分子量分布曲线(GPC)和多个单活性中心的分子量分布函数,拟合聚丙烯样品的分子量分布,得到最可能的催化剂活性中心个数和每个催化剂活性中心的分子量分布(GPC解析)。此外,以工业现场样品的GPC数据为例,解析GPC。结果,用序贯二次规划算法确定Ziegler-Natta催化剂的活性中心数及相应分子量的分布与权重较为准确。It is necessary to obtain the number of the active site in order to study the kinetics and engineering simulation of the reaction catalyzed by the catalysts with multi active sites.In addition,the Ziegler-Natta propylene catalyst is the catalyst with multi active center sites,which results in broad molecular weight distribution of polypropylene produced.Accordingly,it is also important to confirm the number of the most probable active sites before study on the propylene polymerization simulation.We introduced sequence quadratic programming algorithm (SQP) to calculate the number of the multi active sites by fitting the broad molecular weight distribution curve of the polypropylene sample with more than one molecular weight distribution curves of single-active-site type.Furthermore,the indus- trial polypropylene samples were used to test the SQP.The results show that the method discussed here had the capability to calculate the number of the most probable site types and the molecular weight distribution of each site type,as well as the weight fraction of the polymer produced by each site type,respectively.中国石油兰州化工研究中心资助项