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Table of Content

      
    24 October 2007
    Volume 37 Issue 5
    Articles
    Articles
    Control of MIMO systems using adaptive internal model principle with backstepping approach
    ZHOU Jing,WEN Chang-yun
    JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE). 2007, 37(5):  1-10 .  doi:
    Abstract ( 817 )   PDF (225KB) ( 1476 )   Save
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    Adaptive output feedback control of a class of multiple-input multiple-output systems is considered in the presence of unknown disturbances. Except the signs of the term multiplying the control are assumed, no other knowledge on the unknown parameters is required. The control design is achieved by using backstepping, tuning functions, SDU factorization and estimating parameters. It is shown that the proposed controller can guarantee global uniform ultimate boundedness.
    Output-feedback adaptive control for a class of stochastic nonlinear time varying delay systems
    GAO Qing-zheng,CHEN Chuan-xiang,XIE Xue-jun
    JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE). 2007, 37(5):  11-18 .  doi:
    Abstract ( 646 )   PDF (292KB) ( 1478 )   Save
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    The output-feedback adaptive control problem was investigated for a class of stochastic nonlinear time varying delay systems driven by stochastic noise of unknown covariance. By utilizing the backstepping design technique, acontroller based on observer and the adaptive law only correlated with output was constructively presented to guarantee that the closed-loop system is globally asymptotically stable in probability, where the designed observer and adaptive controller are all independent of time-delay. A simulation example demonstrates the effectiveness of the control scheme.
    Estimating parameters of a neuron model based on chaos synchronization and adaptive control
    DENG Bin,WANG Jiang
    JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE). 2007, 37(5):  19-23 .  doi:
    Abstract ( 706 )   PDF (231KB) ( 1877 )   Save
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    A method of parameters estimation based on chaos synchronization and adaptive control was proposed to deal with the problem of estimating all parameters of a neuron model from a time series of active potential. The effect of parameter disturbance on the estimation and the relationship between strength of noise and estimation precision were investigated. The simulation demonstrates that this method can overcome parameter disturbance and the estimation precision will be lower while the strength of measurement noise increases.
    Observer design for nonlinear systems with delay in state
    LIU Qing-rong,ZHANG Cheng-hui,ZHANG Xian-fu
    JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE). 2007, 37(5):  24-28 .  doi:
    Abstract ( 784 )   PDF (223KB) ( 1821 )   Save
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    A novel and simple observer design for a class of lower triangular nonlinear time-delay systems satisfying Lipschitz condition was proposed. By constructing appropriate Lyapunov-Krasovskii functions (LKF) and solving linear matrix inequality(LMI), the state observer making the observer error asymptotically convergence to zero was constructed. A simulation example was given to show the effectiveness of the proposed design procedure.
    Optimization of a postal express mail network based on bottleneck analysis
    SONG Qing,LI Xiao-lei,ZHANG Cheng-jin
    JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE). 2007, 37(5):  29-33 .  doi:
    Abstract ( 695 )   PDF (291KB) ( 1951 )   Save
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    The postal express delivery problem was systemically analyzed in terms of its construction objectives, ranges, and time limit and frequency, vehicle factors, operation costs, upper limit of transiting times, time limit satisfying ratio. Bottleneck analysis was applied to the network constructed by the minimum time limit searching algorithm, and the optimal postal express mail network that meets the specific time limit satisfying ratio was obtained. Simulation results indicate that the construction method does well in practicability and adaptability, which provides decision support to the postal enterprise in planning and making post road adjustments.
    Adaptive output feedback stabilization for a class of second-dimensional uncertain nonlinear systems
    SUN Zong-yao,LIU Yun-gang
    JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE). 2007, 37(5):  34-39 .  doi:
    Abstract ( 911 )   PDF (263KB) ( 1684 )   Save
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    The stabilizing problem was investigated for a class of uncertain nonlinear systems. First, an appropriate observer was introduced, and then based on the addition of a power integrator and adaptive technique, a new method was presented to construct a smooth adaptive output feedback controller. The main theoretical results show that the designed controller not only guarantees that all the states of the closed-loop systems are bounded, but also the states of the original system and the observer asymptotically converge to zero.
    H∞ partial-state observer design for nonlinear systems
    JIA Xiu-qin,LIU Yun-gang
    JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE). 2007, 37(5):  40-46 .  doi:
    Abstract ( 786 )   PDF (272KB) ( 1995 )   Save
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    Robust partial-state observer design was investigated for a class of nonlinear systems with disturbance. A novel H∞ state observer was designed through which the partial-state of nonlinear systems with L2(i.e. square integrable) disturbance can be reconstructed.First, the restricted conditions and the detailed expressions were given for the partial-state observer design matrices. Second, the L2 disturbance attenuation problem was investigated for observer error by analyzing observer error dynamics, and sufficient conditions were given for the existence of the H∞ partial-state observer based on the LMI method. Theoretical analysis shows that this designed observer can realize the asymptotic reconstruction for the states to be estimated when no disturbance, and the observer error is attenuation to the L2 disturbance when disturbance exists. Finally,a simulation example was given to illustrate the correctness of the theoretical results of this paper.
    H∞ fuzzy tracking control of a class of uncertain nonlinear systems with time-varying delay
    FANG Wei,JIANG Chang-sheng,QIAN Cheng-shan
    JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE). 2007, 37(5):  47-52 .  doi:
    Abstract ( 693 )   PDF (274KB) ( 1872 )   Save
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    The design of robust H∞ tracking control law of a class of uncertain time-varying delay nonlinear systems was presented. First, the T-S(Takagi-Sugeno) delay model was employed to represent an uncertain nonlinear system with time-varying delayed state. Based on the LMI(linear matrix inequality)method, the design of the fuzzy-model-based H∞ tracking control law was given when the uncertain is gain bounded. Using Lyapunov theory, it has been proven that the proposed method could guarantee the stability of the closed-loop system and the H∞ tracking performance. Finally, the longitude flight control system of an aerospace vehicle under a hypersonic condition is designed by the proposed method. Simulation results demonstrate the effectiveness of the method.
    Research and development of intelligent space technology for a home service robot

    TIAN Guo-hui,LI Xiao-lei,ZHAO Shou-peng,LU Fei

    JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE). 2007, 37(5):  53-59 .  doi:
    Abstract ( 1163 )   PDF (366KB) ( 4262 )   Save
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    Intelligent space technology is a new research field. The intelligent space technology for a home service robot can perceive men and objects in space more completely and realize the relevant service task by setting sensors and actuators distributely in the specified positions of space. Simultaneously the service robot can obtain more comprehensive environmental information through the intelligent space, instead of being equipped with too many sensors itself, and the service robot can work more rapidly, accurately and stably with light packs in an unknown or semiunknown dynamic environment. First, the research situation of intelligent space technology was summarized, then the structure, characteristics and key research topic for the intelligent space for a home service robot were introduced, and the relevant technologies were also proposed. Finally, the new research direction of the intelligent space for a home service robot was discussed.
    Dynamic obstacle avoidance Algorithm for the mobile robot
    LI Cai-hong,LI Yi-bin,FAN Chen
    JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE). 2007, 37(5):  60-64 .  doi:
    Abstract ( 1461 )   PDF (298KB) ( 4887 )   Save
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    A new hybrid algorithm of dynamic obstacle avoidance was introduced for local path planning under an uncertainty environment. It is a combination of the rolling planning and RBF neural network (RBFNN) forecast. The moving trajectory of the dynamic obstacle was illustrated by using a camera lens, and a heart-shaped sequence was acquired from the samples. The RBFNN prediction model was built based on these data. A dynamic rolling window within the scope of the scanning ultrasonic sensor was established according to current location when the mobile robot was in real-time planning. Forecast computation was started when a rolling window into the dynamic obstacle was detected. The next moving location of the obstacle was predicted based on the three adjacent values of time sequence. Thus the dynamic obstacle avoidance issue converts into instantaneous static once and the real-time planning was reallized. This method can improve dynamic obstacle avoidance and the safety of real-time planning. Simulation results show that the method is feasible and efficient.
    On-machine inspecting cylindricity error of precision machining
    BEI Guang-xia,LOU Pei-huang,YE Wen-hua,WANG Xiao-mei
    JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE). 2007, 37(5):  65-67 .  doi:
    Abstract ( 732 )   PDF (255KB) ( 1649 )   Save
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    To assure parts' machining precision and to improve productivity, touch probe is used to inspect cylinder of parts on machining centers, thus coordinate of points on features are acquired from numerical control system by a data collecting program, and cylindricity error is calculated by computer. This method has broken the restriction of probe's macro processor that couldn't work out cylindricity error. Data saved in computer are beyond the limited memory of numerical control system, which improves operation speed. This on-machine inspecting method has been tested on horizontal boring-milling machine(DHP50), and compared with the result of coordinate measuring machines. Now it has been applied in the inspection of key parts in some research institute.
    Dynamic analysis of the stabilized smoothing nodal integration meshfree method
    HUANG Le-jian,WANG Jian-ming
    JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE). 2007, 37(5):  68-72 .  doi:
    Abstract ( 797 )   PDF (264KB) ( 2051 )   Save
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    The meshfree global weak form of dynamic problem is formed using polynomial terms augmented RPIM shape function. A Voronoi diagram accompanied with field nodes is produced, and a discrete model of a global stiff matrix is presented by means of stabilized smoothing nodal integration based on strain smoothing stabilization, and the displacement boundary conditions are enforced by a direct method. The numerical results that agree well with FEM reference results were presented in free vibration analysis, and the unconditionally stable Newmark method is used in forced vibration analysis. It is proved that this method has better stability, accuracy and convergence.
    User defined modeling of STATCOM and voltage regulation analysis
    YE Hua,ZHANG Ning,LIU Yu-tian,NIU Xin-sheng
    JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE). 2007, 37(5):  73-77 .  doi:
    Abstract ( 682 )   PDF (274KB) ( 2095 )   Save
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    Abstract: Based on the injected power method and the controlled current source model, steady state and dynamic models for STATCOM are built. Both models are implemented using the user defined (UD) function of power system analysis software, and are used to study the steady state and dynamic performances of STATCOM under given conditions and control objectives. Based on these models, simulations are conducted and analyzed for each installation scheme of STATCOM in practical Shandong power system of China. Simulation results show that the proposed models of STATCOM are simple and effective. They have good comprehensive performances on supporting dynamic voltages, compensating reactive powers and depressing voltage drops.
    Chaos synchronization control for a new chaotic system with diverse structures base on nonlinear control
    JIN Xin,JIANG Ming-yan
    JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE). 2007, 37(5):  78-82 .  doi:
    Abstract ( 611 )   PDF (246KB) ( 1779 )   Save
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    The chaotic synchronization control with diverse structures and uncertain parameters is studied based on a new continuous autonomic chaotic system. A nonlinear controller is presented based on Lyapunov stability theory, which insures the stability of chaotic synchronization. According to the strategy of adaptive control for parameters, the uncertain parameters of systems are estimated. The good chaos synchronization between the new chaotic system and the Lorenz chaotic system has been proved theoretically when the parameters are fully unknown. The unknown parameters are identified. Numerical simulations show the effectiveness of the proposed method.
    Fade statistics of selection diversity in distributed antenna systems
    LI Zheng,WANG Xiao-dong,BU Zhi-yong
    JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE). 2007, 37(5):  83-88 .  doi:
    Abstract ( 670 )   PDF (181KB) ( 1149 )   Save
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    In the selection of combining distributed antenna systems, exact expressions for the average level crossing rate (LCR) and average fade duration (AFD) of the output signal envelope are derived. The diversity branches are assumed to be independent but non-identical composite fading channels. The results are valid for arbitrary diversity order and the amount of fading, and are obtained for Rayleigh-lognormal, Riceanlognormal and Nakagami-lognormal composite fadings. Numerical results validate the derived expressions.
    P2P-based workflow management system
    ZHOU Xiao-lin,ZENG Guang-zhou
    JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE). 2007, 37(5):  89-94 .  doi:
    Abstract ( 660 )   PDF (300KB) ( 1832 )   Save
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    In a workflow management system based on client/server architecture, centralized server can not only degrade the system performance, but also easily lead to the single-node failure. A decentralized workflow management system is proposed, which applies P2P (peer to peer, that is, to sharethe computer resources and services by direct exchange between systems) concepts to workflow scenarios. Each node within the system acts as a client application, which can also perform functions of a data repository and a process controller. Based on the JXTA realization (project Juxtapose, an opensourced platform which was developed by the Sun Company to support the P2P application) and the application of the medical consultation workflow system, it demonstrates that the decentralized workflow management has good scalability under a dynamic environment, which can also offer higher autonomy for the workflow user.
    Evaluation of the water resources sustainable capacity of Shandong Province based on fuzzy recognition
    HU Nai-li,XU Yan-sheng
    JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE). 2007, 37(5):  95-98 .  doi:
    Abstract ( 723 )   PDF (282KB) ( 1946 )   Save
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    The relations between the regional water resources sustainable capacity and the water resources carrying capacity are discussed. Based on the theory of the multilevel fuzzy recognition model and the concept and theory frame of relative subject degree, the evaluation to the sustainable utilization capacity of water resources in cities of Shandong Province is given. This method has an extensive foreground for its precise theory, concise measure, and reliable evaluating results.
    Fe and Mn removal from groundwater by a contact oxidation process with different fillings
    QIU Xian-feng,ZHANG Jian,NING Wei,GAO Bao-yu,XU Chun-hua
    JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE). 2007, 37(5):  99-102 .  doi:
    Abstract ( 623 )   PDF (232KB) ( 1675 )   Save
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    Fe and Mn removal from groundwater by a contact oxidation process and the effects of backwash were studied. It takes 9 days to have stable Fe removal with a filter chamber filled with sand and 2 days for the filter chamber of manganese mineral filtration. Forty-ight days are needed to have stable Mn reinoval with a filter chamber filled with sand, and 2 days for a filter chamber of manganese mineral filtration. Forty minutes and eighty minutes are needed for the filter chamber filled with sand to recover the ability of Fe and Mn removal after backwash. Twenty minutes and forty minutes are needed for the filter chamber of manganese mineral filling to recover the ability of Fe and Mn removal after backwash. SEM photographs show that floculations adhere to the surface of the filter membrane, that is the basis for quick recover of Fe and Mn after backwashing. Manganese mineral can be replaced by the cheaper sand as filling. In doing so, the investment can be greatly decreased.
    Extraction of garlic oil with a freeze-rying treatment and supercritical carbon dioxide
    ZHAI Guo-dong,GUAN Xin,PAN Guang-min,GUAN Cong-sheng,DU Ai-ling
    JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE). 2007, 37(5):  103-107 .  doi:
    Abstract ( 663 )   PDF (260KB) ( 1863 )   Save
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    Extraction of garlic oil with a freeze-drying treatment and supercritical carbon dioxide was studied. The relationship between extraction ratio and extraction temperature, pressure, time and the flux of CO2 were given by using a uniform design. The optimum extraction conditions are as following, extraction pressure 25MPa, temperature 45℃, time 5h and flux of CO2 44kg/h. The extraction ratio is about 1.19% at these extraction conditions.
    The structure and performances of the electroless Ni-P alloy coating on aluminum alloy
    SUN Cong-zheng,GUAN Cong-sheng,QIN Jing-yu,CHENG Chuan
    JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE). 2007, 37(5):  108-112 .  doi:
    Abstract ( 832 )   PDF (262KB) ( 2949 )   Save
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    Ni-P electroless coating on aluminum alloy was plated by a double solution system of alkaline and acidic solutions, which was designed for proton exchange membrane fuel cell(PEMFC) bipolar plates. The content of the nickel and phosphorus in the coating was tested by the electron probe method, the influence of temperature and time of heat treatment on the crystallization structure by the X diffraction method, and corrosion resistance by the volt-ampere curve method. The experimental results show that heat treatment can obviously affect the crystallization structure and the corrosion resistance of the coating. The Ni-P coating with a P content of 12.1 %(wt) does not obviously crystallize after being treated with 200～250℃, while its corrosion resistance apparently improves. It can be used as PEMFCs' bipolar plates.
    The catalytic oxidation of simulated wastewater containing eriochrome black T with chlorine dioxide as an oxidant
    SHI Lai-shun,DONG Yan-yan,LI Yan-yan,LI Wen-jing
    JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE). 2007, 37(5):  113-117 .  doi:
    Abstract ( 703 )   PDF (258KB) ( 1949 )   Save
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    The direct oxidation and catalytic oxidation of simulated wastewater containing eriochrome black T with chlorine dioxide as an oxidant was studied. The COD, BOD removal efficiency, and decolor efficiency are 24.1%, 21.8%, and 70.0%, respectively, under the condition of wastewater COD 2928mg/L, an optimum pH value of 1.8, a dosage of chlorine dioxide 1200mg/L by reacting for 60min. The COD, BOD removal efficiency and decolor efficiency are 33.6%, 53.2%, and 75.2%, respectively, under the condition of wastewater COD 2928mg/L, the optimum pH value of 1.8, the dosage of chlorine dioxide 1200mg/L, and a dosage of TiO2 0.25g by reacting for 60min. The result indicates that the benzene ring and naphthalin ring in the eriochrome black T molecule is degraded to organic acid and benzoquinone, and further becomes inorganic substances by chlorine dioxide direct oxidation and catalytic oxidation, which is good for the further treatment of the refractory bio-degradation wastewater.
    Effects of H2SO3 on the corrosion behavior of X70 steel in weak acid solutions
    GUO Hong,HE Xiao-ying
    JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE). 2007, 37(5):  118-122 .  doi:
    Abstract ( 635 )   PDF (282KB) ( 1718 )   Save
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    The corrosion behavior of X70 steel in weak acidic solutions with various concentrations of H2SO3 was studied by means of the static weight loss method, potentiodynamic polarization curves, electrochemical impendence spectroscopy, scanning electron microscopy and energy dispersive X-ray analysis.　The results show that with increasing H2SO3 concentration, the corrosion depth of X70 steel gradually increases, the charge transmite impendence decreases in turn, the corrosion current gradually increased, and the corrosion potential became first negative and then positive. The adsorptive mediate product is Fe(HSO3)ad in the process of dissolution of X70 steel in an HAc-NaAc system with H2SO3.
    Wavelet packet decomposing algorithm for image edge detection
    HUANG Xue-ju,GUO Ju-xiu,WU Ying-jing*
    JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE). 2007, 37(5):  123-126 .  doi:
    Abstract ( 643 )   PDF (276KB) ( 1753 )   Save
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    The algorithm on edge detection of an image base on wavelet packet decomposing is put forward. High-frequency subspace of an image is first decomposed into multi-level wavelet packets. Second, the coefficient differences are calculated on different directions of the same subspace at all levels. Third, the threshold differences are dealt with at each level. Finally, the edges of images of different clarities are obtained based on the threshold coefficient at each level. Based on this algorithm, noise restrain does not need to deal with in advance. Good results are obtained in noise restrain. Results show that the algorithm can not only calculate the edge of an image at different standard, but also keep it complete and clear.
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