针对空间大型机械臂地面测试验证面临的覆盖性、充分性和有效性等难题,对空间大型机械臂测试验证方案进行研究,提出了基于半物理仿真与物理验证相结合的测试验证系统,解决了单一测试验证不完全的问题.该方案根据不同测试验证目的和策略,设计了半物理仿真测试、桌面软连接测试、2维气浮台测试和3维悬挂台7自由度测试4个测试验证阶段,具有验证模式全、动态验证充分的特点.对空间站大型机械臂的测试验证结果,表明文章提出方案的有效性和验证的合理性.

本研究主要是优化月季花中红色素的提取工艺.研究乙醇浓度、水浴温度、料液比、超声波功率和超声波占空比5个因素对月季花红色素提取工艺的影响,通过响应面分析实验确定最佳提取工艺条件.得到最佳工艺条件为:乙醇浓度96.1％、水浴温度80.4℃、料液比1∶50、超声波功率463.6W、超声波占空比为1/2.在最佳工艺条件下,月季花红色素提取率为12.94％.

The temperature control system is a highly nonlinear and uncertainty system,and using a conventional PID controller makes it difficult to achieve a good control effect.In this paper,a self-adaptive fuzzy PID controller is described.The model of controlled object is established by combining mechanism modeling with experiment.Aiming at the problem that the parameter range of the self-adaptive fuzzy PID controller varies greatly and is difficult to adjust,a new method is proposed which can easily provide a more reasonable fuzzy controller output variable range.The fuzzy rules based on experts' experience and knowledge are adopted.The simulation model is established using MATLAB/SIMULINK.The simulation results show that the self-adaptive fuzzy PID controller has better robust performance against system parameter changes and uncertainties.

The paper introduces the RGB color space and the main features of color recognition with TCS230.TCS230 measures color components in the RGB color space and transfers the signal to PIC16F877 for processing.Then,the results of measurements and the RGB values are shown on the LCD.The problem is solved that the color of the experimental objects are different in different light through the white balance algorithm.Finally,the experimental results and analysis are given about the color detection of transparent and non-transparent objects,and some improved solutions are put forward in view of the impact of environment.

An experimental system mainly consisting of two direct-link DC motors for emulating mechanical loads on robot joint was proposed and introduced before the establishment of its mathematical model.Speed-tracking control algorithm was used in this paper.Meanwhile,the mathematical model and the control algorithm were simulated through Matlab/Simulink.Finally,the performance of the experimental system was tested.And the mechanical load emulation experiments prove that the speed-tracking algorithm and the experimental system are feasible and effective for emulating non-linear mechanical loads on robot joints.

This paper designed the two-servo motor controller based on AT89C51,LS7266R1 and SJA1000.It introduced the general structure of motion controller based on DeviceNet Fieldbus,and the interface circuit of AT89C51 and LS7266R1.Then it discussed the interface design between AT89C51 and DeviceNet Fieldbus.At last,it presented the design method of key software program.The motion controller based on DeviceNet Fieldbus is economical and practical.

A new experimental set mainly consisting of two DC machines direct-link is presented.The speed-tracking control scheme for the load emulation DC machine is applied.It is good than the control scheme based on inverse mechanical dynamics.The feasibility and effectivity of the design using speed-tracking control scheme and the new experimental set is proved by the simulation through Matlab/Simulink.

The paper introduces the realization of a compiler of DBC Java which is called VeriJava.For the verification from the precondition and postcondition,the developers can assure the integrity of the method in logical.And it can help the developers to find out the problems of the design or the misunderstandings between programmers.The compiler supports this language and gives the programmers a good environment for better design and programming.

AJAX(Asynchronous JavaScript+ XML)is a new Web presentation technology,which can be used to build dynamic,quick and flexible Web application program.AJAX can eliminate the dependence of sheet in traditional HTTP communication mode,so quick and light asynchronous communication can be achieved with it.In this paper,the implementation principle and mechanism of AJAX are introduced,how to build a simple architecture to support completely new Web applications with AJAX technology is expatiated.Using the application build with this architecture,the asynchronous communication directly between explorer and back end service is implemenated.

When constructing software components, the contract requirements between service requesters and providers which should be met must be explicitly specified. By supporting Design by Contract (DBC) during the development of software components , not only the design of components can be described in detail, but also the compliance of software components can be tested via the way of programming. By dividing the crosscutting concern, Aspect-Oriented Programming (AOP) techniques makes programmer write contracts and business logics independently. In thispaper, an Eclipse plug-in tool is built to support DBC for component development. By taking an example, the enhancement of component robustness will be analyzed.

VeriJava is a novel programming system, which extends Java language, with just a few new language constructs, to support adding contracts to Java. VeriJava consists of an object-oriented programming language called VeriJava, a compiler for compiling VeriJava programs to Java bytecode, and a static verifier for assuring that the VeriJava code is consistent with its specifications. This paper discusses the goal and the overall programming approach of VeriJava. The paper also gives examples of VeriJava programs. On one hand, VeriJava provides a way with assertions (preand postconditions, and class invariants), to support runtime checking such as debugging and testing. On the other hand, VeriJava also offers the possibility of automatic compile-time verifications such as checking the code of a method against its specification, checking that the specification of a subclass is compatible with the specification of its superclass.