&,用微信公共账号做照片聚合
没有自定义菜单也能做深度交互？公共账号“聚享”可以帮你实现多人间的照片聚合
照片聚合是老话题了，Bump 团队出的那款Flock应用，还有针对婚礼照片分享的 app—Wedding Party，都用了各自独特的实现方式。那不用原生 app 行不行？有个叫聚享的公共账号也很有趣，它可以帮你在微信里就实现朋友间的照片聚合分享。
要在微信对话框里完成如创建活动相册 / 邀请成员等较复杂的交互，可暂时又用不上微信自定义菜单该怎么办？聚享它的实现方式是让你输入 m，就能呼出一系列“功能菜单”，展现形式就像你平时收到的 36 氪文章推送那样。点不同功能栏进去就导向聚享的 web app 里，实现对应的浏览照片，加入活动相册等功能。
加入相册的方式是直接输入相册名称 (无密码机制，要求相册名字数长一些)，之后就直接在对话框里向聚享发照片，这就相当于分享照片到你和朋友的共同相册了。现在可直接在聚享账号里浏览照片，也可分享相册链接到 web 上看。但目前缺憾是没有提供相册导出，这也是聚享的那位独立开发者接下来会解决的问题。
另外，对聚享的这种系列功能菜单用户还是有学习成本的，尤其是对于有多个共同相册的使用情景，相册切换并不直观。
这位开发者和我聊天时也对比了下微信公共账号和 app，他说微信账号开发成本和用户获取成本会比 app 低得多，并认同可把微信账号作为一个试错练习场，看下有没有抓准用户需求。微信公共平台可以说是一个正在形成的生态系统，远未达到相对稳态。看到开发者在接口限制条件这么多的情况下，巧妙地实现功能，我觉得挺有意思的。当然聚享现在的实现形式也只会是个过渡态。日后微信开放自定义菜单后应该会有更多新玩法。感兴趣的读者可以加“聚享”账号试试。
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近期批阅最近更新木质纤维与HTMC纤维素醚有什么区别？-技术文章-河北省廊坊市勃丰胶业有限公司
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木质纤维与HTMC纤维素醚木质纤维（Cellulose fibers）是可应用于水泥、石膏、石灰等粉体质料的多功效添加剂。木质纤维从山毛榉和冷衫这两种树木的木浆中提取，它通过切碎、中和、漂白、碾压，并将木浆中的木质素和半纤维素完全分散出去，由于这两种元素对水泥、石膏的水化及强度有副作用，再颠末筛分机筛分成差别纤维长度和粗度的制品以顺应差别应用质料的必要。木质纤维的某些功效如增稠、增粘等与纤维素醚雷同，但木质纤维是不溶于水的自然质料（纤维素醚类溶于水），以是其对粉体质料的加强性更强，而从代价来说较之纤维素醚类自制很多。木质纤维有多种等级（如纤维长度、密度、纯度差别），纤维长度从10um到2000um。木质纤维的密度约莫为0.8&1.3克/立方厘米。木质纤维的纤维非常强劲，纤维外貌也非常雷同石棉，且完全无毒无害，因此非常得当替换石棉，其添加量只是石棉量的30～50%或更低（凭据详细环境而定）。木质纤维的饱和含水率约莫是10～12%，其正常含水率在4～8%之间，因此需将其存放于干燥的地方，木质纤维并不会吸取氛围中的水分而影响其性能。不溶于水及有机溶剂，耐稀酸和酸碱。水泥的碱性不会对其造成任何伤害而影响到粉体质料的性能。木质纤维的惰性非常强，在粉体材猜中它不会与任何别的质料产生反响，只起物理作用。蒙受参考温度值：160℃几天;180℃约莫一天;200℃蒙受高限。渗透纤维毛细管的水的冰点是-70℃。由于毛细管作用，木质纤维网状布局中的水的布局产生了转变，这意味着木质纤维具有抗冻性（没有冻涨影响）。木质纤维在粉猜中的作用机理1. 猛烈的增稠加强结果。木质纤维具有强劲的交联功效。它与别的质料混淆后纤维之间立即搭接得象毯子一样，这个三维空间布局可将水或别的液体锁在其间，纤维越长，增稠结果越大。2. 木质纤维的布局粘性可改进操纵性能。当剪力作用于其上时（如刮抹、搅拌、泵送），部门液领会从纤维布局中甩到基体里，导致粘度低落，和易性进步。当剪力制止时，纤维布局又非常敏捷地规复并将水分吸取返来，并规回复再起有粘度。3. 精良的液体逼迫力。木质纤维自身可吸取自重的100%～200%的液体，并利用其布局吸附自重2～6倍的液体。4. 抗裂性。在固化或干燥历程中产生的机器能被纤维筋削弱。5. 低紧缩。木质纤维的尺寸稳固性非常好，这意味着混淆料不会产生紧缩沉降，并进步了其抗裂性。6. 抗垂。施工操纵以及干燥历程中不会出现下坠征象，这使得较厚的抹灰可一次完成，纵然在高温条件下，木质纤维也具有很好的热稳固性。7. 延伸开放时间。由于纤维布局的毛细管作用可将内部的水分敏捷地传输到浆料外貌及界面，使得浆料体系内部的水分匀称漫衍，可显着淘汰结皮征象，并使得粘接强度和外貌强度显着进步，这个机理也由于干燥历程中张力的淘汰而显着起到抗裂的作用。木质纤维在种种粉猜中的应用1. 常用型号：ARBOCEL BWW40、FD40、PWC500、ZZ8/2CA1。2. 应用阐明。由于木质纤维的某些功效与纤维素醚类相似，因此可以淘汰纤维素醚的添量约莫15～20%。而品格却会相应有所进步。短到中长的木质纤维疏散非常容易，长的纤维（如ZZ8/2CA1）可先和水泥预混，然后再添加别的质料混淆。要是原有的添水量保存的话，掺有木质纤维的浆料，其添水量应在其原有底子上增长6～10%。3. 详细可以应用耐水腻子、外保温砂浆、瓷砖粘接剂、粉刷石膏等，其添量约莫是干重的0.3&，木质纤维并需与纤维素醚及可再疏散粉等添加剂复合利用。销售热线：&&&工作QQ：-廊坊勃丰胶业有限公司&网址：廊坊市勃丰胶业有限公司专业生产外墙腻子胶粉，瓷砖粘结剂胶粉，羟丙基四纤维素醚，挤塑板粘结胶粉，聚苯板粘结胶粉，抗裂砂浆胶粉等产品齐全，质量第一，价格优惠，欢迎新老客户的咨询，
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Because motor parameter variations in HEV applications are larger than in industrialdrive system.In HEV⎪⎪ γ˜ weq + k2,Rtire = 0. The coupling of these two components can be inparallel or in series.Fig. 3;⎪,maximum efficiency. [5.Y;dλdrdt= −.4. LIU et al.Though a small estimation error can be noticed on the observedfluxes and speed.2 The control problem in a HEV caseThe performance of electric drive system is one of thekey problems in a HEV application, β =1Ll;ids +1LlV⎪, the automobile industry is seekingcleaner and more energy-⎪⎪⎪.K⎪⎪.(18)where λmin is a minimum value to avoid the division by revised 20 September 2006; Journal of Control Theory and Applications ) 42–46Fλdr˜. 7 Power L⎨λdr + β ˜.32. F8], Lls = 75 H,iqs, the design ofspeed-flux observer must be robust to motor parameter variations, Jmot = 0:Lm = L2mLr= γLm;⎪, 8];⎪, since estimate wr is aswitching function). A HEV comprisesboth a Combustion Engine (CE) and an Electric Motor(EM);⎪λref = λdr-is equations in synchronouslyrotating reference frame (d - q) can be derived from theiqs: Hybrid electric vehicle. Since the rotor flux dynamics in synchronous referenceframe (λq = 0) are linear and only dependent on thed-current input,Af = 3;⎩.4 Flux reference optimal designThe flux reference can either be left constant or modifiedto accomplish certain requirements (minimum current, (3)where λref is selected to minimize the consumption of electricaliqs −frequency ratio strategy to thesophisticated sensorless control schemes are mostly ineffectivewhere accurate torque tracking is required due to their⎪: I⎪. 8 M λdr)+KId (λref −. 5 Motor rotor flux λr; λdr and λqr −. 6 M⎪2;⎪, the development of a drive system basedon the induction motor is not straightforward because of thecomplexity of the control problem involved in the IM; η˜,we λdr(t) −.w0 = k1 ˜⎪, ρair = 1,we = wr + ηLmiqsλref; Sliding mode1 IntroductionBeing confronted by the lack of energy and the increasinglyids −⎪,Llr = 105 H, (8)we = wr + ηLmiqsλref+ KPqλqr + KIq λqrdt, the developmentof a sensorless robust torque control system for HEVapplications is proposed, an adaptive gain of the slidingmode observer to the equivalent speed is proposed, Rs. Tηnp˜ λqrids)(4)with constants defined as follows, the conventional field-oriented control (FOC) provides poor performance,˜. /. I⎨.The speed-flux observer here is based on the slidingmode technique described in [6∼⎪ Journal of Control Theory and Applications ) 42–46Fig. (15)Y, the controller can be improved by addingtwo PI regulators on error signals λref −.The following basic w−, the improvedPI-based FOC controllers show a good performance in therotor flux λdr magnitude and its orientation tracking, Equation (8) pr⎨,dwrdt= μ(λdriqs −. For anideal HEV.4, it is necessary toweaken the flux so that the supply voltage limη˜⎪⎪. The referenceis commonly set to a value that generates maximumtorque and avoids magnetic saturation, Dalian Liaoning 116622, M = :˜iqsdt= −⎪⎪LmLs;⎪⎪⎪. As noted in [3], for a HEVapplication the operating conditions will vary continuously. In addition. 2 shows its q-axis (d-axisare similar).⎧⎪⎪, σ = 1−.⎧⎪,d˜. Thisyields:&# m, China)Abstract, the flux reference is selectedto minimize the consumption of electrical energy as it is oneof the primary objectives in HEVγids+weiqs+1σLsV⎩, the equation must be solved [8].2 mH.F⎪.(10)Because of fast and good flux tracking,10]. I⎪⎪⎩. /ids = λrefLm+ λrefRr.The improved optimum flux reference is then calculatedas,Received 5 January 2005.2 Stator voltage decoupling designBased on scalar decoupling theory [5].014 Ω;λr−:s = (˜, the operating flux of the motor ischosen optimally to minimize the consumption of electric energy, (7)iqs = Terefnpλref.Fig,where np is the number of poles pairs,if λmin λdr-opt λdr-rated ·wratedwr-actual,dλqrdt= −⎪,didsdt= ηβλdr+βwrλqr&# Ω. LIU et al.F⎪. The field oriented control of the inductionmotor is commonly employed in HEV applicationsdue to its relative good dynamic response. / λqrids) −.46 Y;λqr + ηLm˜⎪. /λ2qr +˜.4, and is robustto parameter variation.169 m2. (13)After some ⎪⎪.In order to have lower energy consumption and lower pollutantemissions.47 Wb;opt = |Teref| · 4Rs · L2r/λdr −⎪⎪, Rr were estimatedoffline [4]; wr)λdr −⎪⎪⎪(we −, Ll;⎪⎪ iqs)˜.λdr−rated = 0, in a parallel HEV the CE is commonlyemployed at the state (n &⎪⎪ wr.Fig, Ll = Lls + γL⎪, P = 4, (2)minλqr −. A significant improvement in powerlosses is noticed due to reducing the flux reference duringthe periods of low torque requests,Rr = c1iqs + c2;⎪⎪.I⎪⎪, Ll = b1Is + b2.7 shows the power loss when the rotor flux keeps constantλdr + ηβ˜,we λqr(t), Cd = 0;λqr −⎪, the sensorless torque robust tracking problem of the induction motor for hybrid electric vehicle(HEV) appli⎪ wr˜⎪⎪. Minimization of theconsumed energy is also considered by optimizing operatingflux of the IM;h or an emergency speedup), Dalian University of Technology. The system allows for fast and good torquetracking over a wide range of speed even in the presence ofmotor parameters uncertainty.5 ConclusionsThis paper has described a sensorless torque control systemfor a high-performance induction motor drive for aHEV case, Dalian Liaoning 116024.The induction motor is well suited for the HEV applicationbecause of its robustness, and is weakened tolimit stator currents and voltages as r⎪ λdr)dt. (12)Let a Lyapunov function beV = 0.5 SimulationsThe rated parameters of the motor used in the simulationsare given byRs = 0, which are sensitive to change of the parametersof the motors.1 PI controller based FOC designThe PI controller is based on the Field Oriented Controller(FOC) scheme. But the Equation (14) for equivalent speed cannotbe used as given in the observer since it contains unknownterms.A Hybrid ElectricVehicle (HEV) is one of the solutions, the FOC controller has lower performancein the presence of parameter uncertainties, Lm = 2; ηλqr + ηL⎪γiqs+1σLsVqs, Rf = 8; weLliqs. An improvedrobust PI-based controller is de⎪.⎧⎪. In addition.045 kgm2.2) A very large gain can yield to instability of the observer.5s2;λdrdt= − γ˜λqrdt= ˜λdr˜⎪.8 shows clearly the real and observed speed in thedifferent phases of acceleration, the torque requested by the supervisor controllermust be ac⎪ weq =11 + s · τ˜. The most common type of HEV is theparallel type,iqs = Terefnpλref.29,γ = Rs + RrLl.015.4,motor parameter variations in HEV applicationsare larger than in industrial drive system during operation[2]. (17)Equation (17) states that if the torque request Teref iszero.3 Speed-flux observer designBased on the theory ⎪.This work was supported in part by State Science and Technology Pursuing Project of China (NoSensorless torque control scheme ofinduction motor for hybrid electric vehicleYan LIU 1; wr˜,dθdt= wr + ηLmiqsλdr= we,λref = λmin.In general,iqs. However the classical(PI-based) field oriented control (CFOC) is sensitive toparameter variations and needs tuning of at least six controlparameters (a minimum of 3 PI controller gains).3 (considering variable motor parameters); λqr˜⎪. Another requirement is tomake the rotor flux track a certain reference λref , constant and decelerationspeed with the motor control torque of Fig,J = Jmot +MR2tire/.Figures in [5∼ Teref (t); weq = wr˜ q rotatingreference frame (we) can control its orientation correctlywith less sensitivity to motor parameter variations becauseof the two PIβ ˜, low maintenance and lowprice, a new robust PI-basedextension of the FOC controller and a speed-flux observer based on sliding mode and Lyapunov theory are developed inorder to improve the⎪, especiallyin a HEV application due to its inherent open loopdesign.Research Institute of Advanced Control T⎪,we Te(t) −, Ls = Lls + Lm.44 Y. Moreover. LIU et al:⎧, Rr = 0, andλqr = 0 in synchronously rotating reference frame (d −,the speed-flux observer is based on the sliding mode techniquedue to its superior robustness properties. The slidingmode observer structure allows for the simultaneous observationof rotor fluxes and rotor speed, poor dynamics decouplingperformance exerts less effect on the control system, the model is identical (withoutany loss of information) to the more common T-model inwhich the leakage inductance is separated in stator and rotorleakage [3];⎩. Teref is the torque command issued by thesupervisory controller while Te is the ˜λqrλqr + λdr˜⎪⎪.Load torque is modeled by consideλ dr −, λdr = λref . When Te = Teref. (14)The equation implies that if the flux estimates converge totheir real values:μ = npJ;⎪, (1)miniqs +1LlVqs,which guarantees that the input matches the feedbackin time:1) The gain has to be large enough to insure that slidingmode can be enforced. A low pass filter is used instead, theanalysis of Equation (17) does not consider the flux saturation, Cwr˜,d˜.The variable parameters modelof the motor is considered and its parameters are continuouslyupdated while the motor is operating,Te = μ(λdriqs −TLJ;⎪, the inductionmotor model used in this research in stationary referenceframe is the Γ-model,iqs),if λdr-opt λdr-rated ·wratedwr-actual;⎪ wr)λqr + ηLmids, it can be found that when˜,λref = λdr-rated ·wratedwr-actual. The conventional control technique ranging from theinexpensive constant voltage/,then ˙V = ˙s · s 0;⎪,2, while the electric motor is operated at various operatingconditions and transient to supply the difference in torquebetween the torque command and the torque supplied bythe CE.Rotor flux λr is precisely orientated to d-axis because of theimproved PI controllers.The selection of the speed gain w0 has two major constraints,diqsdt=−,Lr = Llr + Lm;⎪, the equivalent speed will be equal to thereal speed, which results in a significant reduction in energy lossesshown by simulations. 3 Control structure, field weakening) [9. H⎪, making it independent of i⎪, however.Equation (3) reflects the constraint of field orientation commonlyencountered in the literature. (9)The Equation (7) and (9) show that current (ids) can controlthe rotor flux magnitude and the speed of the d −.F ids)˜λqr, 6.(11)Define λqrλdr &#BA204B01); I⎨.(5)4 Sensorless torque control system designA simplified block diagram of the control diagram isshown in Fig, wbase = 5400 rpm. The variablemodel parameters exert less influence on speed estimation. (16)From Equation (11), it is of significant to developsensorles⎪ λref (t), the torque tracking is still achievedat an acceptable level as shown in F⎩ 40 km/λqr + ηLm˜. I⎪⎪. The observer equationsare based on the induction motor current and flux equationsin stationary reference frame,the flux reference is chosen to maximum efficiency at steadystate and is weaken fo⎪⎪.Tλ2qr +˜⎪d˜, implying the stator current estimatesand rotor flux estimates will converge to their real valuesin a finite time [8]; wr˜Uds = Rsids −⎪⎪.4 shows the torque reference curve that representstypical operating behaviors in a hybλdr −⎪,Uqs = Rsiqs + weσLsids + LmLrweλref= Rsiqs + weσLsids + weλref .Fig. With respect to the classical model, the stator voltagescommands are given in the form.4.Lm = a1i2ds + a2ids + a3. The motor parameters Lm. The torquecontrol over a wide range of speed presents less sensitivityto motor parameters uncertainty, all thesedrive systems are kinds of toβwrλdr+ηβλqr−,d˜ Torque tracking.School of Information Engineering of Dalian UL2m + Rr;⎪. Thespeed-flux observer described here is based on the slidingmode technique, a HEV operation can be continuing smoothlyfor the case of sensor failure,rolling resistance aλ2dr − (˜. Fig1 presents a diagramof the propulsion system of a parallel HEV [1];⎨.Gain adaptation of the speed -flux observer is used tostabilize the observer when integration errors are present:minweids−Rf.The changes of parameters of the IM model need to be accountedfor in control due to they will considerably changeas the motor changes operating conditions.446;ηλdr + (we −. 1 Parallel HEV automobi⎪. Its expression isgiven byTL = RtireRf(12ρairCdAfv2 +MCr cos αg +M sin αg), the new q). Therefore fast and precise torque tracking of an EMover a wide range of speed is crucial for the overall performanceof a HEV,⎪.5 presents the d and q componen wr = w0sgn(s) with w0 chosen large enough at all time. Equation (5) shows the mappings between theparameters of the motor and the operating conditions (⎪. 2 Induction motor model in stationary reference frame (q-axis);8] show the simulation results of thesystem of Fig, Cheng SHAO1(1,Rr = γ2Rr, J is the inertia of therotor,the following FOC equations can be derived from the equations(4). This shows that s will converge tozero in a finite time. The controlproblem can therefore be stated as the following torque andflux tracking problems, for speeds above rated.(6)From the Equation (6), the sliding mode observer structureallows for the simultaneous observation of rotor fluxes, if λdr-opt λ Journal of Control Theory and Applications ) 42–46 45The same low pass filter is also introduced to the system 0 asfollowids = λrefLm+ λrefRr+ KPd(λref −⎪λ2dr; weσLsiqs = Rsids −. Speed andflux observers are needed for the schemes, Cr = 0;⎪⎪⎪idsdt= ηβ˜, Ls = Ll + Lm.4. I⎪⎪⎪⎪⎪,λdr−, in which both CE and EM contribute to thetraction force that moves the vehicle.3 A variable parameters model of inductionmotor for HEV applicationsTo reduce the elements of storage (inductances). LIU⎪⎪. Simulation results show that the proposed sensorless torque control scheme isrobust with respect to motor parameter variations and loading disturbances, η = RrLm. The optimal efficiencyflux can be calculated as a function of the torquereference [9]; Journal of Control Theory and Applications ) 42–46 43which has less controller parameters to be tuned. To find the equivalent value of estimatewr (the smoothed estimate of speed. Although the requirementsof various HEV drive ⎪. Furthermore.Fig. 4 The torque reference curve.Fig.Fig
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Angulo School of Engineering and Applied Science. This paper describes the authors', Virginia 22901, an operating system forCAM, automatic control and machine vision, USADept: kinematics. The importance of automation and robotics in modern factories has required the introduction of courses on these subjects at the graduate and undergraduate levels in engineering schools, CAD/. de Informatica, Bilbao. Author Keywords, Universidad de D experience in teaching a graduate robotics course at the University of Virginia and a short summer course at the Universidad de Deusto in Spain. Inigo and Jose M, and a simple three degrees of freedom programmable manipulator, Charlottesville, Software Development For Robotics Education *Parts of this paper were presented at the Second annual workshop on interactive computing, computer hardware and software, but mechanical engineers and computer scientists were also enrolled. Hands-on experience is a must in courses on robotics. These include a program for transformation Hardware, University of Virginia. The majority of the students who took both courses were electrical engineers: Robotics E Robotics Laboratory, and some simple yet effective systems designed and constructed by students are describedRobotics education in the university* Rafael M. A comprehensive course on robotics must include the following subjects of fundamental importance, Spain Available online 28 October 2004: Electrical Engineering Education Washington
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