基于MATLAB的模块化机器人手臂运动学算法验证及运动仿真

针对由模块化关节构成的六自由度串联机器人手臂, 采用DH法对手臂的操作空间进行了描述, 得到了正运动学模型; 采用欧拉角表示手臂姿态, 得到了包含六个参数的用于表示手臂位姿的完备广义坐标, 并对欧拉角的几何关系进行了分析。针对SolidWorks虽然实体建模简洁方便但计算并非其强项的缺点, 编写相应接口程序, 将建立的手臂三维实体模型保留几何约束关系简化后导入MATLAB软件。基于MATLAB编写正逆运动学算法验证程序以及连杆驱动程序, 实现了手臂的仿真运动。通过仿真, 不仅更进一步验证了手臂正逆运动学解算的正确性, 而且非常直观地看出手臂末端在空间中运行的路径以及各关节的动作情况。机器人手臂正逆运动学算法正确性的验证及运动仿真为手臂的精确定位及其路径规划提供了必要的保证。     

M-Charm速率自适应算法在瑞利平坦衰落信道的性能分析

针对Charm(channel-aware rate selection algorithm)算法在瑞利平坦衰落信道下误码率性能较差的问题,提出了M-Charm(modified Charm)速率自适应算法。该算法基于Charm算法,通过调整信噪比估计参数,增加差值补偿机制,以提高信道估计的准确性,进而降低了误码率。在瑞利平坦衰落信道模型下的仿真结果表明,M-Charm算法不仅保持了较好的吞吐量性能,而且大大改善了误码率性能。     

有机絮凝剂在染料中间体废水处理中的应用

采用新型絮凝剂处理染料中间体废水(色度2200：CODcr22800：pH13)色度去除率为93.2％，CODcr去除率为75．20％。废水的pH值、絮凝剂SD-1的用量、搅拌速度及时问、絮凝剂浓度对絮凝效果产生不同影响。其最佳工艺条件参数为pH=6；絮凝剂用量为0．8%;搅拌速度为100r／分；搅拌时间为4分钟；助凝剂5ppm：室温操作。     

乙醇和二甲醚微射流火焰燃烧特性研究

采用实验及数值计算研究了乙醇和二甲醚微圆管射流火焰燃烧特性。通过实验观察到不同燃料流速下乙醇和二甲醚火焰都具有四种典型的火焰形态；使用平面激光诱导荧光测试系统获得了微射流火焰的OH基元分布，实验结果表明在较高流速下稳定燃烧的乙醇火焰比二甲醚火焰直径小，且略高于二甲醚火焰；采用考虑详细化学反应机理的数值计算对乙醇和二甲醚火焰进行了数值模拟，计算结果与实验现象吻合较好；利用一维非预混对冲火焰计算进一步研究了这两种燃料的化学反应路径，分析结果表明乙醇和二甲醚火焰的中间产物有显著差异，两种燃料化学反应特性的差异导致了不同的微火焰结构。     

Containment control of multi‐agent systems by exploiting the control inputs of neighbors

This paper studies the containment control problem for multi‐agent systems consisting of multiple leaders and followers connected as a network. The objective is to design control protocols so that the leaders will converge to a certain desired formation while the followers converge to the convex hull of the leaders. A novel protocol is proposed by exploiting the control input information of neighbors. Both continuous‐time and discrete‐time systems are considered. For continuous‐time systems, it is proved that the protocol is robust to any constant delays of the neighbors' control inputs. For discrete‐time systems, a sufficient condition on the feedback gain for the containment control is given in terms of the time delay and graph information. Some numerical examples are given to demonstrate the results. Copyright © 2013 John Wiley & Sons, Ltd.     

局部表面改性紫铜方柱阵列池沸腾传热特性和机理

以局部表面改性的紫铜直方柱和梯度方柱阵列为研究对象，实验研究了表面润湿性、表面形貌和表面活性剂对池沸腾换热性能和气泡生长特性的影响。实验工质为去离子水，浓度分别为100、200、400、800 mg·L^-1的异丙醇溶液和正庚醇溶液。实验结果表明：方柱阵列表面镀银之后润湿性变差，表面产生的气泡数量减少。向去离子水中添加异丙醇或正庚醇后，在热通量为66.1～202 kW·m^-2时，气泡脱离直径变小、数目减少，而当热通量增至413 kW·m^-2时，活性剂能够有效阻碍气泡合并，故池沸腾传热系数随着浓度增加先减小后增大。上下层宽分别0.5 mm和1 mm、间距为2 mm的梯度方柱阵列结构有助于气泡的合并，但由于促进了固体表面气膜的形成，从而降低了沸腾换热性能。     

Unsteady temperature fields of monoliths in catalytic converters

This paper measured unsteady temperature fields of uncoated-monolith and catalytic monolith under real engine operating conditions using thermocouples. A multi-dimensional flow model of the turbulence, heat and mass transfer, and chemical reactions in monoliths was established and numerically solved in the whole flow field of the catalytic converter. The purpose of this paper is to study unsteady warm-up characteristics of the monoliths and to investigate effects of inlet cone structure on temperature distribution of the catalytic converter. Experimental results show that the warm-up behaviors between uncoated-monolith and catalytic monolith are quite different. Simulation results indicate that the established model can qualitatively predict the warm-up characteristics. Increasing the inlet cone angle can improve the light-off characteristics of the catalysts due to high flow velocity and high temperature in the center of the monoliths.     

Intercalation of methylene blue in n-alkanethiolated self-assembled monolayers: Versatile electrochemical platforms for characterizing surfactant adsorption on hydrophobic surfaces

A versatile electrochemical platform for characterizing the adsorption of neutral and positively charged surfactants on hydrophobic surfaces was established using methylene blue (MB) as the probe. As a rigid, planar and electroactive species, MB can intercalate inside the regular self-assembled monolayers (SAMs) of n-hexanethiol and exhibit well-defined electrochemical responses. The adsorption of surfactants on the hydrophobic SAMs through the intercalation interaction between the hydrophobic tails of surfactants and the SAMs might change the density of the SAMs and influence the electrochemical behaviors of MB, providing a simple but effective approach for characterizing surfactant adsorption on hydrophobic surfaces. As an example, the adsorptive behaviors of cetyltrimethylammonium bromide (CTAB), a positively charged surfactant, and Triton X-100, a neutral surfactant, on hydrophobic surfaces were investigated by cyclic voltammetry and electrochemical impedance spectroscopy. The results showed that these surfactants generally experienced three different adsorptive behaviors: the monomer adsorption at low concentrations, the loose monolayer adsorption at intermediate concentrations and the dense monolayer adsorption at high concentrations. In the case of CTAB, a new additional submonolayer adsorptive behavior between the monomer and the loose monolayer adsorption was observed for the first time, due to its rather long hydrophobic tail.     

合成对二氧环己酮

从工业化的制备角度考虑,通过对工艺路线的选择,确定了工业化合成对二氧环己酮（PDO）单体的最佳工艺路线——由β-羟基乙氧基乙酸盐合成,以氢氧化钠、乙二醇、氯乙酸钠为起始原料,合成的β-羟基乙氧基乙酸钠收率可达80.8%。通过对工艺条件的优化,确定了合成PDO关键步骤的最优条件,即盐酸与β-羟基乙氧基乙酸盐物质的量比为0.95∶1,反应温度为25℃,反应时间为40 min时,产物PDO收率最高。对产物的定性和定量分析表明,通过实验得到了PDO产品,最高收率可达66.2%,但纯度还未达到聚合条件,以后还需对其纯化方法作进一步的探索和研究。     

基于J2ME的移动网络泡泡堂游戏设计与仿真

介绍了基于J2ME技术开发的手机泡泡堂游戏框架与文件结构。采用状态机、对象池、多线程、地图绘制等技术,设计了游戏场景、道具与关键代码,重点阐述了手机游戏地图绘制技术和游戏角色的产生与回收,给出了通信消息接口设计与网络连接方法,并进行了服务器仿真运行测试。系统具有较高的可移植性,可在主流手机平台中运行。