Methacrylic acid–acrylamide-g-poly(ethyleneterephthalate) fibres for urea hydrolysis

This paper presents the results of urease immobilization onto methacrylic acid–acrylamide grafted poly(ethyleneterephthalate) fibres. The graft yield strongly affected the maximum activity of the immobilized enzyme up to a value of 70·2%. Higher grafting caused a decline in urease activity and led to the degradation of the fibres. The minor changes observed in K_m and V_max demonstrated that the conformational changes existed during immobilization were not extensive. However, 70·2% methacrylic acid–acrylamide-g-fibres containing urease were more stable towards acidic and alkaline pH, high temperature and storage conditions compared with free enzyme. Apart from the increase in stability to heat inactivation, the initial enzymatic activity of the urease–fibre system remained almost unchanged even after 40 repeated assays corresponding to 10 h of operation in 4 months, indicating the excellent durability of the system.     

Existence of discrete-time LQG-controllers

Existence results for the LQG-controller are investigated. An infimal Riccati equation based controller may potentially give closed loop eigenvalues on the unit circle. Assuming left and right invertibility it is shown that there exists an optimal controller if and only if the Riccati equation based controller stabilizes the closed loop system after removal of all its unobservable and uncontrollable modes. Furthermore this reduced controller is the optimal controller, and its transfer function is unique. This existence condition is a considerable simplification of the more general geometric condition recently derived by Trentelman and Stoorvogel.     

电荷灵敏放大器不用反馈高值电阻的新方法

本文提出了一种电荷灵敏放大器不用反馈高值电阻的新方法。对这种方法作了电路分析以及对实际电路的测量结果作了介绍。     

Metaheuristic downhill simplex method in combinatorial optimization

The concept of combinatorial objects is formalized. It allows strict definition of a combinatorial optimization problem (COP). An efficient metaheuristic method to solve COPs (H-method) is considered. It includes stochastic local search algorithms as a built-in procedure. A parallel implementation of the H-method is set forth and analyzed. The results from a numerical experiment and solution of some well-known COPs on personal computers and on the SKIT cluster supercomputer are presented. The study was supported by INTAS (Project 06-1000017-8909). __________ Translated from Kibernetika i Sistemnyi Analiz, No. 6, pp. 70–79, November–December 2007.     

波浪作用下空心块体稳定性分析初探

通过二维物理模型试验,探讨了暗基床上空心块体在规则波作用下的失稳模式。通过试验观察发现,当空心块体内有一定高度的填料时,波浪正向作用下空心块体首先倾覆失稳。本试验测量了作用在空心块体上的波浪力,并与同尺寸沉箱所受的波浪力进行对比,结果显示在波峰时空心块体所受的总水平波浪力比相同波浪作用下的沉箱所受力小而波谷作用下空心块体所受的总水平波浪力却比相同波浪作用下的沉箱所受波浪力大。鉴于上述实验观察结果,空心块体的主要失稳模式分析方法应作进一步研究。     

强激光热斑形成及其稳定性研究

在论述热点跟踪及其传热机理时将靶材的比热溶、热传导系、在激光的热藕合系数均考虑成温度和时间的函数，又考虑靶材在运动时将激光辐照物体时热点的建立及其稳定情况作一动态数值模拟，为热点跟踪作准备。     

关于不确定对称组合系统的稳定化

研究不确定对称组合系统的二次稳定化问题,给出这类系统可二次稳定的一些充分条件 及计算反馈控制律的方法.这些条件的检验和反馈控制律的计算都由两个低阶系统关于相应 问题的求解来完成.     

正电子湮没技术在研究合金形状记忆性能中的应用

本文用正电子湮没技术测试了Cu-Zn-Al形状记忆合金100℃母相时效过程中空位的变化。结果发现,随着时效时间的延长,空位浓度不断降低,空位尺寸不断增大。这一结果很好地解释了记忆合金马氏体逆转变温度As的变化规律,从而证明过饱和空位是Cu-Zn-Al形状记忆合金马氏体稳定化的一个主要原因。     

羧酸酯稀土对聚氯乙烯的热老化稳定作用研究

用热烘法研究了羧酸酯稀土对聚氯乙烯的热老化稳定作用。利用紫外／可见光谱分析跟踪共轭双键在热老化过程中的变化，比较ＣＥＲＥＳ，有机锡及两者的复合稳定剂的热老化稳定性能，发现ＣＥＲＥＳ与有机锡的稳定性能相当，复合稳定剂具有协同效应。     

An iterative linear quadratic regulator based trajectory tracking controller for wheeled mobile robot

We present an iterative linear quadratic regulator(ILQR) method for trajectory tracking control of a wheeled mobile robot system.The proposed scheme involves a kinematic model linearization technique,a global trajectory generation algorithm,and trajectory tracking controller design.A lattice planner,which searches over a 3D(x,y,θ) configuration space,is adopted to generate the global trajectory.The ILQR method is used to design a local trajectory tracking controller.The effectiveness of the proposed method is demonstrated in simulation and experiment with a significantly asymmetric differential drive robot.The performance of the local controller is analyzed and compared with that of the existing linear quadratic regulator(LQR) method.According to the experiments,the new controller improves the control sequences(v,ω) iteratively and produces slightly better results.Specifically,two trajectories,’S’ and ’8’ courses,are followed with sufficient accuracy using the proposed controller.