双机械臂协调：以运动学为基础的模型分析与动态补偿控制方法

本文建立了双机械臂协调系统的主从式控制的非结构模型，并针对两臂具有相同特性和不同特性这两种情形作了稳定性分析，提出特性校正的方法，本文还利用内模原理设计出动态补偿器来克服标定约束的不确定性对系统控制品质的影响，最后给出了实验结果。     

CHARACTERIZATION OF PROTEINASE RECOVERED FROM PACIFIC WHITING SURIMI WASH WATER

Pacific whiting surimi wash water (SWW) proteinase was recovered by ohmic heating, ultrafiltration, and freeze-drying. By these processes, 5.9-fold purification was achieved. The most efficient step was ohmic heating, which concentrated the proteinase by 4.8 fold. Specific activity of the recovered SWW proteinase on casein and Z-Phe-Arg-NMec was 28.2 and 0.17 U/mg protein, respectively. The SWW proteinase showed good hydrolytic activity towards casein, acid-denatured hemoglobin and myofibrils. Acidification increased specific activity on all substrates tested but reduced thermal stability. β-Mercaptoethanol, dithiothreitol and urea enhanced activity against Z-Phe-Arg-NMec. Proteinase activity on Z-Phe-Arg-NMec showed an optimum pH of 4.0. The recovered proteinase showed 18.5% residual activity after 7 week storage at 4C.     

Intraperitoneal rupture of ectopic varices--a rare complication of portal hypertension

A 50 year old man presented with sudden abdominal pain, abdominal distension and shock. At emergency laparotomy a large amount of blood was found in the peritoneal cavity. There was micronodular cirrhosis of the liver and the spleen was enlarged. The bleeding was traced to distended veins in the right paracolic gutter which were oversewn and the abdomen closed. A coagulopathy was diagnosed and treatment including high dose aprotinin commenced. However, he continued to bleed and at a second laparotomy the area of previous haemorrhage was packed. Further deterioration continued until death 12 hours later. Intraperitoneal haemorrhage from ectopic varices is a rare occurrence. There is a high mortality rate usually due to an advanced coagulopathy. This is the first report of aprotinin being used in an attempt to treat this. On the basis of this report aprotinin would not seem to be of benefit for this condition.     

水库调水调沙回顾与展望--兼论小浪底水库运用方式研究

作者简要回顾了三门峡、恒山水库调度方式和小浪底工程设计、“八五”攻关和专题研究之运用方式以及碛口、三门峡、小浪底水库联合调度方式等。提出小浪底水库调度应坚持“多年调节泥沙 ,相机排沙”运用方式 ;调控库容应大一些 ,同时要有灵活性 ;充分利用天然大水过程排沙 ,必要时也可相机造峰 ;注重水库联合调水调沙运用及有关技术问题研究     

2座烟囱定向爆破拆除

介绍了2座分别高37m、45m砖砌烟囱定向爆破拆除的情况,给出了爆破方案,爆破参数和安全防护措施,爆破效果良好.     

润滑油加氢催化剂的现状及进展

以ExxonMobil和Chevron公司润滑油加氢催化剂的研究、开发和应用为基础，介绍了Mobil润滑油催化脱蜡技术（MLDW）、Mobil异构脱蜡技术（MSDW）、Mobil蜡异构化技术（MWI）以及Chevron公司的润滑油加氢裂化技术、润滑油异构脱蜡技术和润滑油加氢后精制技术，得出的结论认为：这两大公司润滑油加氢催化剂，特别是异构脱蜡催化剂的开发和应用代表着世界润滑油生产技术的发展方向，必将受到高质量润滑油基础油生产商的青睐。     

Detection of ultrasonic tones and simulated dolphin echolocation clicks by a teleost fish, the American shad (Alosa sapidissima)

The authors previously reported that American shad (Alosa sapidissima) can detect sounds from 100 Hz to 180 kHz, with two regions of best sensitivity, one from 200 to 800 Hz and the other from 25 to 150 kHz [Mann et al., Nature 389, 341 (1997)]. These results demonstrated ultrasonic hearing by shad, but thresholds at lower frequencies were potentially masked by background noise in the experimental room. In this study, the thresholds of the American shad in a quieter and smaller tank, as well as thresholds for detecting stimulated echolocation sounds of bottlenosed dolphins was determined. Shad had lower thresholds for detection (from 0.2 to 0.8 kHz) in the quieter and smaller tank compared with the previous experiment, with low-frequency background noise but similar thresholds at ultrasonic frequencies. Shad were also able to detect echolocation clicks with a threshold of 171 dB re: 1 microPa peak to peak. If spherical spreading and an absorption coefficient of 0.02 dB/m of dolphin echolocation clicks are assumed, shad should be able to detect echolocating Tursiops truncatus at ranges up to 187 m. The authors propose that ultrasonic hearing evolved in shad in response to selection pressures from echolocating odontocete cetaceans.