遥操作工程机器人系统临场感技术研究-6自由度临场运动感觉反馈技术的研究进展

 研究开发出一种遥操作工程机器人系统，可以应用于诸如火灾现场的修复作业等广阔的领域．该系统由伺服控制的工程机器人、2根从远处操纵工程机器人的操纵杆、视频系统和6自由度运动模拟器组成．操作者坐于座椅上，座椅固定于运动模拟器的上方． 该系统需要解决的一个关键问题是如何使操纵者高质量地获得工作现场的临场运动感觉． 提出了一种6自由度临场运动感觉反馈方法，其信号源来自工程机器人上安装的6个加速度传感器． 该方法的有效性已为实验所证明，即应用6自由度运动模拟器不但可以高质量地模拟工程机器人单个自由度的运动：滚动、俯仰、转动以及前后、左右、上下的平移，而且可以高质量地模拟工程机器人的各种复合运动．     

Control of free-radical emulsion polymerization of methyl methacrylate by oxygen injection. II. Experimental study

Oxygen injection has been proposed and experimentally demonstrated as an effective control measure for limiting the rate of heat release and altering the rate of polymerization in emulsion processes. A detailed mathematical model has been previously developed to describe the system behavior with and without oxygen injection. A simple lab scale apparatus was constructed and run extensively. Only trace quantities of oxygen are needed to inhibit the reaction completely. The facile response makes this method attractive for fast temperature control. However, because of the rapid penetration of dissolved oxygen into the polymer particles, growing radical chains are terminated prematurely, lowering product molecular weights. To minimize this detrimental effect, pulsed oxygen control is used and extensive experimental work was performed to determine the effects of controller set points on molecular weight. Moderate oxygen flows and moderate set point temperatures are found to give the optimal response without significant lowering of the final molecular weight. Injected quantities agree well with the order-of-magnitude sparging calculations needed to completely stop initiation. However, complete agreement between model simulations and experimental results was not reached due to an unmeasured loss of monomer from the reactor. Chain transfer to monomer is found to be important in modeling the polymer molecular weight. It has, however, a negligible effect on the reaction rate.     

焊接领域中 AutoCAD的二次开发

应用AutoCAD已有的二次开发工具:AutoLISP、块和形定义及菜单开发对CAD在焊接领域应用进行了开发与定制。     

低品位硼矿的富集加工技术

报道了青海大柴旦地区低品位硼矿富集加工的新工艺，该工艺使硼矿品位30％－35％，B2O3收率大于80％，该工艺路线已工业化。     

PIM卧管式三旋在催化裂化装置上的应用

分析了PIM卧管式三旋在催化装置应用过程中所出现的问题 ,并且有针对性地进行了改造 ,取得了良好的效果     

地源热泵——辐射地板联供试验

通过地源热泵－辐射地板系统冬夏联供试验，讨论了该系统作为新型环保节能空调方式的可行性及优越性，并对运行中出现的问题进行分析。     

河道治理工程水土保持设计

河道治理工程的实施会对工程区域内的自然生态环境和水土保持带来负面影响。以独流减河左堤治理工程为例 ,分析工程建设中可能造成的水土流失影响 ,从工程和生物两方面提出水土保持的防治措施 ,并对其投资进行了初步估算。     

高炮火控系统滤波器的设计

对目前高炮火力控制系统目标滤波与预测进行了分析与研究．在此基础上结合工程实际设计了一种α-β滤波器．该滤波器的原理是把在连续系统中频率域的要求和在离散系统中Z域的要求转换成时域中在典型信号激励下的时间响应的特征值的要求．从而在时间域中以特征值的要求进行综合．再把综合的结果转换回Z域中．最终得到所确定的α-β滤波器．文中给出了α-β滤波器的Z传递函数．分析了α-β滤波器参数的确定．对α-β滤波器的静态误差进行了研究．对设计方案进行了计算机仿真和实际应用．     

Morphology and properties of poly[2‐methoxy‐5‐(2′‐ethyl‐hexyloxy)‐para‐phenylene vinylene]/silica nanoparticle hybrid films

Poly[2‐methoxy‐5‐(2′‐ethyl‐hexyloxy)‐para‐phenylene vinylene] (MEH‐PPV)/silica nanoparticle hybrid films were prepared and characterised. Three kinds of materials were compared: parent MEH‐PPV, MEH‐PPV/silica (hybrid A films), and MEH‐PPV/coupling agent MSMA/silica (hybrid B films), in which MSMA is 3‐(trimethoxysilyl) propyl methacrylate. It was found that the hybrid B films could significantly prevent macrophase separation, as evidenced by scanning electron and fluorescence microscopy. Furthermore, the thermal characteristics of the hybrid films were largely improved in comparison with the parent MEH‐PPV. The UV‐visible absorption spectra suggested that the incorporation of MSMA‐modified silica into MEH‐PPV could confine the polymer chain between nanoparticles and thus increase the conjugation length. The photoluminescence (PL) studies also indicated enhancement of the PL intensity and quantum efficiency by incorporating just 2 wt% of MSMA‐modified silica into MEH‐PPV. However, hybrid A films did not show such enhancement of optoelectronic properties as the hybrid B films. The present study suggests the importance of the interface between the luminescent organic polymers and the inorganic silica on morphology and optoelectronic properties. Copyright © 2004 Society of Chemical Industry