国内800kV试验用电抗器和1．5型高压变频器研制成功

年初，我国重大技术项目“800kv断路器试验站”需用的主要设备——800kv试验用电抗器完成开发。据了解，未来国内输电线路电压等级升压已成为趋势，但高于500kV电压输配电的关键。如：高压断路器等产品仍无法进行试验，这使我国的高电压试验设备已不符合我国高压输配电设备需大力发展的要求。目前，国家立项的800kv断路器试验站建成后将具备世界级试验要求。     

第二代100m高温超导导线在美问世

由铋、锶、钙、铜和氧组成的第一代高温超导导线（BSCCO），携带电流的能力比同样尺寸的铜导线高100倍，但由于它的成本也是铜导线的100倍，所以很难打进输电线市场。因而全世界的研究人员开始研发第二代高温超导导线，以降低其成本和提高其性能。经过10年缓慢但有成效的进展，由YBCO组成的超导导线很有可能很快进入市场。     

仿生四足机器人控制系统设计

针对某仿生四足机器人的运动特点和功能要求,采用多个微控制器组建了一种结合了分层式控制系统和分布式控制系统优势的复合式控制系统。设计了以决策控制器、步态生成器和执行驱动器构成的三层式硬件系统及相应的外设接口,并采用模块化的设计思想开发了相应的系统软件。从而构成了一套体积小、功耗低、集成度高、实时性好的硬件控制系统平台。在该控制系统中,通信模块应用双口RAM技术及CAN总线网络实现各层之间实时有效的信息传递。最后,分别进行了CAN总线通信测试实验和电机控制性能测试实验。实验结果表明,该控制系统工作性能稳定、信息读取可靠、动态响应快捷,能够很好地满足仿生四足机器人的运动控制要求。     

草浆中段废水混凝沉淀活性污泥生物处理的工艺研究

本文通过对碱回收后草浆中段水的混凝沉淀活性污泥生物处理试验研究，探索了该工艺的可行性，研究了低投药量混凝沉淀试验的效果及活性污泥生物处理过程负荷变化对草浆中段水处理效果的影响。     

Continuous and smooth gait transition in a quadruped robot based on CPG

To improve the smoothness of motion control in a quadruped robot, a continuous and smooth gait transition method based on central pattern generator (CPG) was presented to solve the unsmooth or failed problem which may result in phase-locked or sharp point with direct replacement of the gait matrix. Through improving conventional weight matrix, a CPG network and a MATLAB/Simulink model were constructed based on the Hopf oscillator for gait generation and transition in the quadruped robot. A co-simulation was performed using ADAMS/MATLAB for the gait transition between walk and trot to verify the correctness and effectiveness of the proposed CPG gait generation and transition algorithms. Related methods and conclusions can technically support the motion control technology of the quadruped robot.     

Inter-limb and intra-limb coordination control of quadruped robots

To realize the coordinated and stable rhythmic motion of quadruped robots (QRs), the locomotion control method of QRs based on central pattern generator (CPG) was explored. In traditional control strategies based on CPG, few CPG models care about the intra-limb coordination of QRs, and the durations of stance phase and swing phase are always equal. In view of these deficiencies, a new and simpler multi-joint coordinated control method for both inter-limb and intra-limb was proposed in this paper. A layered CPG control network to realize the locomotion control of QRs was constructed by using modified Hopf oscillators. The coupled relationships among hip joints of all limbs and between hip joint and knee joint within a limb were established. Using the co-simulation method of ADAMS and MATLAB/Simulink, various gait simulation experiments were carried out and the effectiveness of the designed control network was tested. Simulation results show that the proposed control method is effective for QRs and can meet the control requirements of QRs' gaits with different duty factors.