用奇异模型描述的受限机器人的学习控制

本文了一类受限机器人的迭代学习控制方案，控制器的设计是基于机器人模型的降阶形式。在存在有界未知干扰的情况下，对末端操纵器受线性、无摩擦约束面的受限机器人。本文给出的控制方案保证了机器人系统的完全运动跟踪，同时保证了力跟踪误差有界的，且界的大小是可调节的。     

半导体激光器列阵有源区电场随电流变化的定点测量

采用连续波电光检测法，对ＧａＡｓ／ＧａＡｌＡｓ双异质结激光器列阵有源区进行定点测量，实验结果反映了发光区内及发光区外电场随电流变化的不同规律。文中对实验结果给出了合理解释。     

Measurements of distribution of self-bias potential on an RF-plane electrode in plasma etching devices

The self-bias potential (V_dc) induced on an RF-powdered electrode (153 mm Ø) in a plasma is measured using electrical probes which are buried in, de-insulated from, and RF-connected to the electrode. The configuration of the probes allows to study the distribution of V_dc discretely on the electrode. The potential is homogeneous in the absence of external magnetic field. In the presence of a homogeneous magnetic field parallel to the electrode, it is reduced and a monotonous gradient takes place in its distribution due to the plasma shift induced by E × B drift. When the magnetic field is rotated along the axis of the RF-electrode at a frequency less than 50 Hz, the distribution, which is almost identical to the one in a static field, rotates with the magnetic field. On the coordinate system rotating with the magnetic field, the probes are regarded to be rotating. The potential distribution is obtained as a continuous function of the azimuthal angle. Thus the rotation of the field provides information for the experimental interpolation.     

令牌多环网性能—可靠性综合评价

网络的性能与可靠性已分别得到广泛的研究,然而,怎样分析具有容错机制的环网的性能仍属有待开拓的研究领域,本文提出了一种分析具有自修复机制的多环网络系统的方法,并给出了报文传输时间分布的拉氏变换式,平均等待时间及平均队列长度公式,分析结果可用于评估故障与修复过程对实时令牌环网的实时响应特性的影响,对基于LAN的分布式实时系统设计具有指导意义。     

RADIATION FIELD FROM A RECTANGULAR PLAQUE SOURCE FOR RADIATION PROCESSING

Evaluation of the Hubbell integral for an omnidirectional detector response to a rectangular plaque gamma emitting radiation source using a different numerical computation method on a personal computer was made. For a plaque consisting of several strip gamma emitters, exposure rates at different positions above the source were calculated using 'exact' evaluation and an approximate method. Optimization method is used to find source activity of each strip, so as to acquire desirable dose uniformity of the irradiated products. In uses of the Hubbell integral, by introducing appropriate programming, computation time can be saved.     

Measurement of the compressive creep strain rates of the individual phases within a lamellar microstructure

A fuducial line technique has been developed to determine the creep properties of the constituent phases within a lamellar composite subject to compression creep deformation. The technique can yield information on the total strain, creep rate, and the stress exponent and activation energy for creep of the individual phases within a lamellar microstructure. The contribution of interphase interfacial sliding to the strain of lamellar composites can also be evaluated by using the fiducial line technique. Application of the fiducial line analysis to a two-phase TiAl/Ti₃Al lamellar alloy deformed in compression at 1080K and 380MPa yields good agreement between the creep strain determined using the fiducial line analysis and the value directly measured from the crept specimen. The fiducial line analysis reveals that the TiAl phase within the two-phase TiAl/Ti₃Al lamellar microstructure creeps 2.2 times faster than the Ti₃Al phase and that interfacial sliding does not contribute to creep deformation of this alloy, within the resolution limit of the fiducial line experiment.     

江苏省本地电话网结构与发展

分片汇接的网状网结构是江苏省本地电话网的基本框架,而汇接局和连接汇接局的传输系统则是网路规划与通信建设的重点。     

Determining elasticity and strength characteristics of powder coating

Methods are described for forming coating specimens and testing them in pure bending. The proposed tester gives adequate accuracy in determining the elastic characteristics and strength for thin specimens (up to 0.1 mm) of brittle materials of powder-coating type.Translated from Problemy Prochnosti, No. 3, pp. 94–97, March, 1993.     

压电超声微电机混合结构定子的固有频率特性分析

压电超声微电机是依靠定子振动变换能的功率器件，定子性能将直接关系到微电机能否实现，本文采用Ｒａｙｌｅｉｇｈ－Ｒｉｔｚ方法来分析机械中经常采用的多层膜结构（混合结构）定子的固有振动特性，推导中考虑了平面应力和弯曲应力对固有频率的影响，模拟计算和实验结果符合得较好，此外还讨论了定子有关参数对固有频率的影响。     

氧化还原功能纤维的研究 Ⅷ．含正丙胺基吸附剂与Au~（3＋）的氧化还原反应机理

通过元素分析、红外光谱分析、光电子能谱分析以及扫描电子显微镜分析等手段，证实含正丙胺基吸附剂与Ａｕ３＋的氧化还原反应过程中，氮原子邻近的羟基碳或Ｃ－Ｈ键被氧化，而氮原子并未参与氧化还原反应；吸附态Ａｕ（３＋）最终部分被还原成单质金；在非水介质中吸附在吸附剂上的金聚集成颗粒状。