机械臂的动态混合控制

本文研究当机械臂的终端受有约束时的控制问题,其中心内容是给出“任务规范投影算子”的概念,利用它首先将机械臂的动态方程解耦为两组方程,它们分别描述了运动与约束力,在此基础上给出了机械臂的控制律,使闭环系统跟踪期望的速度与约束力。     

乙烯-1-辛烯共聚物增韧应用研究

介绍了聚烯烃系弹性体（POE）的特点及其在PP增韧改性中的应用，同时还报道了马来酸酐接枝的POE在极性聚合物复合体系中的应用研究。     

空心微珠改性硬质聚氯乙烯复合材料的应用研究

经过改性的超细空心微珠可以作为填料加入到硬质聚氯乙烯（PVC－U）树脂中，同时改善PVC树脂的流变性、冲击性能和刚性等性能。研究结果表明，超细空心微珠加入到硬质PVC管材中，可以明显改善PVC硬管的加工流动性能，显著缩短塑化时间，降低最大扭矩。而超细空民微珠加入到硬质PVC板材时，可以提高PVC硬板的冲击性能，减小制品的收缩率，赋予PVC硬板优异的耐腐蚀性能，且产品的各项性能均符合PVC板材国家标准GB／T4454－96。     

Lipase‐catalyzed dynamic kinetic resolution of (R,S)‐fenoprofen thioester in isooctane

A lipase‐catalyzed enantioselective hydrolysis process under in situ racemization of the remaining (R)‐thioetser substrate with trioctylamine as the catalyst was developed for the production of (S)‐fenoprofen from (R,S)‐fenoprofen 2,2,2‐trifluoroethyl thioester in isooctane. Detailed investigations of trioctylamine concentration on the enzyme activation and the kinetic behavior of the thioester in racemization and enzymatic reactions were conducted, in which good agreement between the experimental data and theoretical results was observed. © 2002 Society of Chemical Industry     

Change of foot size with weightbearing. A study of 2829 children 3 to 18 years of age

The change of foot length and width with age has been reported in a few anthropometric studies in the literature. However, the relationship with body height rarely is reported, and the dynamic effect of weightbearing on foot size has not been documented. In this series, 2829 children 3 to 18 years of age of equal gender distribution were included in the study. The foot length and width on weightbearing and nonweightbearing were measured with a special precision electronic caliper. The foot length and width were found to increase linearly from the age of 3 years until 12 years in girls and 15 years in boys. This was followed by a phase during which the increase plateaued. The foot length and width increased significantly on weightbearing at all ages in both genders with a mean of 2.1 to 4.4 mm or 3.1% to 4.8%, respectively. The foot length and width also were found to correlate significantly with the body height in both genders, with a correlation coefficient of 0.96 to 0.98. No significant differences were found between the sizes of the dominant and nondominant foot in either gender.     

Configurable nonlinear filter generator

A configurable nonlinear filter generator is proposed. The nonlinear function employed is key controllable. By changing the key, a different sequence will be obtained. Simulated results show that an optimal linear complexity profile of the sequence can be generated     

An adaptive morphological filter for image processing

Novel types of opening operator (NOP) and closing operator (NCP) are proposed. An adaptive morphological filter is then constructed on the basis of the NOP and NCP. The filter can remove any details consisting of fewer pixels than a given number N, while preserving the other details. Efficient algorithms are also developed for the implementation of the NOP and NCP.     

New theorems for bianisotropic media

The general volume equivalence theorem for bianisotropic scatterers is presented, where the equivalent electric and magnetic currents are determined by a pair of coupled vector integral equations. Moreover, using the general volume equivalence theorem and conventional image principle, image theory is developed for a bianisotropic body over an infinite perfect electric or magnetic conducting ground plane.