Adaptive manipulator control: A case study

The author's previous work (1986, 1987) utilized the particular structure of manipulator dynamics to develop a simple, globally convergent adaptive controller for manipulator trajectory control problems. After summarizing the basic algorithm, they demonstrate the approach on a high-speed two-degree-of-freedom semi-direct-drive robot. They show that the dynamic parameters of the manipulator, assumed to be initially unknown, can be estimated within the first half second of a typical run, and that accordingly, the manipulator trajectory can be precisely controlled. These experimental results demonstrate that the adaptive controller enjoys essentially the same level of robustness to unmodeled dynamics as a PD (proportional and differential) controller, yet achieves much better tracking accuracy than either PD or computed-torque schemes. Its superior performance for high-speed operations, in the presence of parametric and nonparametric uncertainties, and its relative computational simplicity, make it an attractive option both for addressing complex industrial tasks, and for simplifying high-level programming of more standard operations     

水润滑赛龙轴承及其润滑性能综述

赛龙以其抗冲击、耐泥砂、耐磨损、承载力高而逐渐成为一种新兴的水润滑轴承材料。本文简单介绍了水润滑赛龙轴承材料的分类，论述了水润滑赛龙轴承的发展现状以及其结构、特性和优点，并阐述了水润滑赛龙轴承的研究现状和推广应用前景。     

反应注射成型工艺进展

本文介绍了反应注射成型新工艺和演变过程，论述反应注射成型工艺所需新材料及其发展．     

基于切削振动相关性识别刀具磨损状态的模型与实验

本文提出基于切削振动相关性识别刀具磨损状态的研究思想,建立了车削中刀杆双向横振动系统及其单输入双输出系统的数学模型。理论和实验均表明,刀杆双向横振动之加速度响应在固有基频处的相干函数与刀具磨损状态之间有很好的规律性,它反映了两者之间的本质机理,并提供了识别刀具磨损状态的新途径。     

Investigation of electrode and hydrogen induced crack in welded joint of dissimilar steel

The welded joint of dissimilar heat-resisting steels 20Crl2MoV(F12)and 12 Cr2MoWVTiB(102)generally works around 600°C.In this paperthree kinds of ferritic electrodes are used for testing.They are R817 high-strength electrode(CrllMoVNi),R347 low-strength electrode(Cr2MoVWB)and newly-developed R507MoNb medium-strength electrode.The study on theinfluence of those three different electrodes on carbon migration,HIC and hy-drogen diffusion shows that medium-strength electrodes can well control thecarbon migration,and that the tendency to HIC in the joint formed by R817 issmaller than that by R347 instead.Considering the effect of weld metal transfor-mation on the restraint stress and hydrogen concentration of a joint,the hydro-gen distribution in the heat-affected zone(HAZ)is calculated by using finite ele-ment method(FEM)with stress and strain changing,and so the effect of thetransformation behaviour on HIC is revealed.In addition,newly-developedR507MoNb electrodes,tested the elevated-temperature property,oxidation re-sistance and creep rupture strength,have fulfilled the technical standards con-cerned and passed the examination of on-the-spot operation.     

Synthesis of diamond crystals and films using an oxygen-acetylene flame under atmosheric pressure

Diamond growth with rates up to 100 to 140 μm/hr was achieved using an oxygen-acetylene combustion spraying technique in an atmospheric environment. Investigations on the processing indicated that the gas flow ratio, substrate position, substrate temperature, temperature distribution, and substrate pretreatment were the most important factors affecting the growth of diamond crystals. Evaluation by means of X-ray diffraction, Raman spectroscopy, scanning electron microscopy, and electron probe microanalysis showed that the synthesized diamond was nearly perfect in morphology, structure, and purity.     

A polymerizable photoredox initiation system for vinyl photopolymerization

A polymerizable photoredox system consisting of 4-methacryl oxbenzophenone (MABP) and N,N-dimethlaminoethyl methacrylate (DMAEMA) used for the photopolymerization of acrylonitrile (AN) was studied. It was found that the polymerization rate is proportional to the 0.93th power for the AN concentration, the 0.28th power for the MABP concentration, and the 0.25th power for the DMAEMA concentration. The overall activation energy of the polymerization obtained is 30.43 kJ/mol. The recorded ESR spectrum indicates that the excited-state MABP abstraets hydrogen mainly from the methyl group of the dimethylamino moiety. The comparison of the initiation ability of polymeric MABP or polymeric DMAEMA with their monomeric forms has also been done and the results indicate that in good solvents P (MABP) has a much higher initiation ability than that of monomeric MABP, but monomeric DMAEMA and P (DMAEMA) display almost the same initiation ability. In poor solvent, the initiation ability of P (MABP) is not so obviously higher than that in good solvents. The result of UV analysis of P (AN) initiated by the MABP–DMAEMA system indicates that both MABP and DMAEMA not only initiate the photopolymerization of AN, but also enter into P (AN) polymer chains. © 1994 John Wiley & Sons, Inc.     

蒸发器液位测量技术探讨

本文指出了采用液位测量方式设计的不足，通过理论分析结合现场实际提出了改造方案，以及如何用计算机实现，并根据使用效果得出结论。     

STRUCTURE REPRESENTATION OF THE SPECIFIC FRACTIONS FROM PINGSHUO COAL

Basic data of four fractions, PM₁, PM₆, PM₇and PM₈, derived from Pingshuo bituminous coal were obtained by ultimate analyses, mean molecular weight measure, GC/MS, ¹³C-NM R, ¹H-NM R and FTIR technigues. A method of calculating the average molecular parameters of the fractions is introduced. Based on the calculated parameters, the molecular structure models of the fractions of PM₆, PM;and PM₈are constructed. Significant structural information about the saturated hydrocarbon and aromatic hydrocarbon with heteroatom groups is given also.