A Topological Implementation for Motion Planning of a Robotic Arm

An efficient path planning algorithm based on topologic method is presented in this paper.The collision free path planning for three-joint robotic arm consists of three parts:partition of C-space,construction of CN and search for a path in CN.We mainly solved the problems of partitioning the C-space and undging the connectivity between connected blocks,etc.For the motion planning of a robotic arm with a gripper,we developed the concepts of global planning and local planning,and discussed the basic factors for constructing the planning system.In the paper,some evaluation and analysis of the complexity and reliability of the algorithm are given,together with some ideas to improve the efficiency and increase the reliability.At last,some experimental results are pesented to show the efficency and accuracy of the algorithm.     

Deformation and fracture of glass bead/ CTBN-rubber/epoxy composites

Carboxyl-terminated butadiene-acrylonitrile-rubber decreases modulus and yield stress of the studied epoxy but increases fracture toughness. The addition of glass bead compensates for the loss in modulus but has little effect on yield stress. However, it significantly contributes to the fracture toughness by providing additional mechanisms for toughening of both the unmodified and rubber-modified epoxy. For the toughened epoxies studied, fracture surfaces gave only limited information on fracture mechanisms since significant energy absorption also occurs in the material below the fracture surface. Suggestions for suitable material compositions for fiber composite matrices are given.     

场顺序彩色显示器

荫罩CRT受自身结构的限制,要进一步改进其分辨率就有很大的困难。近年已研制成一种获得彩色图像的颇有吸引力的替代品,即场顺序彩色显示器。它由单色CRT和液晶电子色闸组成,称之为LC/CRT系统。液晶电子色闸由液晶π盒及其连用的偏振片组成,可看成是老式机械彩色轮那样的一种电控色带带通滤色片。本文描述了液晶电子色闸的功能及其工作优点,讨论了其可能结构与显示特性。     

硫化铜矿中提取铜的新方法研究

对从硫化铜矿中提取铜的溶剂进行了详细研究，提出了“过硫酸铵－氨水－Ａｇ￣＋”催化、氧化、络合的提取法。     

压型钢板组合楼板承载力的有限元分析

压型钢板组合楼板是 2 0世纪发展起来的一种新型结构形式。它具有显著的优势 ,如轻质、高强 ,施工快捷等 ,将在未来的建筑领域中大有作为。组合楼板的承载力主要取决于钢板 -混凝土界面处的抗剪强度。建立了一个二维有限元模型来研究单向组合板的性能。并将计算结果与试验数据进行对比 ,验证了模型的有效性     

晋城市煤炭加工利用现状、存在问题及发展建议

阐述了晋城市煤加工利用的现状 ,分析了煤炭加工利用存在的问题 ,提出了今后的发展建议     

PIMS在企业生产经营中的应用

介绍PIMS在企业生产经营中的应用 ,运用PIMS可对炼油化工企业进行原油采购决策、加工保本点预算、效益预测、物流分配、整体流程优化、投资分析、瓶颈制约因素探讨、原料和产品库存管理、经济活动分析等 ,并结合生产装置特点和市场环境影响因素 ,获取最大生产经营效益。根据影子价格 ,找出提高效益的潜力 ,确定产品、中间产品或半成品合理价格 ,规范关联交易 ,增强企业市场应变能力 ,提高经济效益与管理水平。     

天然多糖类/蛋白质复合材料的研究进展

在参考了 31篇文献的基础上 ,详述了天然多糖类与蛋白质复合材料的研究进展     

Skeletal Isomerization and Inter—molecular Hydrogen Transfer Reactions in Catalytic Cracking

Bimolecular hydrogen transfer and skeletal isomerization the important secondary reac-tions among catalytic cracking reactions,which affect product yield distribution and product quality,Catalyst properties and operating parameters have great impact on bimolecular hydrogen transfer and skeletal isomerization reactions .Bimolecular hydrogen transfer activity and skeletal isomrization activity of USY-containing catalysts are higher thn that of ZSM-5-containing catalyst.Coke deposition on the active sites of catalyst may suppress bimolecular hydrogen transfer activity and skeletal isomer-ization activity of catlys in different degrees.Short raction time causes a decrease of hydrogen trans-fer reaction,but and increase of skeletal isomerization reaction compared to cracking reaction in catalytic cracking process.