Motion Planning for Redundant Manipulators Using a Floating Point Genetic Algorithm

This paper deals with the trajectory planning problem for redundant manipulators. A genetic algorithm (GA) using a floating point representation is proposed to search for the optimal end-effector trajectory for a redundant manipulator. An evaluation function is defined based on multiple criteria, including the total displacement of the end-effector, the total angular displacement of all the joints, as well as the uniformity of Cartesian and joint space velocities. These criteria result in minimized, smooth end-effector motions. Simulations are carried out for path planning in free space and in a workspace with obstacles. Results demonstrate the effectiveness and capability of the proposed method in generating optimized collision-free trajectories.     

大型空分设备循环冷却水处理方法的对比研究

武钢氧气公司在大型空分设备循环冷却水系统中,采用化学法和物理法进行水处理效果的实践探索,从原理和监测数据上进行了对比、分析研究,确认物理法具有高效除垢、防垢、杀菌灭藻、缓蚀以及净化等功能,可以取代化学法进行循环水处理。     

单片机自控系统在NS0631型轨道起重机上的应用

单片机自控系统在大型工程机械中得到了越来越广泛的使用，从而使设备的安全性、可靠性大为提高。文章着重分析了NS0631型轨道起重机中自控系统的结构、使用中存在的问题，提出了解决的方法及今后的改进设想。     

Deposition and Properties of Superconducting MgB2 Thin Films

The recently discovered superconductor MgB₂ with T _c at 39 K has great potential in superconducting electronics. In this paper, we review the deposition techniques used for MgB₂ thin films in the light of a thermodynamic study of the Mg-B system with the calculation of phase diagrams (CALPHAD) modeling technique. This thermodynamic study identifies a growth window in the pressure–temperature phase diagram, in which the magnesium pressure is very high for likely in situ growth temperatures. A Hybrid Physical–Chemical Vapor Deposition (HPCVD) technique that successfully achieves such a high Mg pressure is shown to produce in situ epitaxial MgB₂ thin films with bulk superconducting properties.     

2-巯基苯并噻唑衍生物摩擦学性能的研究

合成了S—(1—(2—苯并噻唑基巯基)—2—羟基)—丙基N，N—二烷基二硫代氨基甲酸酯和S—(1—(2—苯并噻唑基巯基)—2—乙酰基)—丙基N，N—二烷基二硫代氨基甲酸酯两种化合物。运用IR、MS、HNMR和元素分析等分析方法对其结构进行表征。用四球试验、HQ—l环块试验分别考察了其对润滑油的极压承载能力及抗磨减摩性能的影响。结果表明：在350SN中性油中添加所合成的化合物后可以显著降低四球长磨后磨斑直径、有效地降低摩擦副之间的摩擦系数，拥有优良的摩擦学性能。     

粘接技术在油罐堵漏中的应用

介绍了粘接技术的种类、原理及其技术要领，并引用实例说明了该技术的优点。粘接堵漏技术将成为油罐渗漏维修的一种重要方法。     

电厂MIS设计中常见问题的归纳研究

按照2000年示范电厂的思路，电厂MIS已经作为电厂建设的一部分被列入基建程序。面对电力行业重组的新局面，为了提高电厂MIS设计水平，更好地为业主服务，以适应当前日益激烈的竞争，适时地总结电厂MIS设计中的共性问题是很有必要的。文中叙述的内容不是探讨如何设计电厂MIS，而是就设计中容易出现的问题进行研讨。     

DB2数据库查询优化策略

数据库的查询优化是改善应用程序性能的重要手段。通过分析IBM DB2数据库系统的最优化处理器的工作原理,对查询性能影响较大的统计信息更新、索引建立、SQL查询语句构造3个方面提出具体优化建议。建立了一套完整的测试方案,对每一条优化建议都使用具体SQL语句进行严格的验证。开发者要注意分析查询语句的时间开销和空间开销,才能写出较优的查询语句。     

超深亚微米非对称Halo LDD低功耗新器件的研究分析

提出了一种新的器件结构——非对称Halo L DD低功耗器件,该器件可以很好地抑制短沟效应,尤其可以很好地改善DIBL效应、热载流子效应以及降低功耗等,是低功耗高集成度电路的优选结构之一.分析了非对称HaloL DD器件的主要特性,并将其与常规结构、非对称L DD结构、非对称Halo结构的器件进行了比较并进行了参数优化分析.     

Longitudinal Wave Propagation in Dielectric Waveguide Array

Based on the established rigorous theory for two-dimensionally periodic (2DP) medium, Longitudinal propagation in Dielectric Waveguide Array (DWA) was analyzed in detail. Firstly, given longitudinal wave vector (k _z), Brillouin dispersion relations between transversal wave vectors were analyzed. Interactions between space harmonics were also studied. Secondly, on condition that transversal wave vector k _x equaled k _y, dispersion relations between longitudinal and transversal wave vectors were analyzed in detail. Because of interactions between space harmonics increasingly getting stronger with k _z or modulation coefficients increasing, stop-bands could be distinctly displayed and thus longitudinal propagation in DWA could be comprehensively analyzed. The applications about longitudinal propagation in DWA were also discussed.