A binary approximating method for graspable region determination of biped climbing robots

For a biped pole-climbing robot (BiPCR) with grippers, it is an essential demand to determine the target grasp configuration for climbing and transiting between poles, with the graspable region as a priori knowledge. The graspable region on the target pole is critically important for climbing path planning and motion control. To efficiently compute the graspable region for a BiPCR, we propose a novel binary approximating method in this paper. This method may also be applied to generate the three-dimensional (3-D) workspace of a manipulator with constant orientation. The grasping problem and the concept of graspable region for a BiPCR are first introduced. The binary approximating method and the corresponding algorithms are then presented to generate the graspable region. Additional constraints on a biped climbing robot with five degrees of freedom (DoFs) are presented as a supplement to the algorithm. A series of comprehensive simulations are conducted with the five-DoF and six-DoF climbing robots to verify the effectiveness of the proposed method. Finally, the dexterity of biped climbing robots with different DoFs is discussed.     

A heuristic biomarker selection approach based on professional tennis player ranking strategy

Extracting significant features from high-dimension and small sample size biological data is a challenging problem. Recently, Micha? Draminski proposed the Monte Carlo feature selection (MC) algorithm, which was able to search over large feature spaces and achieved better classification accuracies. However in MC the information of feature rank variations is not utilized and the ranks of features are not dynamically updated. Here, we propose a novel feature selection algorithm which integrates the ideas of the professional tennis players ranking, such as seed players and dynamic ranking, into Monte Carlo simulation. Seed players make the feature selection game more competitive and selective. The strategy of dynamic ranking ensures that it is always the current best players to take part in each competition. The proposed algorithm is tested on 8 biological datasets. Results demonstrate that the proposed method is computationally efficient, stable and has favorable performance in classification.     

高纯天然石膏水热法制备硫酸钙晶须研究

以高纯天然石膏为原料，加压水热法制备高品质硫酸钙晶须。采用常规分析方法、XRD和扫描电镜等手段分析和表征石膏原料和硫酸钙晶须产品。结果表明，制备硫酸钙晶须的最优条件为：料浆质量分数为6.0%，转晶剂氯化镁加入量为石膏质量的0.05%，硫酸加入量为水体积的1.0%，反应时间为4.0 h，快速过滤干燥即得硫酸钙晶须产品。分析结果表明：硫酸钙晶须长度最大为280.4 μm，最小为19.59 μm，平均长度为80 μm；硫酸钙晶须直径最大为5.86 μm，最小为0.20 μm，平均直径为2.67 μm；通过统计分析可知，长径比范围为10～80。     

Strain-induced crystallization,Part IV: Induction time analysis

The empirical equation, 1/t_i = Ae^Ei/RT, which expresses the exponential dependence of the reciprocal of crystallization induction time, t_i, has been analyzed and shown to be equivalent to the nucleation rate equations derived earlier in Part III (1). Consequently we have used the t_i measurements obtained earlier by Krueger and Yeh to calculate not only the nucleation rate enhancements but also the melting point elevations, the relative crystal thickness changes and molecular coil extension ratios of shear-crystallization polyethylene. It is shown that polyethylene when crystallized between 129 and 131°C at shear rates between 1.56 and 9.70 sec^?1 can have melting point increases of 4.2 to 7.2°C and crystal thickness decreases of 20 to 25 percent, when compared to those crystallized at 130°C in the quiescent state. The predicted “coil” extension in the melt just prior to shear-induced crystallization ranges between 21 and 36 percent. The results of these analyses as well as those on nucleation rates of polyethylene oxide are discussed in detail.     

Polypyrrole composite membrane with high permeability prepared by interfacial polymerization

Novel polypyrrole (PPy)/polydimethylsiloxane (PDMS) composite membrane was prepared by interfacial polymerization to make a very effective gas separation membrane. We found that Polymerized PPy films as thin as ～200 nm could be chemically synthesized as freestanding membranes by using the interfacial polymerization technique. Additionally, we show that difference morphology of PPys films was obtained by controlling polymerization rate and more dense films were formed at low polymerization rate. Wide X-ray diffraction study showed the d spacing value of the PPy film decreased from 4.89 å to 3.67 å by the rate of polymerization decreases. According to d spacing value decrease, selectivity of a PPy composite membrane was increased dramatically and permeability was reduced gradually. This high selectivity was derived from d spacing closed to the kinetic diameter of nitrogen. These results indicated that the permeability is controlled by the diffusion coefficient, reflecting the packed structure of the PPy film. The highest selectivity value of composite membrane that was prepared by interfacial polymerization was O₂/N₂=17.2 and permeability for O₂ was 40.2 barrer.     

溴法合成乙基香兰素的工艺改进

采用正交实验的方法，在用对羟基苯甲醛溴化台成乙基香兰素的过程中对原料配比、反应温度及溶剂选择等影响产率的因素进行了研究，得出了提高产率的最佳条件。在溴化阶段用氯化溴代替溴素、用乙酸甲酯作助溶剂使-溴化物的产率提高了10%，达到91．3％；在乙氧基化步骤中用CuO作催化剂，用乙醇和DMF作反应溶剂使得最终产物的产率达到85．2％。     

Experimental Study of an EMG-Controlled 5-DOF Anthropomorphic Prosthetic Hand for Motion Restoration

In this paper, we attempted to evaluate the performance of an electromyography (EMG)-controlled 5-DOF prosthetic hand on ten transradial amputees. The proposed prosthesis is composed of a five-fingered hand, a passive wrist, and a customized socket for each subject. The EMG control methods included both a commonly used pattern recognition-based scheme (DD-SVM) and a novel digital encoding strategy (double-channel template matching (DCTM)). A virtual 3D hand platform was developed for training the subjects and rapidly testing the control methods. For each subject, the performance of the EMG control methods was firstly measured by off-line classification accuracy; then, according to the accuracy, a particular control method was selected and embedded in the EMG controller for further validation on ordinary daily life activities. Our experiments were conducted to test not only the hand’s grasp ability but also other multifinger cooperation skills. The result indicated that the subjects of rich control experience can accomplish several intuitive motion control over their hands. However, the kinds of the motions and their relative recognition accuracy may depend on some individual differences, such as the amputation level, the activity of the residual nerve-muscle system, and the richness of control experience. Meanwhile, the proposed digital encoding method, DCTM, which only utilized two channels of EMG, was necessary for those amputees with few available control signals. This paper suggested that the EMG control method should be differently considered according to the particular condition of each subject.     

An effective approach for maintenance of pre-large-based frequent-itemset lattice in incremental mining

Incremental mining has attracted the attention of many researchers due to its usefulness in online applications. Many algorithms have thus been proposed for incrementally mining frequent itemsets. Maintaining a frequent-itemset lattice (FIL) is difficult for databases with large numbers of frequent itemsets, especially huge databases, due to the storage of links of nodes in the lattice. However, generating association rules from a FIL has been shown to be more effective than traditional methods such as directly generating rules from frequent itemsets or frequent closed itemsets. Therefore, when the number of frequent itemsets is not huge (i.e., they can be stored in the lattice without excessive memory overhead), the lattice-based approach outperforms approaches which mine association rules from frequent itemsets/frequent closed itemsets. However, incremental algorithms for building FILs have not yet been proposed. This paper proposes an effective approach for the maintenance of a FIL based on the pre-large concept in incremental mining. The building process of a FIL is first improved using two proposed theorems regarding the paternity relation between two nodes in the lattice. An effective approach for maintaining a FIL with dynamically inserted data is then proposed based on the pre-large and the diffset concepts. The experimental results show that the proposed approach outperforms the batch approach for building a FIL in terms of execution time.     

分子蒸馏技术与日用化工(Ⅰ)——分子蒸馏技术的原理及特点

介绍了分子蒸馏技术发展简况，并从分子运动平均自由程的定义出发，介绍了分子蒸馏技术的基本原理、特点以及与常规蒸馏、超临界萃取与层析分离等方法的不同。分子蒸馏操作温度低、受热时间短及分离效率高，特别适用于热敏性物质的提纯，有广阔的应用前景。     

废润滑油絮凝—吸附再生工艺的研究

以两种表面活性剂作絮凝剂、活性白土为吸附剂 ,经絮凝、吸附再生处理了废润滑油。考察了影响絮凝、吸附的各种因素。确定最佳絮凝条件 :温度 85°C、1 5 0 g废润滑油所需两种絮凝剂用量分别为 3.7g和 1 .3g;最佳吸附条件 :活性白土 1 2 .3%、温度 1 1 0°C、时间 90 min。经元素分析 ,净化精制后油品的 Zn、Pb、Ca、P等元素的含量显著降低。精制油理化指标符合国家标准。