Solution of nonlinear kinematics of a parallel-link constrained Stewart platform manipulator

The Stewart platform manipulator is a fully parallel kinematic linkage system that has great advantages over typical serial link robots. However, one major problem in controlling this kind of manipulator is that, due to its closed kinematic chain and parallel-link constrained structure, it is impossible to derive an explicit kinematic solution. This paper proposes a simplified algorithm to numerically solve the forward kinematics of a six-links Stewart platform. Taking advantage of some fundamental geometric operations, the proposed algorithm involves only 3 nonlinear simultaneous equations. The explicit expressions are derived for some special configurations which can directly give the geometric limitations to motion in terms of the geometric dimensions of the platforms and the legs.Research was supported by Texas Advanced Technology program under grant 003656-008 and National Science Foundation under grant MSS9211970.     

羰基铁类随机混合吸波材料等效电磁参数的计算

本文为计及多重散射偶极子间的相互作用，引入参量εｈ和μｈ，导得一组公式。它不仅能计算铁氧体类也能计算羰基铁类的随机混合吸波材料的等效电磁参数，均与实验结果吻合良好。     

A constrained joint source/channel coder design

The design of joint source/channel coders in situations where there is residual redundancy at the output of the source coder is examined. It has previously been shown that this residual redundancy can be used to provide error protection without a channel coder. In this paper, this approach is extended to conventional source coder/convolutional coder combinations. A family of nonbinary encoders is developed which more efficiently use the residual redundancy in the source coder output. It is shown through simulation results that the proposed systems outperform conventional source-channel coder pairs with gains of greater than 9 dB in the reconstruction SNR at high probability of error     

硼酸使掺铁铝酸锂发光增强的现象

在硼酸存在下合成了掺铁铝酸锂荧光体,研究了在不同温度下硼酸加入量对荧光体发光强度的影响,并通过X射线粉末衍射和粒度分析,初步探讨了发光增加的原因。     

Generalized oscillator-strength calculations for some low-lying excited states of H2 using a high-accuracy configuration-interaction wave function

Replacement of Met31 by (N-Me)Nle in CCK8 or CCK4 has been shown to improve the affinity and selectivity for CCK-B receptors. In order to obtain molecules with enhanced bioavailability, two novel series of protected tetrapeptides of the general formula Boc-Trp30-X-Asp-Y33 have been developed. Introduction of (N-Me)Nle and the bulky, aromatic naphthylalaninamide (Nal-NH2) in positions X and Y, respectively, does not greatly modify the affinity for guinea pig brain CCK-B receptors. In contrast, incorporation of hindering N-methyl amino acids such as (N-Me)Phe, (N-Me)Phg, or (N-Me)Chg, but not their non-methylated counterparts, in position X induced a large decrease in affinity for the CCK-B binding sites. Among the various peptides synthesized, Boc-[(N-Me)Nle31,1Nal-NH2(33)]CCK4 (2) (KI = 2.8 nM), Boc-[Phg31,1Nal-NH2(33)]CCK4 (15) (KI = 14 nM), and Boc-[Phg31,1Nal-N(CH3)2(33)]CCK4 (17) (KI = 39 nM) displayed good affinities for brain CCK-B receptors and had good selectivity ratios. These pseudopeptides, in which the presence of unnatural and hydrophobic residues is expected to improve their penetration of the central nervous system, were shown to be very resistant to brain peptidases. Interestingly, whereas compounds 2 and 15 proved to be full agonists for rat hippocampal CCK-B receptors when measured in an electrophysiological assay, compound 17 behaved as a potent antagonist in the same test and displayed a good affinity in rat brain KI(CCK-B) = 51 nM as compared to the Merck antagonist L365,260,KI(CCK-B) = 12 nM. This illustrates a simple means to obtain CCK-B antagonists and suggests that the free, CONH2 group plays a critical role in the recognition of the agonist state of brain CCK-B receptors.     

Preparation and optical properties of CdxHg1-xTe doped silica glass

In this paper, the Cd_xHg_1-xTe (x=1-0.7) doped silica glass was prepared through two step sol-gel process and in-situ growth technique from tetraethoxysilane (TEOS), cadmium acetate, mercury acetate and telluric acid. The influence of various factors on the glass was studied. The structure of the microcrystals was investigated by XRD. The absorption and transmittance spectrum of the composite showed that the shift of absorption edge was in conformity with the quantum size effect. The third-order nonlinear optical susceptibility χ⁽³⁾ was measured by the degenerate four wave mixing (DFWM). The values of χ⁽³⁾ was in the range of 10^-11-10^-12 MO esu at wavelength of 1.06 μm.     

Ti-23Al-14Nb-3V合金氩弧焊接头的显微组织及其力学性能

研究了预热对Ｔｉ－２３Ａｌ－１４Ｎｂ－３Ｖ合金焊接性，特别是对消除氩弧焊冷裂纹的作用以及对接头显微组织和力学性能的影响。结果表明，焊前预热可有效降低该合金的冷裂倾向。经预热处理后，焊缝区的结晶层状线消失，热影响区的硬度峰得到缓和，整个焊缝的显微硬度分布趋于均匀，但焊缝区的枝晶发生粗化，热影响区有所扩大。焊件接头的拉伸试验表明，预热可使焊缝区的接头强度系数增加，但无论预热与否，接头强度均低于母材强度，且不显示宏观塑性。     

土钉支护结构水平位移安全监控模型研究

国内现行规范、标准是以极限变形值作为土钉支护结构水平位移安全监测报警值 ,但没有反映工程进度影响 ,不便指导工程实践。提出“过程控制”概念 ,以反正切函数为基本形式 ,基于历史经验建立“安全时程曲线”控制模型 ,要求施工过程中实测水平位移始终处在“安全时程曲线”之下 ,以确保最终变形在某一适当的阈值之内 ,已有实测结果可以为施工方案调整提供依据。通过实际案例 ,检验模型的可行性 ,表明过程控制模型较极限变形策略更具可操作性     

Application of asymptotic waveform evaluation to eigenmode expansion method for analysis of simultaneous switching noise in printed circuit boards (PCBs)

In this paper, the asymptotic waveform evaluation (AWE) technique is first applied to the conventional eigenmode expansion method for characterizing a power/ground (P/G) plane pair and analyzing the simultaneous switching noise on such plane pairs for printed circuit boards or multichip modules. The application of AWE avoids a large number of iterations in computing the impedance frequency response of a P/G plane pair structure and greatly reduces the computation time. Meanwhile, to obtain an accurate solution in an entire frequency range, we employ the complex frequency hopping technique which can help select multiple expansion points. In addition, the proposed approach can also be used to characterize the P/G plane pair structures with irregular shapes. Three examples demonstrate its high efficiency and good accuracy.