双机械臂协调：以运动学为基础的模型分析与动态补偿控制方法

本文建立了双机械臂协调系统的主从式控制的非结构模型，并针对两臂具有相同特性和不同特性这两种情形作了稳定性分析，提出特性校正的方法，本文还利用内模原理设计出动态补偿器来克服标定约束的不确定性对系统控制品质的影响，最后给出了实验结果。     

与性能相关的容错计算系统可靠性指标

对于某些容错计算系统，由于成功与故障之间没有明确的界限，用传统的可靠性指标难以准确地评价其容错性能，为此一些学者提出了若干与性能相关的可靠性指标。本文将这些指标概括成三类（即基于瞬时性能的指标、基于累积收益的指标和率模可靠性指标）加以介绍，并简要介绍了它们的求解方法。     

柔性制造系统的负荷分配及路径规划方法

柔性是柔性制造系统（ＦＭＳ）的一个基本优点，但这一基本优点却往往被人们忽视，许多现在运行的ＦＭＳ不是缺乏柔性，就是没能充分利用可获得的柔性来提高生产效率。柔性制造系统的负荷分配和路径规划问题正是这种柔性的一个主要方面，然而，路规划决策却往往被。其中一个主要原因人们仍不能从传统的生产管理概念中解放出来。本文在明确概念区分的基础上，提出了一种柔性制造系统的负荷分配和路径规划的线性规划模型，其主要特点是     

载体及反应条件对Pt/BaKL沸石催化剂芳构化性能的影响

研究了γ-Al_2O_3或SiO_2载体,以及反应条件对Pt/BaKL沸石催化剂芳构化性能的影响。发现经过碱化或负载Sn的γ-Al_2O_3作为载体,能够较好地保持该催化剂在正己烷芳构化反应中的高活性和高选择性,并有益于改善Pt/BaKL沸石催化剂的抗硫性能。     

Production of phosphoric acid with low content of impurities

The present work is to study the possibility for controlled distribution of the impurities when they are decomposed by sulphuric acid to wet phosphoric acid and phosphogypsum, as well as generating technological conditions for production of clean wet phosphoric acid and its derivatives - phosphoric fertilizers, food phosphates and other phosphoric products.A coefficient of distribution D_A is introduced as a general criterion for elements dispersion. The study includes relationships between the weight ratio sulphuric acid/natural phosphate and D_A; the period of decomposition and D_A; the particle's size content of the natural phosphate and D_A. The obtained experimental data and relationships about the influence of the above discussed technological parameters on dispersion of more than 23 elements allow for control of that process in wet phosphoric acid and phosphogypsum by selecting specific technological conditions. Thus, depending on the requirements of acid's consumers and procedures for secondary processing of phosphogypsum to end-products, a selective decomposition of the natural phosphates to phosphoric acid and phosphogypsum can be carried out with content of the impurities in those products varying in narrow limits.     

高应力水平下滚动轴承疲劳寿命试验研究

通过在三种不同的强化负荷下进行深沟球轴承疲劳寿命试验，并与常规试验一组结果对比。结果表明，适当地加大滚动轴承疲劳寿命试验负荷，可以大大缩短试验时间，而疲劳寿命依然服从Ｗｅｉｂｕｌ分布，且与常规试验结果基本一致，同时疲劳破坏的形式仍是表面下萌生裂纹，然后扩展至表面形成剥落。     

Surgical treatment of unilateral alveolar cleft

In this study, 16 cases of unilateral alveolar cleft with cleft lip and palate were repaired with autografts of cancellous bone (13 cases) or hydroxyapatite (3 cases). The grafts were covered by reflected mucoperiosteal flaps and a mucosal flap from the upper lip. Twelve of the thirteen cases were followed up for 1-5 years. Nine of whom using cancellous bone had bony continuity of the maxilla and 7 cases erupted permanent maxillary canines within the area of autografts. None of the 3 cases using hydroxyapatite erupted a canine tooth. The results showed that autograft was better than hydroxyapatite in terms of maxillary canine eruption.     

FAST MEASUREMENT OF ASH CONTENT IN COAL WASHING PLANT

The coal filter cake is a product of fine coal after floatation which has an ash content of 7-13%, water content of 30±2%, and a particle size of less than 1 mm. The ash content was measured by the intensity of the single backscattered gamma-ray, and its accuracy is mainly dependent on the energy of the gamma-ray. The 238Pu low energy photon source is selected in this work. The energy of its gamma-ray is 15 keV, which can result not only in the best sensitivity, but also in the lowest contribution to the environment radiation. The root mean square deviation of the ash measurement is±0.33% (±1σ).