有环境约束时完成一族跟踪任务的力控制

本文为工业机器人提出了一种极点配置控制法，这种控制方法的优点有：一是它的积分作用消除了机器人的微小扰动和稳态误差；二是能任意设置系统的极点，因此能保证闭环系统的稳定性和规定状态变量的暂态响应；三是加入了加速度反馈，抑制了由电枢电感所引起的机械手的振动，最后，给出了ＰＵＭＡ５６２机器人的计算机仿真和实验结果验证了此控制法的有效性。     

EXPERIMENTAL STUDIES AND NUMERICAL CALCULATION ON TURBULENT BOUNDARY LAYER OF WATER FLOW ALONG CURVED SURFACE

This paper will introduce experimental studies and numerical calculation onturbulent boundary layer of water flow along curved surface in our country in recent years.Onthe basis of the experimental studies,the effects of curvature and roughness on velocitydistribution and pressure distribution and the change of turbulent flow boundary layer onoverflow bucket concave surface is discussed.We proposed the empirical formula of velocity,pressure and the change of turbulent flow boundary layer on outlet bucket concave.According tothe momentum principle,we have deduced the momentum integral equation full water depthboundary layer and using the element as control unit inside the boundary layer on concavesurface of bucket.Combining with continuity equation,we have computed the boundary layerdevelopment on the bucket of a spillway.Compared with the field experimental data,thecalculation results are available.Under polar coordinates,a mathematical model for simulatingtime-averaged flow characteristics in concave surface of bucket is established.The turbulent flowfield on concave surface of bucket is calculated by SIMPLE method and this mathematicalmodel.The flow velocity field,pressure field,distribution of turbulent kinetic energy,distribution of turbulent energy dissipating rate and distribution of shear stress are available.Thecalculation value is consistent with measured test data.     

The TDCPR Management Mode of Engineering Equipment

The Three Gorges Project is a very large project,and its structure is very complex.Interna-tional advanced engineering equipment is broadly used.The state of equipment running directly influ-ences project building qualities and limited time.According to the factud conditions of the Three Gor-ges Project,the characteristics of engineering equipment are analyzed.At the same time ,some theories about equipment management are induced ,and the TDCPR management mode of engineering equip-ment of the Three Gorges Project is put forwared in order to gain the aim of managing and using equip-ment well and speeding up the project construction.     

Synthesis and Hydrogen Storage in Single—walled Carbon Nanotubes

Single=walled carbon nanotubes(SWNTs) were synthesized by a hydrogen arc discharge method.A high yield of gram quantity of SWNTs per hour was achieved.Tow kinds of SWNT products:web-like substancea and thin films in large slices were obtained. Results of resonant Raman scattering measurements indicate that the SWNTs prepared have a wider diameter distribution and a larger mean diameter.Hydrogen uptake measurements of the two kinds of SWNT samples(both as prepared and pretreated) were carried out using a high pressure volumetric method,respectively.And a hydrogen storage capacity of 4 wt pct could be repeatedly achieved for the suitably pretreated SWMNTs,whicb indicates that SWNTs may be a promising hydrogen storge material.     

聚乳酸的改性以及活性聚合方法

对聚乳酸这种具有生物降解性和生物相容性的高分子材料的化学改性和活性聚合近年来的研究工作进行了综述，化学改性主要涉及丙交酯和水溶性聚合物的共聚，而许多物质可以引发丙交酯的活性聚合，特别是带官能团的烷氧基类化合物更具有实际的应用价值。     

EGS程序图形化输入平台的开发

为了使EGS能够更加方便地被工程人员使用，使用VC^ 语言开发出一套运行于Windows下的EGSWIN程序，其中包括一个图形化的输入平台，通过使用本程序，用户可以仅仅进行简单而直观的输入几何实体的工作，就可以实现区域的定义。极大的提高了EGS的使用效率。     

辐射技术在食品加工中的应用

综述了食品辐射加工的原理及其作用效果，以及该技术在欧美的应用现状及存在的发展障碍。     

m,m′-二氨基二苯酮与均苯四酸二酐的微波辐射聚合

研究 m,m′-二氨基二苯酮 (m,m′- DABP)与均苯四酸二酐 (PMDA)的缩聚及亚酰化 ,并运用微波辐射和常规加热两种方式对反应进行了比较。考察了微波辐射时间 (功率 )、单体浓度、单体配比和温度等因素对缩聚物的特性粘数、转化率的影响。用红外光谱对亚酰化度进行了表征 ,并用简并四波混频技术首次测量了该缩聚物的三阶光学非线性极化率系数及其响应时间。实验结果表明 ,微波辐射对提高聚合物的特性粘数和转化率都有显著作用 ;合成的缩聚物具有较大的三阶光学非线性极化率系数 (聚酰亚胺的 χ(3) =1.642× 10 -13 esu)和较快的时间响应 (19ps     

Ion irradiation—induced structure damage to botanic samples using the ion transmission energy spectrum

1 INTRODUCTIONThe new aPplications of low energy heavy ion beam in irradi4ted botanical materialswere studied in recellt yeaxs. The beaminduced mutation effect on crop seeds has causedthe attention of physicist and biologists.[1l:] FOr examPle, 1ow energy ions can induceremarkable mutation to rice seeds.[3] There are many special phenomena when heavyions bombard botanic sW1e due to its special structure. Some studies showed that tllepenetration depths of some ions were far larger than t…     

各向加权异性有限元法在不可压粘性流动计算中的应用

本文利用各向异性张力有限单元，考虑到其独特的性质，提出了一种各向加权异性的算法，即在不同方向采用不同连续性的插值函数，然后再在原连续性较弱的方向以连续性较强的插值函数计算，最后把两次计算的结果加权处理。这种方法可以适应两个方向连续性要求不同或相同的各种情况，即克服了一般各向异性张力有限单元的局限性，又大大减少了存贮量和计算量。