基于旋量和臂形标志的机器人运动学逆解计算

讨论了用旋量和指数积公式计算PUMA类型6自由度机器人运动学逆解的方法。在子问题的计算过程中，通过引入臂形标志来选取关节变量的合理解，以得到运动学逆解的唯一解。这种方法避免了对无效解的计算，可以减少计算量，提高计算效率。通过一个实验机器人的运动学逆解计算验证了算法的有效性。     

加强电炉钢短流程生产工艺研究与技术开发的建议

论述了加强电炉钢短流程生产工艺研究与技术开发的必要性和主要课题，并提出关于组织合金钢短流程生产工艺研究与技术开发“九五”国家科技攻关及提高高研究开发投资强度的建议。     

基于遗传算法的工作辊温度场参数优化模型

针对热连轧机工作辊热辊形计算中温度场模型的热交换等参数难以确定的问题 ,建立了基于遗传算法的参数优化模型 ,可以解决复杂条件下的热参数的求解问题。利用优化参数计算的轧辊温度场与实际测量结果一致。     

蒸汽喷射器射流场流动模型研究综述

综述了3种不同维数的喷射器射流场流动模型的研究工作,分析了3种模型各自的特点后指出,一维模型的建立主要基于定压混合理论或定常面积混合理论;二维偏微分方程模型建立后基于差分法等数值算法进行求解.随着网格技术和计算方法的提高,三维粘性射流场中激波和湍流的数值模拟发展迅速.     

A disposable sensor based on immobilization of acetylcholinesterase to multiwall carbon nanotube modified screen-printed electrode for determination of carbaryl

A simple method has been devised for immobilization of acetylcholinesterase (AChE) covalent bonding to a multiwall carbon nanotube (MWNT)-cross-linked cellulose acetate composite on a screen-printed carbon electrode (SPCE) and a sensitive and disposable amperometric sensor for rapid determination of carbaryl pesticide is proposed. The immobilized enzyme was preserved on this film because of the excellent biocompatibility and non-toxicity of cellulose acetate. Based on the inherent conductive properties of the MWNT, the immobilized AChE had greater affinity for ATCl and excellent catalytic effect in the hydrolysis of ATCl. MWNT improved the interface enzymatic hydrolysis reaction and increased the amperometric response of the sensor. Under optimum conditions, the inhibition of carbaryl on AChE increased linearly with the increasing concentration of carbaryl in two ranges, from 0.01 to 0.5 μg mL⁻¹ and from 2 to 20 μg mL⁻¹, with the correlation coefficients of 0.9985 and 0.9977, respectively. The detection limit was 0.004 μg mL⁻¹ taken as the concentration equivalent to 10% decrease in signal. The sensor showed acceptable stability, accuracy and could be fabricated in batches, thus it is economic and portable. This type of disposable enzyme-based amperometric sensor has extensive application potential in environmental monitoring of pesticides.     

Synthesis and characterization of a novel proton‐exchange membrane for fuel cells operating at high temperatures and low humidities

The synthesis of a p‐toluidine/formaldehyde (PTF) resin was performed, and the effects of the molar ratio of the individual monomers and the polymerization conditions on the structure of the PTF resin were studied. Fourier transform infrared and ¹³C‐NMR spectra were used to characterize the PTF. Wide‐angle X‐ray diffraction patterns revealed the crystalline structures of various PTFs. Polarized optical microscopy revealed that the molar ratio of the monomers had a strong effect on the crystalline morphologies. A longer polymerization time turned out a polymer with a higher intrinsic viscosity and molecular weight, which led to differences in the proton conductivity. All of the PTFs showed a higher proton conductivity than a commercial Nafion membrane at 90–100°C and 0% relative humidity. The proton conductivity of the PTF series could be improved by sulfonation with sulfuric acid and could be maintained after blending with polyurethane. Pure methanol could be used as a fuel source because of the insolubility and nonwetting properties of PTF in methanol to increase the output current density for a PTF membrane electrode assembly. © 2007 Wiley Periodicals, Inc. J Appl Polym Sci 2008     

Modeling Multiterminal Spintronic Devices

We are encountering tremendous opportunities and challenges in combining emerging nanotechnology for developing nanoelectronic devices. Researchers are designing nanoelectronic circuits based on newly discovered nanoscale building blocks, such as spintronic devices. In this paper, we calculate conductance in spintronic gates using the nonequilibrium Green's function and show useful operations for "multiterminal" logic gates. These spintronic devices can be used to design complicated spin circuits     

河南油田泌阳凹陷稠油地化录井评价方法

河南油田泌阳凹陷分布有古城、井楼、杨楼、新庄4个稠油油田，各油田油质复杂，查清各区块、各层系稠油油质是开发生产的重要工作之一。通过对稠油层基本特征分析，应用地化录井参数建立了TPI评价法、原油密度评价法及原油黏度评价法。TPI评价法主要是利用原油中气态烃和液态烃与全烃比值大小划分油质类型；原油密度评价法主要利用油质重，TPI值小，反之TPI值大的关系划分油质类型；原油黏度评价法主要利用TPI反映油质组分的综合性参数的特点，建立TPI与黏度的关系。这套评价评价方法提供了快速精细评价稠油油质的新手段。     

Limited reinforced space in segmental retaining walls

Current design of geosynthetic reinforced segmental retaining walls considers an a priori limitless length for reinforcement installation. Such length is typically 0.5–0.7 times the height of the wall. However, often there are constraints on such space; e.g., bedrock formation located at a small distance behind the facing. The objective of this note is to introduce a procedure for assessing the required long-term strength of the reinforcement while considering its limited length. Predictions by a conventional slope stability analysis were first checked against a continuum-mechanics based numerical analysis. Upon obtaining good agreement, a design chart was developed. The chart enables the determination of the reduction in the lateral earth pressure coefficient due to the constrained space. The revised earth pressure coefficient can be used with current analytical methods to account for the limited space. The results appear to be valid for conventional walls retaining a limited volume of soil. Comparison with limited experimental results for unreinforced backfill shows reasonably good agreement.