欠驱动系统Pendubot的模糊控制策略

本文针对欠驱动Pendubot机器人系统，提出一种简单可靠的摇起及平衡控制策略。通过利用模糊控制及全状态反馈控制技术来分别设计摇起控制器及平衡控制器，其中模糊摇起控制器的设计使得系统的摇起可靠性得到大大的加强，并缩短了响应时间，两个控制器的转换通过转换装置实现。最后的仿真结果验证了算法的有效性。     

行政权力腐败的模型分析及治理对策

腐败是与政府行政权力相伴生的痼疾，既是一个历史现象又是一个国际现象。贪污腐败和寻租腐败是委托一代理模型中最典型的腐败方式，文章在此基础上对贪污腐败和寻租腐败进行成本一收益分析和市场均衡分析，并探讨治理行政权力腐败的有效途径。     

大学生心理健康教育的重点：建立和谐宿舍关系

文章从宿舍关系对大学生心理健康的重要性出发，分析了和谐宿舍人际关系对大学生心理健康成长的重要作用及功能。随后，对当代大学生宿舍人际关系的一些常见问题进行了分析，并提出了应对的策略。     

化学还原法制备纳米铜粉的研究

本文采用KBH4在液相中化学还原CuSO4,并加入KOH和络合剂EDTA ,制得了纳米级的纯净的铜粉 ,通过调整反应物的浓度 ,可以消除Cu2 O等杂质。制备的纳米铜粉还存在一定程度的团聚 ,需试验加入分散剂来改善。     

Plasma Sprayed Hydroxyapatite Coatings with Nano-hydroxyapatite Prepared by Ultrasonic Precipitation Process

Nano-particle hydroxyapatite （ HA ） was prepared with a novel ultrasonic precipitation process and the as-prepared nanopowder was used to produce hydroxyapatite （ HA ） coatings on titanium substrate via plasma spraying. The phase and the microstructare of the coating were characterized by X- ray diffraction （XRD） and scanning electron microscopy （SEM）. Results showed that spherical particles could be prepared by ultrasonic precipitation process; and a corresponding dense HA coating with molten surface and low-porosity cross-section structure was acquired. During the plasma spraying process, new phases of Ca3 （ PO4 ）2 and Ca2 P2O7 were generated. After heat-treating at 800℃ for 1 h, the contents of Ca3 （ PO4 ）2 and Ca2 P2O7 decreased while HA content increased. Tensile adhesion tests showed that the plasma sprayed coating prepared with the spherical nanoparticles exhibited high tensile bond strength.     

实用钢筋混凝土梁板结构优化设计

本文比较全面地考虑了钢筋混凝土梁板结构实际设计时的全部必要约束,给出了一套(单跨矩形和T形梁、单向板、按弹性理论计算的双向板和矩形等截面连续梁)简单实用的近优化设计的解析公式,为编制其优化设计的实用程序和图表提供了根据.     

河流工程中的图形绘制与处理

在河流工程领域,不管是实体模型还是数学模型,对多样化的数据和丰富多彩的图形的需要越来越强烈,旧的表现形式已经被层出不穷的新的、信息量大而且地位高的2D、3D图形所取代,因此在工程中合理地选择绘图方式和开发软件就变得十分重要。以实际操作经验为基础,从基本操作类到二次开发类再到高端图形图像开发类,详细地讨论了在河流工程中各种图形的绘制和处理方法选择,具有一定参照价值。     

智能控制的理论和方法

本文简要地回顾了智能控制的发展过程，讨论了智能控制的几个主要理论与方法，最后对智能控制的发展提出了作者的看法。     

Epidemiology of hepatitis C and G in sporadic and familial porphyria cutanea tarda

From 1995 to 1997, we prospectively evaluated the prevalence of hepatitis C virus (HCV) RNA in 124 patients with porphyria cutanea tarda (PCT) from Northern France (83 sporadic and 41 familial PCT). Serum samples were analyzed for ferritin, transaminases, HCV antibodies, and HCV RNA. In addition, genotyping of HCV and searches for HCV infection risk factors (blood transfusion, iv drug abuse, and surgical intervention) were performed. Twenty-six of 124 patients (21%; 95% CI: 13.9-28) were positive for serum HCV antibodies. All of them were also positive for HCV RNA. The prevalence of HCV infection was higher in the sporadic PCT group (26.5%, 22 out of 83) than in the familial PCT group (9.7%, 4 out of 41). Risk factors for hepatitis C infection were found to be significantly increased in the HCV-positive group when compared with the HCV-negative PCT group. In all HCV-positive patients with a risk factor, the suspected date of exposure to the virus always preceded the clinical onset of PCT. The HCV genotype pattern in PCT patients was similar to that observed in nonporphyric HCV patients in western European countries. Serum ferritin level was increased in both HCV-positive and HCV-negative porphyric patients. Transaminase levels were significantly higher in HCV-infected PCT patients. Sixty-seven out of 124 patients were retrospectively studied for hepatitis G virus (HGV) infection. Six of these 67 patients (8.9%; 95% CI: 2.1-15.8) were positive for HGV RNA. None of the six HGV-infected patients were positive for HCV RNA. The HGV-infected patients did not differ statistically from those without HGV infection with regard to age, ferritin, transaminase levels, and PCT treatment. These results support the view that sporadic cases of HGV infection may occur frequently. This study of a large cohort of HCV and PCT patients further documents an increasing gradient in HCV prevalence from northern to southern Europe, and shows that HCV infection acts as a triggering factor of PCT. Finally, the HGV prevalence found in the PCT patients was comparable with that found in French blood donors, suggesting that HGV is not a PCT triggering factor.     

1.04 GBd low EMI digital video interface system using small swingserial link technique

In a high-resolution flat panel system, a conventional interface that directly connects a liquid crystal display (LCD) controller to a flat panel cannot overcome the problems of excess EMI (electromagnetic interference) and power caused by full-swing transmission signals in parallel lines. This paper presents a high-speed digital video interface system implemented with a low-cost standard CMOS (complimentary metal-oxide-semiconductor) technology that can mitigate EMI and power problems in high-resolution flat panel display systems. The combined architecture of the high-speed, small number of parallel lines and low-voltage swing serial interface can support resolutions from VGA (640×480 pixels) up to XGA (1024×768 pixels) with significant power improvement and drastic EMI reduction. To support high-speed, low-voltage swing signaling and overcome channel-to-channel skew problems, a robust data recovery system is required. The proposed digital phase-locked loop enables robust skew-insensitive data recovery of up to 1.04 GBd