Motion Planning for Redundant Manipulators Using a Floating Point Genetic Algorithm

This paper deals with the trajectory planning problem for redundant manipulators. A genetic algorithm (GA) using a floating point representation is proposed to search for the optimal end-effector trajectory for a redundant manipulator. An evaluation function is defined based on multiple criteria, including the total displacement of the end-effector, the total angular displacement of all the joints, as well as the uniformity of Cartesian and joint space velocities. These criteria result in minimized, smooth end-effector motions. Simulations are carried out for path planning in free space and in a workspace with obstacles. Results demonstrate the effectiveness and capability of the proposed method in generating optimized collision-free trajectories.     

4，4＇－二苯醚二甲酸改性PET的合成与表征

４，４＇－二苯醚二甲酸（ＯＢＢＡ）是一种重要的液晶聚合物单体。以此作为改性组分，合成了一系列ＰＥＴ共聚酯，并用１Ｈ－ＮＭＲ、ＦＴ－ＩＲ、ＧＰＣ、二甘醇和端羧基测定等方法进行了表征，同时对改性单体的转化率和合成共聚酯的反应速率进行了测定，结果表明，所选择的合成方法可以获得较高的转化率；反应速率则随ＯＢＢＡ的增加而增大。     

Establishment and characterization of three cell lines from Aedes triseriatus (Diptera: Culicidae)

The objectives of this study were to develop sex-, age-, and body size-specific nomograms and partition values for upper and lower limits of M-mode echocardiographic aortic root measurements derived from a large population-based cohort. The study sample consisted of 1433 male and 1816 female participants in the Framingham Heart Study and Framingham Offspring Study who were normotensive and free of clinically apparent heart disease at the baseline examination. Aortic root measurements were obtained by M-mode echocardiography by a leading-edge to leading-edge technique. The relations of age and measures of body size with aortic root dimensions were evaluated with sex-specific correlations and multiple stepwise linear regression analyses. Age was the most important determinant of aortic root size in both men and women in the multivariable regression models. Models with age and body surface area yielded R2 values of 0.214 in men and 0.222 in women. Models with age and height yielded lower R2 values of 0.136 in men and 0.181 in women. Thus aortic root dimensions vary widely with the age, sex, and body size of individuals. Sex-specific reference nomograms of aortic root dimensions in relation to age and body size (body surface area or height) are presented to facilitate the detection of abnormalities of aortic root size.     

含能材料分子结构与感度的相关性

综述了国外近年来含能材料分子结构参数与感度相关关系的最新研究成果。研究表明：某些芳香族硝基化合物的撞击感度与Ｃ－ＮＯ２键强度有关；硝胺及脂肪族硝基化合物的冲击波感度与分子中Ｎ－ＮＯ２键的数目，长度和分子量相关。     

奥氏体耐热钢21-4N碳化物析出行为研究

通过对奥氏体耐热钢21-4N碳化物析出行为的研究,探讨了对性能的影响,提出了改善其综合性能的措施和方法.     

秦山核电厂气载放射性释放的环境影响

本文评价了秦山核电厂气载放射性流出物对环境的影响。应用现场及风洞大气扩释实验结果和厂址周围的人口与食谱调查资料,估算了秦山核电厂在正常运行和事故条件下释放的气载放射性流出物对公众产生的个人有效剂量当量和集体有效剂量当量。计算结果表明,正常运行时厂址边界(0.5km)处的最大个人有效剂量当量为2.7×10~(-2)mSv/a,该剂量的大部分来自~(137)Cs 的食入(主要由地表湿沉积引起);80km 范围内的集体有效剂量当量为1.1人·Sv/a,归一化集体有效剂量当量为3.7人·Sv/GW(e)·a。文中还给出了事故情况下剂量估算结果。     

过一硫酸的合成及其在铀水冶中的应用

文章介绍了选择过一硫酸合成的最佳条件及进行生产的可行性。介绍了过一硫酸用于含铀煌斑岩、辉绿岩、花岗岩及炭板岩矿石提取铀时,与常规酸浸方法对比,有很好的经济效益和对环境的保护价值。     

施加复合电磁搅拌对A357合金微观组织的影响

在半固态加工技术中，电磁搅拌是最早应用于制备非枝晶浆料的方法之一，同时也是半固态触变压铸技术最早获得工业应用的重要技术基础之一。采用自行开发的电磁搅拌器，研究了多种不同电磁搅拌方式在不同工艺条件下，单独施加或复合施加对A357合金微观组织的影响。试验结果表明：单一施加旋转感应电磁搅拌时，浆料径向组织很不均匀；单一施加无芯感应电磁搅拌。当搅拌电流较小时，径向组织也不均匀，增大电流，浆料质量有明显改善；采用（旋转感应＋无芯感应）复合电磁场进行复合电磁搅拌时，可在电流较小时获得满意的浆料质量。     

~（60）Co辐照对聚四氟乙烯表面润湿性的影响

研究了具有低表面能的氟聚合物聚四氟乙烯（ＰＴＦＥ），经６０Ｃｏγ射线辐照后表面状态的变化，以及其对液体介质蒸馏水的润湿性。较详细地论述了辐照后表面粗糙度、结晶度以及表面化学基因等不同因素对ＰＴＦＥ表面润湿性的影响。通过对ＰＴＦＥ及其表面的红外、Ｘ光衍射，表面粗糙度的分析，弄清了辐照后ＰＴＦＥ表面化学基团的改变对有机氟聚合物表加的润湿性影响很大，而粗糙度和结晶度的变化对润湿性影响较小。     

An approximate method for computing performance-related reliability of gracefully degrading systems

Using existing methods, the computation of performance-related reliability (PRR) of large-scale gracefully degrading systems is very tedious and time consuming. In this paper, the behaviour of such systems is respectively modeled as two types of diffusion processes according to their reconfiguration coverage. If the coverage is 1 (i.e. the reconfiguration is always successful), it is modeled as a regular diffusion. If, on the other hand, the coverage is less than one, it is modeled as diffusion with killing. Kolmogorov backward equations for regular diffusion processes and for diffusions with killing are then applied to compute the PRR. The methods have been applied in several examples, and the results satisfactorily agree with the accurate results.