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.     

电厂MIS设计中常见问题的归纳研究

按照2000年示范电厂的思路，电厂MIS已经作为电厂建设的一部分被列入基建程序。面对电力行业重组的新局面，为了提高电厂MIS设计水平，更好地为业主服务，以适应当前日益激烈的竞争，适时地总结电厂MIS设计中的共性问题是很有必要的。文中叙述的内容不是探讨如何设计电厂MIS，而是就设计中容易出现的问题进行研讨。     

Longitudinal Wave Propagation in Dielectric Waveguide Array

Based on the established rigorous theory for two-dimensionally periodic (2DP) medium, Longitudinal propagation in Dielectric Waveguide Array (DWA) was analyzed in detail. Firstly, given longitudinal wave vector (k _z), Brillouin dispersion relations between transversal wave vectors were analyzed. Interactions between space harmonics were also studied. Secondly, on condition that transversal wave vector k _x equaled k _y, dispersion relations between longitudinal and transversal wave vectors were analyzed in detail. Because of interactions between space harmonics increasingly getting stronger with k _z or modulation coefficients increasing, stop-bands could be distinctly displayed and thus longitudinal propagation in DWA could be comprehensively analyzed. The applications about longitudinal propagation in DWA were also discussed.     

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。     

非协调h－p型有限元补偿法

详细讨论了非协调ｈ－ｐ型有限元的补偿法，给出了令人满意的收敛阶．     

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。     

用于多种组装技术的厚膜导体复合结构

厚膜导体Ｐｄ－Ａｇ／Ａｕ、Ｐｔ－Ｐｄ－Ａｕ／Ａｕ平面复合结构，Ｐｄ－Ａｇ／Ａｕ立体复合结构可使多种组装技术相互兼容。立体复合结构还可有效地降低导体线电阻，减少线损耗。而且，其超声键合性尤佳     

野外观测系统的检验与校正

在地震资料处理中常常发现野外观测系统不准,其后果极为严重。为了避免重复施工,改善处理效果,笔者在IBM3081系统上编制了利用初至波对野外观测系统进行检验和校正的程序。文中介绍了两种校正方法:其一是只作炮检距校正。根据工区的小折射、井口时间、反射记录等资料提供一条或几条比较准确的初至时距曲线,作为标准曲线,然后将从实际共炮点道集中拾取的初至曲线与标准初至时距曲线相比较,确定出实际初至曲线所对应的炮检距,并对各个地震道的空间属性进行修改。对某三维工区的处理结果表明,该方法的效果良好。其二是先用迭代方法加误差约束条件计算炮点和检波点的坐标,然后计算炮检距,再进行校正。这种校正处理的效果也是明显的。但实验表明,对于观测系统误差较大的数据,不宜作坐标计算,只作炮检距校正尚可完成部分校正。处理中要根据数据的性质选取校正方法。     

Analysis of the detectivity for triple-layer heterojunction GaSb/GaInAsSb infrared detectors

In this paper, the detectivity is calculated and analyzed with the front-or backside illuminated case for both N-GaSb/p₂-Ga_0.8In_0.2As_0.19Sb_0.81/p₁-Ga_0.9In_0.1As_0.09Sb_0.91 and N₁-GaSb/n₂-Ga_0.9In_0.1As_0.09Sb_0.91/p-Ga_0.8In_0.2As_0.19Sb_0.81 infrared photovoltaic detectors, respectively. The analysis results show that the main absorption appears in the p-type Ga_0.8In_0.2As_0.19Sb_0.81 material with either front- or backside illuminated case for above two structures. In each structure, the carrier concentration obviously affects the detectivity. The carrier concentration in the wide-bandgap material for the isotype heterojunction should be reduced as low as possible to reduce the tunneling rate at the isotype heterointerface. Moreover, the change of the detectivity with the p-side surface recombination velocity for the N₁-n₂-p structure is more sensitive than that with the p₁-side surface recombination velocity for the N-p₂-p₁ structure. In the N-p₂-p₁ structure with the incident light from the p₁-side surface, two-color detection is achieved.