Scaled Jacobian transpose based control for robotic manipulators

This paper presents a scaled Jacobian transpose based control method for robotic manipulators as a modification of a conventional Jacobian transpose based method. The proposed method has several advantages such as it shows faster convergence and better tracking performance than the conventional method, furthermore, it does not have any singularity problem similar to the conventional method. The scaled Jacobian transpose is obtained by collecting each pseudoinverse of the column vector of the Jacobian matrix. The proposed method performs a given task well under singular configurations while minimizing the task error. Finally, a few comparative studies with the conventional method are provided to show the effectiveness of the proposed method through simulations.     

Multidisciplinary design modeling and optimizationfor satellite with maneuver capability

According to the mission of a satellite with maneuver capability, the collaborative optimization (CO) method was introduced for the satellite system design, and the related multidisciplinary design optimization (MDO) model was established. The possessing and needed velocity increments Δv and Δv _{n e e d} were taken as the measurement of maneuvering capability of the studied satellite, which were then combined with total mass of the satellite to form the optimization objective in the systematic level of the MDO problem. The design variables and constraints of the MDO problem dealt with disciplines or subsystems as guidance, navigation and control (GNC), power, and structure, and corresponding engineering analysis models were also built. A program system to solve the MDO problem wasdeveloped by integrating a non-nested CO method, the commercial and user-supplied codes on framework software iSIGHT. The result showed that the satellite performance could be obviously improved, which also indicates MDO technique is feasible and effective for the spacecraft design problem. The modeling and optimization procedure of the work can be referred for further research and engineering design.     

FO-CA:一种基于距离差异度组合权重的多属性数据分类方法

为了解决多属性数据分类问题,提出了一种基于模糊优选模型与聚类分析的分类方法(FO-CA)。首先由模糊优选模型得到有序综合指标数据集,其中在权重阶段提出了距离差异度并以此为依据构建了一种组合主客观权重的赋权方法;然后采用聚类分析将有序综合指标数据集聚类为几个簇进而分类;最后选取UCI中的Iris、Wine和Ruspini 3个数据集进行仿真实验。实验结果表明,该分类方法相比模糊优选方法及K-Means算法能获得更好的分类结果,对决策者有一定的参考价值。     

Thermal properties measurements of renatured gelatin using conventional and temperature modulated differential scanning calorimetry

The thermal properties of amorphous gelatin films and gelatin films with renatured structural order were measured by using conventional and temperature modulated differential scanning calorimetry (DSC). Different amounts of gelatin structural order associated with a melting enthalpic change in the DSC measurement were prepared based on different gelatin drying conditions. Two consecutive heating and cooling DSC measurements on the gelatin films showed that there was no change in the glass‐transition temperature (T_g) for the amorphous gelatin but there was a decrease in the T_g for the structural gelatin on the second DSC scan. This decrease was attributed to the plasticizing effect from the release of originally hydrogen‐bonded water associated with the structural gelatin. In addition, a reversing endotherm observed upon melting of the structural gelatin during a temperature modulated DSC measurement indicated that the transition of bound water to free water occurred as the partial triple‐helix gelatin melted. © 2005 Wiley Periodicals, Inc. J Appl Polym Sci 99: 1795–1801, 2006     

预加氢反应器的制造和检验

本文介绍了预加氢反应器的典型结构,分析了制造上的难点,有针对性地提出了解决难点的特殊工艺方案,记录了实际制造经验数据,对类似设备的制造有着重要的参考价值。     

Biochemical,functional, and histochemical effects of essential fatty acid deficiency in rat kidney

The present study was designed to examine the effects of EFA deficiency (EFAD) on biochemical, functional, and structural aspects of the kidney in growing and adult rats fed a normal or EFAD diet for 9 wk after weaning. Food and fluid intake (FI), urine volume, and Na⁺ and K⁺ excretions were measured weekly from weeks 4 to 8 by placing the rats in individual metabolic cages for 24 h. At week 9, Li⁺ and a 5% water load, respectively, were administered at 14 and 1.5 h prior to glomerular and proximal tubular function studies, as assessed by 3-h creatinine (C_Cr) and Li⁺ (C_Li+) clearances. Hematocrit and urine volume; serum and urine [Cr], [Li⁺], [Na⁺], and [K⁺]; and renal FA distribution were also measured. Data [corrected to 100 g/body weight (bw) and presented as means ±SEM] were significant, at P<-0.05. Despite a similar ingestion of solids from weeks 4 to 7 (weeks 7 to 10 of life), the rats on the EFAD diet showed a decreased body weight from week 5. From weeks 4 to 8, Fl and urine volume were similar for both groups, but the Fl increased at week 6 in the EFAD group; 24-h Na⁺ and K⁺ excretions were similar at all weeks, except for an increase in the EFAD group for both ions at week 7. In the EFAD group, C_Cr and C_Li+ decreased by 27 and 56.3%, respectively (385.7±33.4 vs. 280±21.1, and 21.0±2.1 vs. 9.2±1.1 μL/min/100 g; n=9 vs. 10), the latter result suggesting increased proximal reabsorption. The 3-h Na⁺ and K⁺ excretions were similar, but the Li⁺ decreased (0.78±0.06×10⁻² vs. 0.32±0.03×10⁻² μeq/min/100 g) in the EFAD group, giving additional support to the suggestion. Renal structure was normal and similar for both groups, but the EFAD group showed a more prominent proximal tubule brush border, together with heavier periodic acid-Schiff staining in all specimens from weeks 5 to 9. In the EFAD group, FA of the n−9 and n−7 series were higher, but most of the n−6 series were lower as a percentage of total lipids in the medulla and cortex. Medullary levels of 20∶4n−6 were maintained, 22∶4n−6 declined twice, arachidonic acid was maintained, and 20∶5n−3 was lower. The EFAD diet affected glomerular function, proximal tubular structure and function, and FA distribution in the rat kidney.     

橡胶注射成型机的特点与进展

对橡胶注射成型机主要部分的结构进行了评述，并对橡胶注射成型工艺的发展状况了简述。     

Preparation and characterizations of interpenetrating polymer network hydrogels of poly(ethylene oxide) and poly(methyl methacrylate)

Interpenetrating polymer network (IPN) hydrogels based on poly(ethylene oxide) and poly(methyl methacrylate) were prepared by radical polymerization using 2,2‐dimethyl‐2‐phenylacetophenone and ethylene glycol dimethacrylate as initiators and crosslinkers, respectively. The IPN hydrogels were analyzed for sorption behavior at 25°C and at a relative humidity of 95% using dynamic vapor sorption. The IPN hydrogels exhibited a relatively high equilibrium water content in the range of 13–68%. The state of water in the swollen IPN hydrogels was investigated using differential scanning calorimetry. The free water in the hydrogels increased as the hydrophilic content increased. © 2003 Wiley Periodicals, Inc. J Appl Polym Sci 89: 258–262, 2003     

白族本主崇拜中和谐思想的现代启示

分析白族本主崇拜中和谐思想的内涵,阐述其对贯彻落实科学发展观,构建社会主义和谐社会,走生产发展、生活富裕、生态良好的文明发展道路的借鉴和启示意义、     

基于偏微分方程的图像修补方法

根据最小能量化泛函所建立的图像修补模型可以得到其欧拉方程,把该欧拉方程所对应的梯度下降流作用于需要修补的图像,当偏微分方程的解稳定时,此时的解就是修补后的图像.基于该原理建立了一个图像修补方程,并实现了此图像修补算法.从这个修补方法的修补效果可以看到,修补后的图像具有良好的光滑性.