一种新的机器人手臂控制方法

从机器人手臂的关节电机力学出发，本文提出了一种独立于现行机器人关节控制器的离线补偿方法，通过对－２自由度机器人的数值研究，证明该法不仅能有效地克服由于惯性负载，关节间耦合与重力效应给控制系统带来的动态精度问题，而且还可以消除由于控制系统本身的固有特性所决定的系统的跟踪误差。     

蒸汽发生器二次侧清洁度的视频检查

立式平管板Ｕ形管束的压水堆核电站蒸汽发生器安装至瞬变工况期间，管板上表面的铁基金属残余物的堆积和外来物的存在，以及商业运行后管板、传热管、管子支撑板等的低流速区域里沉积物的堆积要求进行蒸汽发生器的清洁度检查。介绍了蒸汽发生器二次侧清洁度的视频检查技术。该技术适用于蒸汽发生器安装至瞬变工况和投入商业运行后可能发生污染的各阶段的清洁度检查。     

（1S，2S，5R）-薄荷基取代烯烃的合成

以(L)-薄荷基氯为原料,通过薄荷基氯化镁分别与烯丙基溴、2-甲基-3-氯丙烯、1-溴-3-甲基-2-丁烯在Cul催化下发生偶联反应,首次合成了3-(1S,2S,5R)-薄荷基-1-丙烯,2-甲基-3-(1S,2S,5R)-薄荷基-1-丙烯和2-甲基-4-(1S,2S,5R)-薄荷基-2-丁烯,总收率分别为80.5%、83.1%和79.6%.探讨了影响反应的多种因素,找到了较好的合成条件,并用IR、 1HNMR和元素分析对产物进行了表征.     

Novel algorithms for shared segment protection

The major challenges in designing survivable schemes are how to allocate a minimal amount of spare resources (e.g., bandwidth) using fast (e.g., polynomial-time) algorithms, and, in case a failure occurs, to be able to recover quickly from it. All existing approaches invariably make tradeoffs. We propose novel shared segment protection algorithms which make little or no compromise . We develop an elegant integer linear programming (ILP) model to determine an optimal set of segments to protect a given active path. Although the ILP approach is useful for a medium-size network, it is too time consuming for large networks. Accordingly, we also design a fast heuristic algorithm based on dynamic programming to obtain a near-optimal set of segments. Although the heuristic algorithm has a polynomial time complexity, it can achieve a bandwidth efficiency as high as some best-performing shared path protection schemes and, at the same time, much faster recovery than these shared path protection schemes. The proposed scheme is also applicable to a wide range of networking technologies, including Internet Protocol and wavelength-division multiplexing networks under the generalized multiprotocol label switched framework.     

浅析虚拟存储技术及其IP SAN实现方式

本文详尽介绍了虚拟存储技术及其提供数据保护的方式，并重点论述了如何通过IP SAN的方式来实现数据的虚拟存储以及IP SAN的主要特点和优越性。     

含氚废水水泥固化实验研究

研究用水泥固化处理氚废水,并选择了最佳配方:水与灰的重量比=0.45～0.5,水泥与石膏重量比=5∶1。用IAEA推荐的方法做浸出实验。为了减少水泥固化体中氚的浸出量,实验了几种涂层材料。沥青涂层可将固化体氚的浸出率降低1～2个量级。     

FEATURE SOLID MODELING TOOL SYSTEM:FSMTS

In conformity with the principle of Design for Manufacture,feature-based design strate-(?)es have been developed.As the“feature”is relevant to the“macro process plan”and“macro NCprograms”,obviously,“feature”is beyond the power of conventional solid modellers.Neverthe-less,substantial breakthrough has not been made in the solid modeling field,except“feature at-taching”or“feature recognizing”methods have been taken on.In this paper,the theory,concepts,system architecture,and algorithm principles of solid modeling tool system have beenrepresented.The practice of Feature Solid Modeling Tool System (FSMTS) developed atHuazhong University has proved that the tool may be a new foundation of Feature-Based Design.     

新理念催生新结构——IMTS2006观后感之三

自上世纪90年代以来,机床出现了许多新结构,其中绝大多数没有知识产权问题,也即没有专利的约束。在需要时,任何人均可采用。每一种结构均来自     

Cleanbot-Ⅰ擦窗机器人的智能化技术

本文简述了擦窗机器人智能化的主要概念．介绍了Ｃｌｅａｎｂｏｔ－Ｉ擦窗机器人系统的结构特点、主要组成部分、工作原理，操作方式，未知局部环境的模型建立，各类内、外传感器的结构、原理和信息融合技术，以及路径规划的方法．