Extraction and implementation of muscle synergies in neuro-mechanical control of upper limb movement

This work faces the redundancy problem, a central concern in robotics, in a particular force-producing task by using muscle synergies to simplify the control. We extracted muscle synergies from human electromyograph signals and interpreted the physical meaning of the identified muscle synergies. Based on the human analysis results, we hypothesized a novel control framework that can explain the mechanism of the human motor control. The framework was tested in controlling a pneumatic-driven robotic arm to perform a reaching task. This control method, which uses only two synergies as manipulated variables for driving antagonistic pneumatic artificial muscles to generate desired movements, would be useful to deal with the redundancy problem; thus, suggesting a simple but efficient control for human-like robots to work safely and compliantly with humans.     

Fractal characteristics of gas-solids flow in a circulating fluidized bed

A fractal approach is adopted to describe the dynamic behavior of a circulating fluidized bed. Two times series, differential pressure fluctuations along the riser height and solids momentum fluctuations along the radial direction, are measured and analyzed in terms of fractal dimensions. The influences of operating conditions and axial/radial positions on the fractal dimension are discussed. Attempts are also made to interpret the flow structure in the bed in terms of the fractal dimension. It is found that fractal analysis can provide a useful tool for understanding the characteristics of gas-solids flow in circulating fluidized beds.     

利用高铝矾土研制低温耐磨氧化铝瓷

着重介绍了以高铝矾土为主要原料的85瓷的合理配方和所采用的生产工艺，并对吸水率、体积密度、耐磨性、显微硬度、抗折强度和断裂韧性等物理性能进行了测试。还探讨了低温烧成机理、提高耐磨性的途径。结合显微结构分析了生产工艺对产品性能的影响。     

基于CaO引导的甲烷蒸汽重整化学链燃烧制氢系统

为在重整气中得到高纯H_2和降低尾气CO_2分离成本,建立了基于CaO引导的甲烷蒸汽重整化学链燃烧制氢系统,该系统在重整反应器中加入CaO吸收剂,用以吸收重整器内的CO_2,提高重整气中H_2浓度,形成的CaCO_3固体在煅烧器中受热分解重新生成CaO。利用Aspen Plus进行了过程模拟及热力学分析,并研究主要参数对系统性能的影响,得到优化的操作条件为:CaO循环量/CH_4比为0.5,CH_4(燃料)/CH_4比为0.35,NiO循环量/CH_4比为1.4。CaO循环量/CH_4比从0变化到0.5时,重整气中H_2浓度从0.60增长到0.99;CH_4(燃料)/CH_4比在0.25~0.45区间变化时,重整气中H_2浓度从0.86提高到0.99,产气量增加;NiO循环量/CH_4比在1~1.6区间变化时,重整气中H_2浓度从0.88增长到0.99,系统有效能效率变化较小。     

解决组合公钥共谋攻击和密钥碰撞的新方法

以解决组合公钥体制中共谋攻击和密钥碰撞问题为目的。首先,针对线性共谋攻击,提出了一种新的构造种子矩阵的方法,使得种子密钥和大于基点加法群的阶数,从而使密钥之间不能相互线性表示。其次在密钥的生产过程中,引入系数破坏了层不同和层互斥不同的关系,为解决选择共谋攻击提供了一种有效的方法,同时增强了抵御随机共谋攻击的能力。最后,在密钥产生的流程中,通过公钥对比来避免密钥碰撞,为解决密钥碰撞问题提出了一种新方法。     

应用静电纺丝法制备PZT纳米纤维薄膜

提出应用静电纺丝法制备PZT纳米纤维薄膜。研究中配制PZT溶液后再进行静电纺丝,获得了PZT纳米纤维薄膜,并且通过调整纺丝时间和沉积次数来控制纳米纤维薄膜的厚度。运用SEM对获得的热处理前后的薄膜进行了观察对比,测量其平均直径约为200 nm;运用XRD对退火后的样品进行分析,测得样品的主要成分为Pb(Zr0.52Ti0.48)O3,证明所制备的正是PZT薄膜;运用AFM测得薄膜的表面粗糙度为1.034 nm,说明该纳米薄膜材料非常的均匀整齐。     

机械力化学湿法一步制备表面修饰磷酸锌微粉

以氧化锌和磷酸为原料,以硅烷偶联剂为改性剂,采用机械力化学湿法制备微细磷酸锌并进行表面改性.用XRD、润湿角、活化指数、沉降时间等手段对产物进行表征,用FT-IR对改性粉末的结构进行分析,初步探讨了偶联剂与磷酸锌的作用机理.结果表明产物为二水和四水磷酸锌混合物;在红外区域2 800～3 000 cm-1和1 400 cm-1有偶联剂的特征吸收峰,说明偶联剂与磷酸锌之间发生了化学反应;当硅烷偶联剂添加质量分数由0增加到2%,改性产品的活化指数由0增加到98.71%,对水的润湿角由0°增加到93.21°,沉降时间由0.5 h增加到176 h,在涂料中的分散性和贮存稳定性得到改进.