基于旋量和臂形标志的机器人运动学逆解计算

讨论了用旋量和指数积公式计算PUMA类型6自由度机器人运动学逆解的方法。在子问题的计算过程中，通过引入臂形标志来选取关节变量的合理解，以得到运动学逆解的唯一解。这种方法避免了对无效解的计算，可以减少计算量，提高计算效率。通过一个实验机器人的运动学逆解计算验证了算法的有效性。     

Key technologies of layout design of recycling plants of waste refrigerators

The present situations of waste refrigerators recycling and disposing were analyzed. Three key technologies of layout design of recycling plants of waste refrigerators were presented as follows: 1) establishment of recycling process of waste refrigerators; 2) the general plane layout of recycling plants; 3) the detailed layout of workshops of recycling plants. The focus of the three key technologies is to tackle the problem of the detailed layout of workshops of the recycling plants. By adopting Petri net, the model of logistics system of workshops was established and then optimized, and finally the detailed layout chart of recycling plants was gained. By adopting E-factory, the recycling plants were simulated. The results show that the method mentioned is effective. Foundation item: Project(50375044) supported by the National Natural Science Foundation of China     

通用安全协议分析语言CPAL的研究

本文先从软件理论的角度对安全协议分析语言CPAL的语法和语义进行分析，指出这种语言控制流的缺陷，在语法和语义方面给出CPAL语言的完善方案，并从信息安全中的协议的广泛性方面说明其必要性。     

紫苏中迷迭香酸的乙醇提取优化实验研究

研究了采用乙醇提取法从紫苏中提取迷迭香酸的工艺条件。方法采用正交实验L9（3^4）优化迷迭香酸乙醇浸提法的提取工艺，硫酸亚铁比色法测定迷迭香酸含量。确定了最佳工艺条件为：50％乙醇为提取剂，料液比为1：50（w／v），提取温度为65℃，提取时间为35min，迷迭香酸提取率为1．061％比热水浸提法提高了30．18％。     

基于复数权值神经元的数字逻辑最稳健设计

复数权值神经元由于引入了多阈值逻辑而具有更强的性能,文中根据其数学模型,结合二进神经元稳健性的概念,提出了基于该神经元的稳健性定义.并结合定义,实现了基于单个神经元的基本数字逻辑以及异或运算的最稳健设计方案,从而证明了该稳健神经元实现任意数字逻辑的有效性和可行性,说明了其强大的处理能力.     

粉末冶金温压工艺的研究进展及其展望

综述了粉末冶金温压工艺的研究进展,概述了温压工艺的粉末原料、聚合物、温度、压力、烧结环节对温压工艺的影响和温压工艺的致密化机理。详细介绍了温压工艺的新进展—流动温压、高压温压等,并对其应用前景进行了展望。     

某地铁站中央空调空调水系统节能技术改造方案

本文针对某地铁站中央空调水系统工程分析了目前系统中水泵的能耗起因，并提出了改造水泵降低能耗的具体方法，与改造前系统水泵能耗相比降低了56％。     

先秦汉语中的“所为”结构分析

以十三经为调查对象,穷尽性地检索了"所为"及其相关结构的用例;对"所为"、"所为"相关结构以及二者带动词的语法语用功能作了细致详尽的探讨,梳理出了"所为"及其相关结构的意义和用法.     

The development of adaptive body reactions after intensive physical loading]

The dependence between the activity parameters of muscarine antagonists in the prevention of haloperidol catalepsy in rats and those in tests characterizing the interaction of ligands and various subtypes of m-cholinoceptors was studied. It was established by constructing the mathematical dependence that blockade of m1-cholinoceptors increases, while that of m2-cholinoceptors reduces the antiparkinsonian activity of the drugs. The activity of the muscarine antagonist pentiphan in the prevention of haloperidol-induced catalepsy in rats exceeds the activity of such traditional antiparkinsonian drugs as cyclodol and amedin.     

Spermatogenesis and the testosterone level in young male silver foxes in their reproductive period

15.7% of spermatozoa were found to be abnormal in silver fox males during their first reproductive season. The total number of spermatozoa and the abnormal spermatogenesis remained unchanged during mating season. Sexual stimulation increased the testosterone level only at the beginning of the mating season.