机器人离散滑模变结构—PI控制器

本文采用离散滑模变结构控制方法，针对机器人提出了一种滑模变结构——ＰＩ控制方案，给出了该控制方案滑模存在条件及控制器设计方案。该控制器将离散滑模变结构控制和ＰＩ控制两者的优点有机地结合起来，理论分析和仿真结果表明该控制器能使机器人在各种复杂非线性动力学情况下具有良好的性能指标。这种控制器输出切换小，可以投入应用。     

扩展有限递归进程模型

主要讨论离散事件动态系统的建模问题。由ＫＩｎａｎ和ＰＶａｒａｉｙａ提出的有限递归进程（ＦＲＰ）是描述并发离散事件动态系统的有力工具，但在其ＦＲＰ中，没有定义对数据变量的操作和条件转移算子。本文扩展ＦＲＰ包括这两方面内容。最后举例说明扩展ＦＲＰ的描述能力。     

A study on the anodic protection of Titanium evaporators in Al2(SO4)3 solution

The feasibility of the anodic protection of titanium evaporators in Al₂(SO₄)₃ solution was studied by the measurement of polarization curves, weight loss, solubility of passive film and AC impedance. The protection parameters and efficiency were determined. In addition, the practical technology of anodic protection was studied by screening reference electrodes and auxiliary cathodes. Throwing power was also measured. Four rows of tube-type evaporators of titanium have been anodically protected in situ. Field tests lasting more than one year show satisfactory results.     

激光对光学薄膜损伤的热冲击效应

计算了薄膜在高功率脉冲激光作用下截面温度场和应力场分布。分析了热冲击在光学薄膜激光损伤中的作用，并用调Ｑ１．０６μｍ脉冲激光对ＺｒＯ２单层膜损伤，讨论了不同激光强度下薄膜截面温度场与应力场分布，揭示了热冲击在ＺｒＯ２单层膜损伤中的机理和过程。     

Crosslinking of tissue-derived biomaterials in 1-ethyl-3-(3-dimethylaminopropyl)-carbodiimide (EDC)

In contrast to bifunctional reagents such as glutaraldehyde or polyfunctional reagents such as polyepoxides, carbodiimides belong to the class of zero-length crosslinkers which modify amino acid side-groups to permit crosslink formation, but do not remain as part of that linkage. The authors have compared the effects of 1-ethyl-3-(3-dimethylaminopropyl)-carbodiimide (EDC) and glutaraldehyde (the de facto industrial standard crosslinker) on the hydrothermal, biochemical, and uniaxial mechanical properties of bovine pericardium. EDC crosslinking was optimized for maximum increase in collagen denaturation temperature using variables of pH, concentration, and ratio of EDC to N-hydroxysuccinimide (NHS): a reagent for formation of activated esters. EDC and glutaraldehyde crosslinked materials were subjected to hydrothermal denaturation tests, biochemical degradation by enzymes (collagenase, trypsin) and CNBr, amino acid analysis for unreacted lysine, and to high strain rate mechanical tests including: large deformation stress-strain studies (0.1 to 10 Hz), stress relaxation experiments (loading time 0.1 s) and small deformation forced vibration (1 and 10 Hz). A protocol for EDC crosslinking was developed which used 1.15% EDC (2:1 EDC:NHS) at pH 5.5 for 24 h. The increase in denaturation temperature for EDC (from 69.7±1.2°C to 86.0±0.3°C) was equivalent to that produced by glutaraldehyde (85.3±0.4°C). Both treatments equivalently increased resistance to collagenase and CNBr degradation; however, after denaturation, the EDC-treated tissue was slightly more resistant to collagenase, and markedly more resistant to trypsin. EDC-treated materials were more extensible and more elastic than glutaraldehyde-treated materials. Despite the differences in crosslinking mechanism, EDC and glutaraldehyde-treated materials are very similar. Subtle but intriguing differences in biochemical structure remain to be investigated.     

Beam test of the CsI(Tl) calorimeter for the BELLE detector at the KEK-B factory

We studied the performance of a prototype electromagnetic calorimeter for the BELLE detector at the KEK proton synchrotron for an energy range of 0.25–3.5 GeV. The prototype consisted of an array of 6 × 5 CsI(Tl) crystals with 30 cm length (16.2 radiation lengths) and about 6 cm × 6 cm cross section. The scintillation light of each CsI(Tl) crystal was read out by two large-area PIN photodiodes and charge-sensitive preamplifiers attached at the rear face of the crystal. We measured the energy and position resolution for electrons and the e/π separation for two sets of matrix configurations: one corresponded to the center and the other to the edge of the barrel calorimeter. The overall performance measured by the test proves that the prototype calorimeter is satisfactory for the use in the BELLE detector.     

葛洲坝水电站水轮机磨蚀评析

作为长江第一坝的葛洲坝水电站,其水轮机磨蚀情况引起国内同行的关注。根据长江的水沙特点、葛洲坝工程泥沙研究成果、十年来运行观测实践、水轮机运行及磨蚀修复状况,对葛洲坝水轮机磨蚀的现状进行了评论和剖析,提出了今后评价和解决葛洲坝水轮机磨蚀的九点建议及意见。     

用硫磺盖帽电探针测定工业炸药爆轰压力

文中介绍了利用硫磺盖帽电探针测定工业炸药爆轰压力的方法，并对煤炭工业常的４类１１个品种炸药的爆轰压力进行了实际测量。