Motion Planning for Redundant Manipulators Using a Floating Point Genetic Algorithm

This paper deals with the trajectory planning problem for redundant manipulators. A genetic algorithm (GA) using a floating point representation is proposed to search for the optimal end-effector trajectory for a redundant manipulator. An evaluation function is defined based on multiple criteria, including the total displacement of the end-effector, the total angular displacement of all the joints, as well as the uniformity of Cartesian and joint space velocities. These criteria result in minimized, smooth end-effector motions. Simulations are carried out for path planning in free space and in a workspace with obstacles. Results demonstrate the effectiveness and capability of the proposed method in generating optimized collision-free trajectories.     

大型空分设备循环冷却水处理方法的对比研究

武钢氧气公司在大型空分设备循环冷却水系统中,采用化学法和物理法进行水处理效果的实践探索,从原理和监测数据上进行了对比、分析研究,确认物理法具有高效除垢、防垢、杀菌灭藻、缓蚀以及净化等功能,可以取代化学法进行循环水处理。     

Deposition and Properties of Superconducting MgB2 Thin Films

The recently discovered superconductor MgB₂ with T _c at 39 K has great potential in superconducting electronics. In this paper, we review the deposition techniques used for MgB₂ thin films in the light of a thermodynamic study of the Mg-B system with the calculation of phase diagrams (CALPHAD) modeling technique. This thermodynamic study identifies a growth window in the pressure–temperature phase diagram, in which the magnesium pressure is very high for likely in situ growth temperatures. A Hybrid Physical–Chemical Vapor Deposition (HPCVD) technique that successfully achieves such a high Mg pressure is shown to produce in situ epitaxial MgB₂ thin films with bulk superconducting properties.     

粘接技术在油罐堵漏中的应用

介绍了粘接技术的种类、原理及其技术要领，并引用实例说明了该技术的优点。粘接堵漏技术将成为油罐渗漏维修的一种重要方法。     

电厂MIS设计中常见问题的归纳研究

按照2000年示范电厂的思路，电厂MIS已经作为电厂建设的一部分被列入基建程序。面对电力行业重组的新局面，为了提高电厂MIS设计水平，更好地为业主服务，以适应当前日益激烈的竞争，适时地总结电厂MIS设计中的共性问题是很有必要的。文中叙述的内容不是探讨如何设计电厂MIS，而是就设计中容易出现的问题进行研讨。     

超深亚微米非对称Halo LDD低功耗新器件的研究分析

提出了一种新的器件结构——非对称Halo L DD低功耗器件,该器件可以很好地抑制短沟效应,尤其可以很好地改善DIBL效应、热载流子效应以及降低功耗等,是低功耗高集成度电路的优选结构之一.分析了非对称HaloL DD器件的主要特性,并将其与常规结构、非对称L DD结构、非对称Halo结构的器件进行了比较并进行了参数优化分析.     

Longitudinal Wave Propagation in Dielectric Waveguide Array

Based on the established rigorous theory for two-dimensionally periodic (2DP) medium, Longitudinal propagation in Dielectric Waveguide Array (DWA) was analyzed in detail. Firstly, given longitudinal wave vector (k _z), Brillouin dispersion relations between transversal wave vectors were analyzed. Interactions between space harmonics were also studied. Secondly, on condition that transversal wave vector k _x equaled k _y, dispersion relations between longitudinal and transversal wave vectors were analyzed in detail. Because of interactions between space harmonics increasingly getting stronger with k _z or modulation coefficients increasing, stop-bands could be distinctly displayed and thus longitudinal propagation in DWA could be comprehensively analyzed. The applications about longitudinal propagation in DWA were also discussed.     

网上查询选课系统及XML

从不同的角度来阐述新一代的Web语言－XML。     

甲醇制烯烃技术进展

阐述了甲醇制低碳烯烃各个工艺的研究进展,从甲醇制乙烯、甲醇制丙烯和甲醇制丁烯三个方面对比了各自技术特点,指出未来需开发出以丙烯、 C₄烯烃为主产品的新技术。