A minimal kinematic model for serial robot calibration using POE formula

Traditional methods based on the product of exponentials (POE) formula are parametrically continuous and complete for the calibration of the kinematic parameters of serial robots. However, these methods are not minimal due to the constraints of joint twists. This paper puts forward a new POE-based model, whose parameters are totally independent and conform to the formula of minimality. This is the first model that simultaneously satisfies the requirements of parametric continuity, completeness, and minimality with uniform and generic modeling rules. The proposed approach avoids the operations of normalization and orthogonalization which are necessary redundancy elimination steps with the traditional model. Simulations on a SCARA robot and experiments on an ABB IRB 120 robot prove that the new model outperforms in convergence, accuracy, and efficiency.     

铁电薄膜存储器底电极Pt/Ti的制备及性能研究

应用射频磁控溅射方法 ,在Si基片上采用不同的溅射工艺制备了铁电薄膜底电极Pt/Ti,并分析了在不同温度下退火后材料的电导率性能和粘结力性能 ,从理论和实验上分析了不同的溅射工艺和退火处理对底电极性能的影响。     

生物质中元素分布特征的聚类分析研究

测定了稻草秆、小麦秆、玉米秆、棉花秆、大豆秆、玉米芯、花生壳和柳树、松树、桦树、杨树、杉树 1 2个农业生物质和林业生物质种类 2 7个样品中主要元素 K,Ca,Na,Mg,Al,Fe,P和痕量元素 As,Cr,Co,Cu,Cd,Mn,Mo,Ni,Pb,Ti,Zn,V,Si,Ba,Be,Se,Sb,Ge,Hg的含量 ,并用SPSS聚类分析法分别进行了 R型和 Q型聚类研究 ,对这些元素在生物质中的分布特征进行了研究 .结果显示 :杨木、杉木和桦木与松木和柳木归成一大类 ,经济类作物黄豆秆和棉花秆分别归类后又归入一大类 ;农业生物质稻草秆和小麦秆、玉米秆被归入一类 ;虽然 2 7种生物质样品分别取自我国东北、华东、华北和西南地区 ,在地理位置上相距极远 ,但样品聚类谱系图表明 ,元素的分布特征与生物质的种类的关系显著 ,与产地的关系不明显 ,即元素的分布特征受种类的影响大 ,而受生长环境、气候、土壤条件的影响小 .     

Integrating a membrane and a fluidized pellet reactor for removing hardness: effects of NOM and phosphate

A novel treatment process combining a membrane with outside-in flow configuration and a fluidized pellet rector for removing hardness was studied. The effects of influent water quality, e.g., concentrations of natural organic matter (NOM) and phosphate along with the hydrophobicity of NOM, on the hardness removal efficiency of the novel process were investigated. The hardness removal efficiency decreases with increasing NOM concentration. However, the NOM removal efficiency is independent of NOM concentration and is related to the hydrophobicity of NOM samples. Raw water containing phosphate has adverse impact on the hardness removal efficiency, which decreases from 85% for treating water containing no phosphate to only 38% and 14% for water containing 0.33 mg/L and 1.63 mg/L of phosphate, respectively.     

5-硝基愈长木酚的合成

5-硝基愈创木酚作为高效、低毒植物调节剂,一直倍受关注.它的合成目前主要采用愈创木酚硝化法,以发烟硝酸和冰醋酸混酸做硝化剂.本文由愈创木酚为起始原料,经酚酯化、硝化、水解等步骤合成了5-硝基愈刨木酚.酚酯化采用碱催化法,收率可达96%以上;硝化反应则采用乙酸酐和硝酸混合物为硝化剂.5-硝基愈创木酚最高收率可达到91%.     

Ionic liquid as reaction medium for the synthesis and crystallization of a metal-organic framework: (BMIM)2[Cd3(BDC)3Br2] (BMIM = 1-butyl-3-methylimidazolium, BDC = 1,4-benzenedicarboxylate)

An ionic liquid, 1-butyl-3-methylimidazolium bromide, is used as reaction medium for the synthesis and crystallization of a coordination polymer, (BMIM)₂[Cd₃(BDC)₃Br ₂] (1) (BMIM = 1-butyl-3-methylimidazolium, BDC =  1,4-benzenedicarboxylate), which forms an anionic two-dimensional framework with the imidazolium cations located between the layers. This compound is thermally stable up to ca. 340 °C and exhibits blue emission in solid state at room temperature. Other characterizations by IR and UV–visible spectra are also described.     

Characterization of end‐functionalized styrene–butadiene–styrene copolymers and their application in modified asphalt

End amino, carboxylic acid, and hydroxyl functionalized styrene–butadiene–styrene (SBS) triblock copolymers were prepared with 1,5‐diazabicyclo[3.1.0]hexane, carbon dioxide, and epoxy ethane as capping agents, respectively. The effects of the end polar groups on the morphology and dynamic mechanical properties were investigated. Transmission electron microscopy images suggested that the group at the end of the polystyrene (PS) segment made the morphology of the PS domains disordered and incompact. Dynamic mechanical results showed that the storage and loss modulus increased after SBS was end‐functionalized. End amino and carboxylic acid groups improved the compatibility and storage stability of SBS‐modified asphalt. However, the effect of the end‐hydroxyl group on the improvement of the storage stability of SBS‐modified asphalt was not obvious. The differential scanning calorimetry analysis of SBS‐modified asphalt further showed that the compatibility and storage stability of SBS‐modified asphalt were improved by the attachment of amino or carboxylic acid groups through the anionic polymerization method. © 2006 Wiley Periodicals, Inc. J Appl Polym Sci 103: 8–16, 2007     

水解酸化-SBR法处理生物制药废水

对采用水解酸化-SBR法处理生物制药废水的调试运行作了详细说明。工程实践表明，该工艺对处理有机物浓度高、水质水量波动大的生物制药废水是切实可行的，出水水质可达到国家污水综合排放标准一级标准．剩余污泥也得到有效处理处置。该工艺结构简单，操作简便，占地面积小，运行效果稳定，具有推广应用价值。     

Phase Behavior and Mechanical Properties of Siloxane-Urethane Copolymer

Two series of siloxane-urethane copolymers were prepared from polydimethylsiloxane (PDMS) with a molecular weight of 1000 or 1800 which was used as a soft segment, 4,4′-diphenylmethane diisocyanate (MDI) and 1,4-butanediol (1,4-BD). Differential scanning calorimetry (DSC) demonstrated that the position (T_gs) and breadth (ΔB) of soft-segment glass transition of copolymers remained constant as the hard-segment content increased. Heat capacities at soft-segment glass transition of the copolymer (ΔCp) were 0.195∼0.411 J/g^○C and heat capacities of pure PDMS (ΔCp₀) were 0.571∼0.647 J/g^○C, leading to the various ΔCp/ΔCp₀ ratios. The ΔCp/ΔCp₀ ratios decreased as the increasing of hard-segment content, showing poor phase separation. The FTIR spectrum confirmed the occurrence of hydrogen bonding in ether end-group of pure PDMS. The ether group of the soft segment led to interfacial mixing between soft and hard segments. The tan δ of the soft segment determined by dynamic mechanical testing (DMA) also identified the mixing of soft and hard segments. The mechanical properties of the copolymer were directly related to either the soft and hard segment contents or the chain lengths of soft and hard segments. The hard segment that reinforced the soft segment and interfacial thickness between soft and hard segment dominated the mechanical properties.     

Preparation and properties of high molecular weight poly(1-germa-) or poly(1-sila-cis-pent-3-enes)

High molecular weight poly(1,1-dimethyl-1-germa-cis-pent-3-ene), poly(1,1-diphenyl-1-germa-cis-pent-3-ene), poly(1,1-dimethyl-1-sila-cis-pent-3-ene), and poly(1-methyl-1-phenyl-1-sila-cis-pent-3-ene) have been prepared. The thermal stability of these polymers is found to increase with their molecular weight.