6-PRRS并联机器人的动力学建模研究

为解决并联机器人动力学模型的计算复杂性与实时准确控制之间的矛盾,采用虚功原理建立6-PRRS并联机器人各构件随参数变化的完整动力学方程,对6-PRRS并联机器人动力学模型在各种工作情况下进行仿真分析,对机器人各部分质量和转动惯量对驱动力的影响进行研究,提出动力学模型简化策略,减小了动力学计算量,提高并联机器人动力学的计算速度,为并联机器人的控制和参数识别奠定了基础.     

弱酸性条件起始合成MUF树脂工艺研究

为了开发一种新的在"弱酸—弱碱—弱酸—弱碱"条件下合成三聚氰胺-尿素-甲醛树脂(MUF)的工艺,对弱酸性条件下起始合成MUF工艺进行研究.探讨了在不同酸性阶段加入的三聚氰胺对脲醛树脂性能的影响,找出最佳的三聚氰胺改性脲醛树脂的合成工艺.在最佳工艺基础上,评价三聚氰胺用量对MUF树脂性能的影响以及对胶合板性能的影响,并对MUF树脂和普通脲醛树脂进行红外分析.结果证明:三聚氰胺在甲醛与尿素一次缩聚之后加入,对脲醛树脂改性效果最好,其胶合板湿剪切强度与甲醛释放量之间达到较好平衡,胶合板甲醛释放量为0.63mg/L,湿剪切强度为1.03MPa.红外谱图分析表明:三聚氰胺分子以亚甲基与脲醛树脂分子链相连并有可能嵌入脲醛树脂分子链中,形成一定数量的醚键,使三聚氰胺在脲醛树脂中真正起到骨架作用.     

GM(1,1)模型在虚拟仪器测量过程控制中的应用

虚拟仪器的测量过程控制是保证测量数据有效的重要手段,利用灰色系统GM(1,1)模型对虚拟仪器的测量过程进行控制,由少量数据信息得到未来的预期测量结果,通过与核查标准的测量结果相比较来判别测量过程是否受控.论文给出了测量过程控制判别限、适用灰色系统GM(1,1)模型的条件以及模型精度检验判据.     

城市污水的层流换热特性理论

为有效利用城市污水热能,以污水源热泵系统中的流动工质——城市污水为研究对象,通过理论分析的方法,对其层流状态下的换热特性进行理论推导和实验验证.结果表明:污水作为热泵的冷热源,有良好的换热特性,推导得出的换热准则关联式h=4.53λ/D,为污水源热泵系统设计提供依据,同时为应用污水余热技术提供理论基础.     

供水管网水质模型校核面临的问题及对策

为解决大规模供水管网系统水质模型校核的难题,分析经验校核与自动校核所面临的问题,提出遗传算法并行化、实测确定模型初始参数、模型参数的有效分组等相应的对策.从而减少模型校核的变量,提高遗传算法运行效率,有效缩短模型自动校核的寻优时间.     

基于MAS的多机械手协调工作控制

为了解决全自动化晶体切片角分类机三个机械手协调工作的控制问题,设计了以MAS理论为基础的分布式网络控制器.系统利用黑板结构来实现全局动态目标下的状态信息的共享,采用多Agent理论对三个机械手进行协调工作控制,解决了机械手之间的运动耦合问题,使之能够在同一个时间和不同的空间内协调与配合工作,完成整体工作任务.基于此设计的设备可改善工人的劳动环境、提高生产效率、确保晶体切片切角的测量与分类准确.     

Simulation and optimization of SOFC-BCHP system

As the prime motor of dispersed energy system, the high-temperature solid oxide fuel cells (SOFC) are high efficient with large heat recovery. This study presents a simulation of SOFC building-based cooling, heat and power (BCHP) system, which can meet basic requirements in power and heating (cooling) of the designated customers. The peak power load can be met by power grid, while the peak heating (cooling) load requirement can be met by backup equipments. In order to solve the economic dispatch problem of the energy system, a restricted nonlinear optimization model has been developed. The production costs can be minimized via both the equality constraints of customer’s heat and power demands, and other inequality constrains of equipments’ capacities. The sequential quadratic programming method has been used to search the solution. The study indicates that the model can be used to optimize the system’s capacities and run strategy. An office building case has been computed, and it is indicated that the model can be served in design and optimization of SOFC-BCHP system.     

Effect of puerarin on the P13K pathway for glucose transportation and insulin signal transduction in adipocytes

To explore the effect of puerarin on insulin receptor (IR), insulin receptor substrate-1 (IRS-1) and protein expression of protein kinase B(PKB) in the P13K pathway of the glucose consumption, transportation and insulin signal transduction in 3T3-L1 adipocytes with insulin resistance. The insulin resistance 3T3-L1 adipocytes model was established by free fatty acid induction. The model cells were managed with puerarin in different concentrations. Glucose consumption was detected with glucose oxidase method, glucose transportation rate was determined by 2-deoxy-3H glucose ingesting method, and the IR, IRS-1 and PKB expression were determined by Western blot. Glucose consumption and transportation were significantly decreased in the model adipocytes, but increased after treated with puerarin (P<0.01). Moreover, the level of tyrosine phosphorylation of IR subunit β was higher in the puerarin treated groups, and that of IRS-1 was higher in the group treated with low dose puerarin than that in the model group. The 3T3-L1 adipocytes of insulin resistance model could be induced by free fatty acid successfully, puerarin could promote the glucose utilization in them to alleviate the insulin resistance, which may be related with the action in advancing the tyrosine phosphorylation of IR and IRS-1.     

Zn掺杂对GdMnO体系的晶体结构影响

系统研究了Gd（1-x）ZnxMnO3（x=0,0.2,0.4,0.6,0.8,1.0）体系的结构。结果表明,实验样品具有正交对称性结构。当Zn掺杂浓度x≤0.4时,随着Zn掺杂浓度的增加,晶格常数b、c减小,而晶格常数a增大,晶胞体积逐渐减小;当掺杂浓度x≥0.6时,Zn掺杂浓度的增加,晶格常数b、c增大,而晶格常数a减小,晶胞体积逐渐增大。计算表明Gd（1-x）ZnxMnO3系列化合物的容忍因子在0.76~0.92范围,可以形成稳定的钙钛矿结构。     

Damage and deterioration mechanism and curing technique of concrete structure in main coal cleaning plants

Concrete structures in main coal cleaning plants have been rebuilt and reinforced in the coal mines of the Shanghai Da-tun Energy Sources Co. Ltd., the first colliery of the Pingdingshan Coal Co. Ltd. and the Sanhejian mine of the Xuzhou Mining Group Co. Ltd. In these projects, the operating environment and reliability of concrete structures in the main plants of the three companies were investigated and the safety of the structures inspected. Qualitative and quantitative analyses were made on the spe-cial natural, technological and mechanical environments around the structures. On the basis of these analyses, we discuss the long-term, combined actions of the harsh natural (corrosive gases, liquids and solids) and mechanical environments on concrete structures and further investigated the damage and deteriorating mechanisms and curing techniques of concrete structures in the main coal cleaning plants. Our study can provide a theoretical basis for ensuring the reliability of concrete structures in main coal cleaning plants.