Robust adaptive control of robotic manipulators without the regressor matrix

A new adaptive controller is presented here for rigid-body robotic manipulators. It is stable and robust with respect to a class of external disturbances. The robustness of the adaptive controller is established without the ‘slow-varying’ assumption and the computationally demanding regressor matrix. The control law consists of a non-adaptive PD control part and an adaptive control part. It uses two adaptive matrices to compensate two uniformly bounded coefficient matrices derived from the original dynamics. A α σ|q?|-modified adaptive law is designed to adjust the adaptive matrices. A Lyapunov-type stability analysis indicates that the closed-loop system is uniformly ultimately bounded. The tracking error and compensation error will eventually converge into a closed region, which can be made arbitrarily small by adjusting the controller parameters. Simulation results are included to demonstrate the performance of the proposed controller.     

Cyanex有机膦类萃取剂在贵金属溶剂萃取中的研究和应用

介绍了近年来Cyanex有机膦类萃取剂在贵金属溶剂萃取中的研究状况及应用进展，展望了该类萃取剂在贵金属分离提取中的应用前景。     

储层地质模型与油藏模拟模型之间的桥梁——一种有效的模型粗化方法

针对油田储层地质模型向油藏模拟模型转化中粗化软件存在的问题 ,提出了一种实用的网格粗化方法 ,并编制了模型粗化程序 ,还给出了检验粗化结果的 5个要点。应用效果表明 ,该粗化方法是有效的 ,它较好地解决了地质模型与油藏模型之间的转化问题     

高性能鳞片涂料在脱硫烟囱防腐蚀中的应用

分析了湿法烟气脱硫工艺对脱硫装置及烟囱的腐蚀情况，对几种典型的衬里结构进行比较，介绍了高性能防腐蚀鳞片涂料的应用要求和工程实例。     

航天产品多源可靠性信息的收集与整理--建立可靠性信息数据库

航天产品可靠性信息的来源多样，可靠性信息的时间性、随机性、有价性、时效性和可追溯性等特征，决定了可靠性数据收集应满足真实性、连续性、完整性等基本要求。同时，对多源信息的收集应遵循先进行需求分析，再确定数据收集点并制定数据收集表格的程度进行。给出了信息的适用性准则和信息分类的三维模型。最后结合具体型号航天产品的可靠性工作的要求，给出了可靠性信息数据库系统的整体方案设计。     

火电仿真技术研究

在电力行业中，计算机仿真一直是不可缺少的工具，它在减少损失、节约经费、提高效率、确保安全经济运行等方面发挥了巨大作用。主要介绍了计算机仿真技术在660MW火电站中的具体应用情况。以邯峰发电厂^#1机为对象，采用STAR-90仿真支撑系统，建立起660MW火电机组1：1仿真机，并在机组投产前建成，取得了良好的培训效果。论述了火电站仿真机未来的发展趋势，包括开发高精度机理性仿真数学模型以及真实的DCS仿真模型、进行性能计算与故障诊断、应用于热工人员培训及机组调试等。     

我国和奥地利普兰西公司的钨、钼产品及其差距

对奥地利普兰西公司作了简要介绍，并将我国的钨、钼产品标准和普兰百公司的钨、钼产品、规格进行了对比。根据差距提出了我国钨、钼产品今后的发展方向。     

N-Methyl-D-aspartate attenuates opioid receptor-mediated G protein activation and this process involves protein kinase C

The effects of N-methyl-D-aspartate (NMDA) on opioid receptor-mediated G protein activation were explored in neuroblastoma X glioma hybrid (NG108-15) cells. Treatment of the cells with NMDA resulted in a remarkable attenuation of [35S]guanosine-5'-O-(3-thio)triphosphate binding stimulated by [D-Pen2,D-Pen5]-enkephalin (DPDPE), a delta-opioid receptor agonist. The effects of NMDA were dose and time dependent with an IC50 value of 5 nM and could be blocked by NMDA receptor antagonists. After NMDA treatment, the DPDPE dose-response curve shifted to the right (EC50 value increased approximately 7-fold, from 6 to 40 nM), and the maximal response induced by DPDPE was reduced by approximately 60%. The effects of NMDA were reversible, and the DPDPE response could recover within 60 min. The functional responses of delta-, mu-, and kappa-opioid receptors in primarily cultured neurons also were attenuated significantly by NMDA treatment. The inhibitory effects of NMDA on opioid receptor-mediated G protein activation could be blocked by coadministration of the protein kinase C (PKC) inhibitors or by elimination of the extracellular Ca2+. Correspondingly, NMDA treatment of NG108 cells significantly elevated cellular PKC activity and stimulated Gialpha2 phosphorylation. Transient transfection into NG108-15 cells of the wild-type Gialpha2 and a mutated Gialpha2 (Ser144Ala) resulted in a 2-fold increase in DPDPE-stimulated G protein activation. The DPDPE responses were greatly inhibited by NMDA treatment in the wild-type Gialpha2-transfected cells but much less affected in the mutant Gialpha2-transfected cells. In summary, NMDA attenuates opioid receptor/G protein coupling, and this process requires activation of PKC.     

回转窑测温系统安装与调试

木文介绍了回转窑温度测量系统的安装与调试。