The dynamic effects and compensation of load transitions in robotic systems

The problem of a robot handling a payload typically involves pre-load, load, and post-load stages, and payload transitions between these stages. Although considerable work has focused on the control of robots carrying payloads, few consider the problem of load transitions—one of the most important effects on system performance. This article studies these transitions and presents a compensation method. It is shown that load transitions lead to abrupt (jump) parameters and uncertain transition times in the robot/payload model. A control strategy is proposed that takes the load transitions into account and guarantees the stable path tracking of robots in the face of these transitions. The effectiveness of the proposed control strategy is verified via simulation. © 1994 John Wiley & Sons, Inc.     

鄱阳湖湖底沉积物放射性水平

本文报道了1985年鄱阳湖湖底沉积物放射性水平的调查结果。沉积物中 U、Th、~(226)Ra、~(40)(?)和~(137)Cs 的比活度分别为64.8、67.9,58.9、676.1和3.5Bq/kg;用~(137)Cs 测龄方法作了沉积物泥芯垂直深度的年代定位,由此得知1985—1958年对应深度沉积物中 U、Th、~(226)Ra 和~(40)K 的比活度与1957—1930年对应深度沉积物比较无显著性差异;U、Th 和~(226)Ra 的浓集因予分别为5.2×10~413.9×10~4和4.8×10~4L/kg。     

A simplified dispersion limit formula for IM/DD systems and itscomparison with experimental results

A simplified formula for the dispersion limit of single-mode-fiber intensity modulation/direct detection (IM/DD) systems is derived for arbitrary given normalized pulse width U, eye opening penalty X and source linewidth enhancement factor α. From the comparison with published theoretical analyses, computer simulation and experimental data, its validity and the limits of existing formulae are shown. Using this simple and general formula, one can easily obtain the dispersion limit of various fiber types under different working conditions in IM/DD systems     

温度,压力对漂移室气体增益的影响

研究了温度及气体压力对漂移室（工作于正比区）气体放大倍数的影响，温度和气体压力的变化范围分别是５￣４０℃及９０￣１０５ｋＰａ。用实验数据拟合得到了函数关系并测量了几种饱和度下函数中的参数值。     

Invasiveness of LiTaO/sub 3/ and GaAs probes in external E-O sampling

Disturbances of signals on a coplanar waveguide (CPW) induced by the presence of LiTaO/sub 3/ and GaAs electrooptic probes in external electrooptic (EO) sampling have been simulated and compared quantitatively. The finite-difference-time-domain method is used to simulate the full wave field around a coplanar waveguide on a GaAs substrate in an external EO sampling configuration. The results indicate that the induced signal disturbance, or invasiveness, of a LiTaO/sub 3/ probe is almost ten times that of a GaAs probe in terms of the magnitude of S/sub 11/, but that LiTaO/sub 3/ yields about two times the EO response for a given S/sub 11/ and optical probing wavelength. The transparency of LiTaO/sub 3/ to shorter wavelengths, however, allows an even higher sensitivity for this material relative to GaAs. The results suggest that these probes do not exhibit significant invasiveness (magnitude of S/sub 11/ smaller than -40 dB), if they are removed from contact by the distance of CPWs center conductor width.<>     

Effect of silver addition on superconductivity in the Bi1.6Pb0.4Sr1.6Ca2Cu3O10−y system

Silver/superconductor composites containing 0 to 80 vol% silver have been prepared and their properties determined. Optimum heat treatment at sintering temperatures ( 800° C) under low oxygen pressures produces material with high critical current density and improves physical properties. Magnetic susceptibility measurements have been found to be consistent with resistivity results. In order to retain a single high-T _c phase with increasing silver content, decreased oxygen partial pressures are required. Using the normal-state resistivity of these composites, a percolation threshold at a silver volume fraction of 43% was observed, while zero resistivity measurements show that a continuous superconducting network can be obtained with up to 80 vol% silver. The critical current density of 21 vol% silver-doped samples was found to be 1520 A cm^–2 at 77.3 K, compared to 260 A cm^–2 for an undoped sample.     

Site occupations and ordering behaviour of O phase in Ti2AlNb—based intermetallics

1　ＩＮＴＲＯＤＵＣＴＩＯＮＴｈｅｏｒｔｈｏｒｈｏｍｂｉｃａｌｌｏｙｓａｒｅｏｆｇｒｅａｔｔｅｃｈ ｎｏｌｏｇ ｉｃａｌｉｎｔｅｒｅｓｔｉｎｈｉｇｈｔｅｍｐｅｒａｔｕｒｅａｐｐｌｉｃａｔｉｏｎｓｓｉｎｃｅｔｈｅｙｈａｖｅａｇｏｏｄｂａｌａｎｃｅａｍｏｎｇｓｔ     

Facile synthesis of nitrogen and oxygen co-doped hierarchical porous carbon materials for high performance super capacitors

Journal of Porous Materials - Nitrogen and oxygen co-doped hierarchical porous carbons (NOPCs) is prepared by the pyrolysis of polyethylene glycol-200 (PEG) and triazine carbon forming agent (CFA)...     

中国观赏石文化与收藏

以推动人类文明进步发展的观念为先导,以详实的地质学、岩石学、石文化史料为切入点,介绍了我国观赏石文化的起源、发展及现状;阐述了赏石审美的本质、形式、石体标准、传统性、现代性等理论要点及其以小见大、以丑为美的审美理念。对赏石修身养性、以石陶情及赏石文化与道教情结的学术价值进行了评述;对从古至今的中华文化名人为赏石理论的创立、鉴赏、收藏和发展作出的不可磨灭的历史贡献进行了评价。     

The electrochemical synthesis of aminonitriles I. H-cell studies with adiponitrile and azelanitrile

Adiponitrile and azelanitrile were electrochemically hydrogenated to their corresponding aminonitriles in a divided H-cell using Raney nickel powder as the cathode material. The effects of current, temperature, and solvent/supporting electrolyte composition on product selectivities were investigated. Syntheses of the fully hydrogenated diamine by-product increased with increasing current and solution temperature. When a 0.8 M adiponitrile/alcohol/water/ammonium actetate electrolyte was hydrogenated at temperatures of 35–45°C, 6-aminocapronitrile selectivities in the range of 79–97% and current efficiencies of 50–60% were obtained. The optimum applied current was 60 mA for each 2.5 g of catalyst (an apparent current density of 4.8 mA cm^–2). For the case of azelanitrile, reaction selectivities for the partially hydrogenated 9-aminononanenitrile product ranged from 80–93%.