Uncertainty analysis and allocation of joint tolerances in robot manipulators based on interval analysis

Many uncertain factors influence the accuracy and repeatability of robots. These factors include manufacturing and assembly tolerances and deviations in actuators and controllers. The effects of these uncertain factors must be carefully analyzed to obtain a clear insight into the manipulator performance. In order to ensure the position and orientation accuracy of a robot end effector as well as to reduce the manufacturing cost of the robot, it is necessary to quantify the influence of the uncertain factors and optimally allocate the tolerances. This involves a study of the direct and inverse kinematics of robot end effectors in the presence of uncertain factors. This paper focuses on the optimal allocation of joint tolerances with consideration of the positional and directional errors of the robot end effector and the manufacturing cost. The interval analysis is used for predicting errors in the performance of robot manipulators. The Stanford manipulator is considered for illustration. The unknown joint variables are modeled as interval parameters due to the inherent uncertainty. The cost-tolerance model is assumed to be of an exponential form during optimization. The effects of the upper bounds on the minimum cost and relative deviations of the directional and positional errors of the end effector are also studied.     

论大学生体育参与动机的培养

大学生具有良好的参与动机是实现体育教学目标的一个重要前提条件。本文通过对体育参与动机内涵及影响体育参与动机的心理因素的分析，提出了大学体育教学中如何培养大学生正确的体育参与动机的一些想法，以供广大体育工作者参考。     

试析加入WTO后我国自动喷水灭火系统设计规范之不足

分析了我国进入 WTO后 ,不容乐观的火灾发展趋势 ,指出了我国现行《自动喷水灭火系统设计规范》存在诸多不足 ,阐明了消防规范和消防管理体制离与国际接轨的路程还很长。列出了 15个问题 ,采用与 NFPA规范和国外认证消防产品技术资料比照的方法 ,来探讨国内规范的不足。     

IEEE 802.11 roaming and authentication in wireless LAN/cellular mobile networks

A wireless LAN service integration architecture based on current wireless LAN hot spots is proposed so that migration to a new service becomes easier and cost effective. The proposed architecture offers wireless LAN seamless roaming in wireless LAN/cellular mobile networks. In addition, a link-layer-assisted mobile IP handoff mechanism is introduced to improve the network/domain switching quality in terms of handoff delay and packet loss. An application layer end-to-end authentication and key negotiation scheme is proposed to overcome the open-air connection problem existing in wireless LAN deployment. The scheme provides a general solution for Internet applications running on a mobile station under various authentication scenarios and keeps the communications private to other wireless LAN users and foreign network. A functional demonstration of the scheme is given. The research results can contribute to rapid deployment of wireless LANs.     

主动约束层阻尼板结构动力学建模研究

将有限元法和GHM法相结合，给出了建立主动约束层阻尼（ACLD）板结构动力学模型的新方法。建模时，考虑到粘弹材料（VEM）的纵向位移影响，采用GHM方法描述VEM的本构关系，解决了VEM的力学特性随温度和频率变化的难点，避免因VEM的复杂本构关系而产生的微分积分方程。算例表明本文给出的建模方法是准确的，ACLD结构能够有效控制结构振动。     

柴油机针阀体的乙炔低压渗碳

乙炔低压渗碳可以有效地避免在真空渗碳过程中产生炭黑和焦油，同时由于乙炔具有较高的供碳能力，使这一技术尤其适用于针阀体这样的小直径深盲孔零件。     

基于小波的彩色序列图象压缩编码

此文提出了一种基于小波变换的运动估计算法，时间复杂度比常规算法降低了一个数量级，同时在估值精度上可与常规算法媲美。利用更佳频率分辨率小波分解处理运动补偿余量误差善了复现图象质量。实验结果表明，该算法在高压缩比情况下图象复现质量显著优于ＭＰＥＧ－２，具有广阔的应用前景。     

波动方程正演模型及应用

本采用声波方程，通过四阶有限差分近似，实现了复杂地质构造零炮距的数值模拟。中同时展示实际应用效果。     

核电厂应急计划中若干问题和概念的讨论

本文讨论了我国核电厂应急计划和应急准备中新所关心的若干问题，阐述了应急计划中一些基本概念；弄清这些问题和概念，对推动和恰当地进行应急准备可能是重要的。     

稀土混合物水溶液中囊泡的形成

依据柠檬酸的螯合作用和乙二醇的空间位阻效应，获得了稀土混合物囊泡。并利用ＩＣＰ、ＴＥＭ、ＦＳ等仪器对囊泡的性能进行了研究，最后对囊泡的形成机理进行了讨论。