On the learning control of a robot manipulator

This paper derives a learning control law to achieve trajectory following for a robot manipulator. The controller consists of two parts, a computed torque servo for the rigid body terms that can be modelled and a learning law for the unmodelled dynamics. An advantage of this method is that bounds can be assigned to the position and velocity tracking errors.     

Effects of Y and Ce on Microstructures and Properties of Nb-Si System Composites

The effects of yttrium and cerium on microstructures and properties of Nb-Si system composites were investigated by scanning electron microscopy( SEM), energy dispersive spectrum(EDS), X-ray diffraction(XRD) and high temperature oxidation experiments.It is found that the coarse primary silicide phase became finer and more homogeneous with Y and Ce addition.The results of high temperature oxidation experiments show that the oxidation rates of NbSi system composites with an appropriate amount of Y and Ce decrease compared with those of alloys without Y or Ce addition, and oxidation products mainly distribute along the phase boundaries between the Nb solid solution and silicide.     

大功率开关电源的设计与实现

介绍了开关电源设计中需要考虑的几个基本问题,包括频率的确定、最大占孔比Dm的确定、逆变变压器的设计和开关功率管的选择,并以一种1 kW的PWM大功率半桥式开关电源为例,详细介绍实际的开关电源设计方案,并给出了实验结果.     

两相邻边固定另两边任意支承矩形厚板问题

在Ｒｅｉｓｓｎｅｒ厚板理论中，利用分离变量法得到挠度函数Ｗ（ｘ，ｙ）和应力函数ψ（ｘ，ｙ）的解。在这些解中．选择一些三角级数和多项式作为该问题的挠度函数Ｗ（ｘ，ｙ）和应力函数ψ（ｘ，ｙ），从而得到了两相邻边固定另两边任意支承矩形厚板弯曲问题的精确解．这里不需要繁琐地叠加．     

Longitudinal bone mineral density changes in early rheumatoid arthritis

A prospective longitudinal study of patients with early RA was performed to examine the influence of disease duration, disease activity and physical activity on bone loss. Sixty-seven patients with non-steroid treated RA of less than 5 yr duration, including 16 patients with disease duration less than 6 months, had BMD measurements of the femoral neck and the lumbar spine over a 12-month period using dual energy X-ray absorptiometry. The BMD changes were compared with values from 72 control patients and were also correlated with serial measurements of disease activity (measured by the Stoke Index) and disability [measured by the Health Assessment Questionnaire (HAQ) score], at 3-monthly intervals over the 12-month period. No significant differences in BMD changes were found between RA patients and controls overall. Patients with disease duration of less than 6 months had significantly greater loss of BMD at the femoral neck (-3.9%, S.E.M. 1.5) than the remainder of the cohort (-0.2%, S.E.M. 0.7) (P = 0.02) and controls (-0.8%, S.E.M. 0.6). Lumbar spine BMD changes correlated with the initial Stoke Index (Rs-0.373, P = 0.01) but not mean Stoke Indices. There was no correlation of BMD changes with age or HAQ scores. These findings suggest that significant bone loss occurs within the first few months of disease in patients with RA.     

The use of monoclonal antibodies for detecting the influenza virus

The possibilities of using influenza A (Leningrad) 385/80 (H3N2) virus matrix protein-specific FITC-labeled D8 monoclonal antibodies in immunofluorescence assays were investigated. The virus antigen accumulation was detected in chorioallantoic cells of chick embryos. Exhibiting the type-specific properties, the fluorescent antibodies stain the perinuclear space, cytoplasmic membrane, and granular structures in the cytoplasm of infected cells. The haemagglutination test tires in the corresponding specimens were at least 1:16.     

TiAl基合金表面改性对高温抗氧化性的影响

研究了渗碳处理ＴｉＡｌ基合金试样的高温氧化行为，发现渗碳处理可以在ＴｉＡｌ基合金试样表层形成致密的多层结构的渗碳层，并发生表层Ａｌ、Ｔｉ重新分配。致密的渗碳层具有良好的高温抗氧化性和高温热稳定性，同时，Ｔｉ、Ａｌ重新分配形成的富Ａｌ最外层也能进一步提高合金的抗氧化性。     

利用马铃薯淀粉下脚液生产饮料工艺的研究

本实验尝试从马铃薯中提取蛋白质等成份，并适当添加姜汁，制成一种新型饮料，对饮料生产的工艺条件作了详细探讨，成功地解决了马铃薯褐变及沉淀等问题，确定了最佳配方及工艺。     

On-line steam distillation/purge and trap analysis of halogenated, nonpolar, volatile contaminants in foods

An on-line, steam distillation/purge and trap gas chromatographic procedure is described for determination of halogenated analytes in foods and beverages. Recoveries were generally >80% (versus aqueous standards) from vegetable oil, flour, root beer, cream (10% butter fat), and milk spiked at 1-3 micrograms/kg for each of the 32 analytes studied. Analytes ranged in volatility from vinyl chloride to 1,2,3,4-tetrachlorobenzene. Repeatabilities from aqueous standards were <10% for most analytes. For a 1 g food sample, method detection limits ranged from 0.02 to 0.2 micrograms/kg for the 32 analytes. Reduced recoveries for less volatile analytes, however, occurred when steam-distillable, nonpolar food components were carried to the sparger. This effect was observed for citrus beverages containing steam-volatile limonene, roasted and ground coffees, and some salad dressings. The method was applied to a variety of foods.