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.     

印染废水处理工艺研究及实例

本文简要介绍了印染废水水质特征,提出了处理工艺,并利用两个工程实例说明了该工艺的可行性.     

PTA压力离心机转子的改造

介绍了PTA压力离心机的主要性能参数、工作原理、分离效果的影响因素。为了增大沉渣在过渡区及脱水区滞留的时问，同时为达到在过渡区及脱水区对沉渣加入纯净水进行再冲洗的目的，对螺旋送料转子、挡液环、进料管进行了改造。改造后，沉渣在脱水区的停留时间由0．44a增至0．72s，2．5～3t／h的冲洗水对脱水区的沉渣进行冲洗效果较好。产品中的杂质质量分数较改造前减少15％，产品优等品率提高到99％。     

Ionothermal synthesis of a three-dimensional zinc phosphate with DFT topology using unstable deep-eutectic solvent as template-delivery agent

A three-dimensional zinc phosphate compound with DFT topology, designated as ZnPO₄-EU1, has been synthesized by an ionothermal approach from the system HF-ZnO–P₂O₅-choline chloride-imidazolidone. Ethylenediamine, derived from decomposition of the imidazolidone component of the deep-eutectic solvent (DES) itself, is delivered to the synthesis and serves as an appropriate template for ZnPO₄-EU1. Experiments in which the synthesis conditions were varied showed that ZnPO₄-EU1 may be prepared over a wide molar ratio of P/Zn = 0.55–13.0. Powder X-ray diffraction patterns have been obtained at intervals to track the crystallization process of this material. The experimental data show that Zn₃(PO₄)₂ · 4H₂O (a dense phase) was first isolated from the DES after reaction for 1 h. Subsequently, the pure phase of ZnPO₄-EU1 was obtained with increasing crystallization time from 12 h to 72 h. The experimental results show that the nucleation and crystallization take place with relatively low levels of solvent degradation, demonstrating that zinc phosphate with a three-dimensional framework can be synthesized by in situ generation of an appropriate template using an unstable DES at high temperatures (150–200 °C).     

C语言学习方法与实践的探讨

针对C语言程序设计课程本身的特点，分析学习过程中存在的问题，强调实践的必要性。结合一些学校课程改革和实践的经验．提出面向应用的，科学的学习内容、方法和模式。同时提高学习者的专业动手能力。     

裂齿矩形翅片板翅式换热器优化设计的分析

对裂齿矩形翅片板翅式换热器中的裂齿矩形翅片的传热效率作了分析,并以单位质量材耗的换热能力最大为目标函数,分析研究了在不同雷诺数(Re)的操作条件下裂齿矩形翅片间角度、翅片厚、长度、宽度及极厚之间的关系。结果表明:在气体换热的场合下,当Re在某一范围时翅片可有效地起到强化传热的作用。当板厚为5mm,翅片厚为3mm,翅片间夹角为45°～70°,Re为2×10~3～8×10~3,最佳翅片纵向间距与翅片长度和翅片厚度乘积的平方根的比为1.5～2.5,最佳翅片尺寸系数为3～5时,传热强化效果较好。     

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.     

计算机文化基础课程建设的探索与实践

"计算机文化基础"课程是面向非计算机专业大学生的公共基础课.它既是文化基础、公共基础、又是技术基础,并具有很强的应用性和工具性.它要完成的任务是:使学生掌握计算机软、硬件技术的基础知识,培养学生在本专业与相关领域中的计算机应用、开发能力,以及利用计算机分析问题、解决问题的意识.     

稀土改善09CuPTiRE耐候钢耐蚀性的作用机理

应用扫描电镜(SEM)、离子探针(IMA)、X射线光电子能谱(XPS)和交流阻抗法研究含不同稀土耐候钢稀土提高耐大气腐蚀作用机理。结果表明,合适的稀土含量可显著提高钢的耐腐蚀性,稀土能促进Si、Cu和P在内锈层中以Si~(4+)、Cu~+和P~(5+)形态富集,并观察到锈层中的稀土。钢中加入稀土形成了致密连续厚而粘附性好的含硅铜稀土的复合铁锈层,从而提高了抗大气腐蚀性能。