Real-time accurate hand path tracking and joint trajectory planning for industrial robots (I)

Previously, researchers raised the accuracy for a robot’s hand to track a specified path in Cartesian space mainly through increasing the number of knots on the path and the number of the path’s segments, which results in the heavier online computational burden for the robot controller. Aiming at overcoming this drawback, the authors propose a new kind of real-time accurate hand path tracking and joint trajectory planning method. Through selecting some extra knots on the specified hand path by a certain rule and introducing a sinusoidal function to the joint displacement equation of each segment, this method can greatly raise the path tracking accuracy of robot’s hand and does not change the number of the path’s segments. It also does not increase markedly the computational burden of robot controller. The result of simulation indicates that this method is very effective, and has important value in increasing the application of industrial robots. Foundation item: Foundation of the Robotics Laboratory, Chinese Academy of Sciences (No. RL200002) Biography of the first author: TAN Guan-zheng, Dr., professor, born in Oct. 1962, majoring in artificial intelligence, robotics and automation.     

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日本政府采取一整套行之有效的政策措施来促进天然气消费，这套政策措施是：以立法的形式促进天然气消费，大力发展燃气企业，支持与鼓励天然气发电，大力发展燃气空调，支持和资助天然气实用技术的开发，以各种方式会同各家公司建立某些机构促进日本天然气产业的发展，采取财政信贷措施支持天然气的进口。对我国的启示是：建立和完善与天然气相关约法律法规体系，成立一些中介机构，鼓励开拓天然气利用的新途径，采取优惠措施鼓励居民使用天然气，同时政府应积极参与和支持新技术的研究、开发、应用和推广。     

稀布阵综合脉冲孔径雷达旁瓣对消性能分析

定量分析了阵列孔径、干扰信号带宽、通道幅相误差以及Ａ／Ｄ变换器的量化噪声对大型稀布圆形阵列天线干扰对消效果的影响，介绍了稀布阵综合脉冲孔径雷达（ＳＩＡＲ）采用抽头延迟线以提高干扰对消性能的方法，并给出了数值计算与计算机模拟结果。     

土工格室在生态防洪工程中的应用

河北省迁安市滦河生态防洪工程是河北省重点工程建设项目，在建设中采用土工格室生态护岸工程技术，不仅大大提高了工程建设的速度和质量，而且延长了堤坝使用寿命，减少了维护成本，收到了环保、生态等方面的综合效益。     

HIPPS在海洋石油工程中的应用研究

HIPPS系统是一种高集成压力保护系统。介绍了HIPPS系统的特点及功能，并结合HIPPS系统在海洋石油工程中的应用，叙述了HIPPS系统与PSV及ESD系统的主要区别，说明了HIPPS系统给实际的生产操作带来的影响。HIPPS系统在其他行业同样有广泛的应用前景。     

吉林油田浅层定向井、浅层水平井举升工艺

浅层定向井、浅层水平井是近两年来吉林油田为解决受地面条件限制无法正常钻井问题而采取的一项技术措施。井眼条件的限制给正常举升工作带来极大的挑战。目前各种举升技术的应用仍集中于直井及直斜井,对于定向井、水平井特别是浅层定向井、浅层水平井无论是设计理论还是现场应用,仍处于摸索试验中。为此,针对吉林油田部分地区所面临的浅层定向井、浅层水平井有效举升实际需求,通过对浅层定向井、浅层水平井举升核心防磨设计思路的探讨,从偏磨产生的机理、磨损程度影响因素分析入手,提出了改善杆管间受力及降低偏磨程度的基本技术对策,采取以优化扶正器设计、应用玻璃衬里油管为主的防磨措施。现场应用表明,浅层定向井、浅层水平井的举升是可行的。     

江垭大坝10号坝段裂缝加固处理

湖南省江垭大坝10号坝段由于温度变化影响及该坝段坝型狭高,出现了两条内裂缝和不密实混凝土所构成的渗水通道.经过前期勘探后,在采取了有效的安全监测措施下,运用了化学灌浆和超细水泥灌浆进行了加固处理,灌区混凝土体疏松区与裂缝得到了有效充填,混凝土体完整性得到了很大改善,经压水试验检查完全满足预期要求,达到了加固处理的目的.     

The summary of researches on ADS in China

The conceptual study on the accelerator driven system (ADS) that lasted for about five years ended in 1999 in China. As one project of the National Basic Research Program of China (973 Program) in the energy domain, which is sponsored by the China Ministry of Science and Technology (MOST), a five-year-program of fundamental research of ADS physics and related technology was launched in 2000 and passed national review at the end of 2005. The China Institute of Atomic Energy (CIAE), the Institute of High Energy Physics (IHEP), the Institute of Heavy Ion Physics in Peking University (PKU-IHIP) and other institutions jointly carried out the research. The research activities were focused on HPPA physics and technology, reactor physics of external source driven sub-critical assembly, nuclear data base and material study. For HPPA, a high current injector consisting of an ECR ion source, LEBT and an RFQ accelerating structure of 3.5 MeV was built. In reactor physics study, a series of neutron multiplication experimental study has been carried out and still being done. The VENUS facility has been constructed as the basic experimental platform for neutronics study in ADS blanket. It’s a zero power sub-critical neutron multiplying assembly driven by external neutron produced by a pulsed neutron generator. The theoretical, experimental and simulation study on nuclear data, material properties and nuclear fuel circulation related to ADS is carrying on to provide the database for ADS system analysis. The main results on ADS related researches will be reported.     

雁栖水厂的规划与设计

雁栖水厂位于北京市怀柔区雁栖镇下庄村南，距怀柔县城6km，占地面积0．78hm^2．设计日供水能力5000t。雁栖水厂集中反映了北京市农村安全饮水工作的模式和经验，下面从规划、设计、管理等三方面对雁栖水厂进行介绍。     

采用428XL仪器实现高保真可控震源三维地震采集

428XL地震仪器系统成功实践了一种新的可控震源施工技术和方法——高保真可控震源采集技术（HFVS）。本质上，HFVS技术是以采集到的每台震源实际运动的信号来进行数据反演，替代了传统的以参考信号进行的互相关处理，从而有效地减少了谐波畸变对地震资料品质的影响。在实际施工时，HFVS技术采用多台震源以不同初始扫描相位同时激发，再将采集到的地震记录进行分离处理得到每台震源的大地脉冲响应，实现了高效采集条件下的可控震源单点激发。本文详细介绍了HFVS技术的基本原理，总结了高保真可控震源采集的施工特点及其对仪器采集设备的要求，并通过实例，介绍了利用428XL仪器先进的技术性能实现高保真可控震源三维地震采集的方法和经验。