Dexterous manipulation of an object by means of multi‐DOF robotic fingers with soft tips

This article analyzes the dynamics of motion of various setups of two multiple degree‐of‐freedom (DOF) fingers that have soft tips, in fine manipulation of an object, and shows performances of their motions via computer simulation. A mathematical model of these dynamics is described as a system of nonlinear differential equations expressing motion of the overall fingers‐object system together with algebraic constraints due to tight area contacts between the finger‐tips and surfaces of the object. First, problems of (1) dynamic, stable grasping and (2) regulation of the object rotational angle by means of a setup of dual two‐DOF fingers, are treated. Second, the problem of regulating the position of the object mass center by means of a pair of two‐DOF and three‐DOF fingers is considered. Third, a set of dual three‐DOF fingers is treated, in order to let it perform a sophisticated task, which is specified by a periodic pattern of the object posture and a constant internal force. In any case, there exist sensory‐motor coordinations, which are described by analytic feedback connections from sensing to actions at finger joints. In the cases of setpoint control problems, convergences of motion to secure grasping together with the specified object rotational angle and/or the specified object mass center position, are proved theoretically. A constraint stabilization method (CSM) is used for solving numerically the differential algebraic equations to show performances of the proposed sensory‐feedback schemes. © 2002 Wiley Periodicals, Inc.     

希腊古代石材在建筑造型方面的应用

通过古希腊三种柱式的现存实例以及形象生动的少女柱、神庙等建筑遗迹，简要介绍古代希腊雅典和特尔菲两地在石材建筑造型上的取得的辉煌成就。     

Blind separation of instantaneous mixture of sources via anindependent component analysis

In this paper, we introduce a procedure for separating a multivariate distribution into nearly independent components based on minimizing a criterion defined in terms of the Kullback-Leibner distance. By replacing the unknown density with a kernel estimate, we derive useful forms of this criterion when only a sample from that distribution is available. We also compute the gradient and Hessian of our criteria for use in an iterative minimization. Setting this gradient to zero yields a set of separating functions similar to the ones considered in the source separation problem, except that here, these functions are adapted to the observed data. Finally, some simulations are given, illustrating the good performance of the method     

Nanometre-sized silver halides entrapped in SiO2 matrices

The formation of nanocrystals after implantation of silver alone as well as together with the halogen ions Cl, Br and I into a SiO2 layer of about 100 nm was studied by X-ray diffraction and transmission electron microscopy. The co-implantation of Ag and Cl or Br results in the formation of cubic AgX crystals which are stable in size under annealing. The co-implantation of Ag and I as well as single Ag implantation result in Ag crystallites, which grow under annealing. The annealing procedure causes a redistribution of the particles within the layer.     

Concentration of cupric and nickel ions by complexation-ultrafiltration. Synergic effect of succinic acid

In ultrafiltration, high rejection of small ion species can be achieved by complexing these species with a suitable macroligand.We have studied the concentration of cupric or/and nickel ions by ultrafiltration, through the DDS GR8 membrane, using polyethylenimine as a basic macroligand. The rejections of the metallic ions increased with the pH and the concentration of the polymeric ligand as expected. The addition of succinic acid (a molecular acidic chelating) to the mixtures allowed an improvement of the retentions of these ions at all pHs studied. This indicates that positive synergic effect was obtained by the formation of a mixed complex base-metal-acid.     

FA and tocopherol composition of Vietnamese oilseeds

Seeds of 40 oilseed species from 23 different plant families (Brassicaceae, Cucurbitaceae, Fabaceae, Sapindaceae, Malvaceae, Gnetaceae, Clusiaceae, Bruseraceae, Ranunculaceae, Convolvulaceae, Amaranthaceae, Tiliaceae, Basellaceae, Solanaceae, Umbelliferae, Labiatae, Compositae, Theaceae, Euphorbiaceae, Caesalpiniaceae, Sapotaceae, Anacardiaceae, and Connaraceae) grown in Vietnam were analyzed for oilseed oil content, FA, and vitamin E. The seed oil content varied between 0.2 g/100 g for Mangifera indica and 75.7 g/100 g for Calophyllum inophyllum, whereas only nine seeds contained more than 40% oil. The tocopherol content ranged from 26 (Sapindus mukorossi) to 9361 mg/kg (Litchi chinensis). In nine seed oils unusual FA such as conjugated, cyclopropenoic, or epoxy FA were found.     

Direct electrochemical detection of oligonucleotide hybridization on poly(5-hydroxy-1,4-naphthoquinone- co-5-hydroxy-3-thioacetic acid-1,4-naphthoquinone) film

We describe the construction of a new DNA-modified electrode based on an electroactive film. 5-Hydroxy-1,4-naphthoquinone is coelectrooxidized with 5-hydroxy-3-thioacetic acid-1,4-naphthoquinone to give a copolymer, presenting both electroactive and chemically reactive groups. The carboxylic function acts as a precursor for the covalent grafting of ODN probes while the quinone group acts as the transduction element of hybridization. Electrochemical detection was performed by differential pulse voltammetry in the electroactivity domain of the quinone group (i.e., at very low potentials, 0 to -0.8 V vs SCE). A very clear modification of the redox activity is observed between unmodified and probe-modified films and especially upon addition of target ODN.     

用USB启动Windows XP Embedded

Windows XP Embedded Service Pack 2 Feature Pack 2007（以下简称FP2007）推出了用于嵌入式应用的USB启动功能。现在，用户可以通过一个USB闪存驱动器（UFD）、a．k．a．、U盘和USB密钥等来启动并构建一个Windows XPe的映像。构建这种启动Windows XP Embedded的USB设备的过程中，只要直接使用Target Designer，并准备好需要启动的UFD，就像使用ufdprep．exe（FP2007中包含的一个工具）文件一样简单。