Motion Planning for Redundant Manipulators Using a Floating Point Genetic Algorithm

This paper deals with the trajectory planning problem for redundant manipulators. A genetic algorithm (GA) using a floating point representation is proposed to search for the optimal end-effector trajectory for a redundant manipulator. An evaluation function is defined based on multiple criteria, including the total displacement of the end-effector, the total angular displacement of all the joints, as well as the uniformity of Cartesian and joint space velocities. These criteria result in minimized, smooth end-effector motions. Simulations are carried out for path planning in free space and in a workspace with obstacles. Results demonstrate the effectiveness and capability of the proposed method in generating optimized collision-free trajectories.     

电厂MIS设计中常见问题的归纳研究

按照2000年示范电厂的思路，电厂MIS已经作为电厂建设的一部分被列入基建程序。面对电力行业重组的新局面，为了提高电厂MIS设计水平，更好地为业主服务，以适应当前日益激烈的竞争，适时地总结电厂MIS设计中的共性问题是很有必要的。文中叙述的内容不是探讨如何设计电厂MIS，而是就设计中容易出现的问题进行研讨。     

Longitudinal Wave Propagation in Dielectric Waveguide Array

Based on the established rigorous theory for two-dimensionally periodic (2DP) medium, Longitudinal propagation in Dielectric Waveguide Array (DWA) was analyzed in detail. Firstly, given longitudinal wave vector (k _z), Brillouin dispersion relations between transversal wave vectors were analyzed. Interactions between space harmonics were also studied. Secondly, on condition that transversal wave vector k _x equaled k _y, dispersion relations between longitudinal and transversal wave vectors were analyzed in detail. Because of interactions between space harmonics increasingly getting stronger with k _z or modulation coefficients increasing, stop-bands could be distinctly displayed and thus longitudinal propagation in DWA could be comprehensively analyzed. The applications about longitudinal propagation in DWA were also discussed.     

4，4＇－二苯醚二甲酸改性PET的合成与表征

４，４＇－二苯醚二甲酸（ＯＢＢＡ）是一种重要的液晶聚合物单体。以此作为改性组分，合成了一系列ＰＥＴ共聚酯，并用１Ｈ－ＮＭＲ、ＦＴ－ＩＲ、ＧＰＣ、二甘醇和端羧基测定等方法进行了表征，同时对改性单体的转化率和合成共聚酯的反应速率进行了测定，结果表明，所选择的合成方法可以获得较高的转化率；反应速率则随ＯＢＢＡ的增加而增大。     

连续输出20WAlGaAs／GaAs量子阱激光二极管线列阵

采用ＭＯＣＶＤ实现了ＡｌＧａＡｓ／ＧａＡｓ量子阱结构，获得了连续输出２０Ｗ激光二极管线列阵，线列阵长度１．０ｃｍ，激射波长８０８±４ｎｍ。     

非协调h－p型有限元补偿法

详细讨论了非协调ｈ－ｐ型有限元的补偿法，给出了令人满意的收敛阶．     

Establishment and characterization of three cell lines from Aedes triseriatus (Diptera: Culicidae)

The objectives of this study were to develop sex-, age-, and body size-specific nomograms and partition values for upper and lower limits of M-mode echocardiographic aortic root measurements derived from a large population-based cohort. The study sample consisted of 1433 male and 1816 female participants in the Framingham Heart Study and Framingham Offspring Study who were normotensive and free of clinically apparent heart disease at the baseline examination. Aortic root measurements were obtained by M-mode echocardiography by a leading-edge to leading-edge technique. The relations of age and measures of body size with aortic root dimensions were evaluated with sex-specific correlations and multiple stepwise linear regression analyses. Age was the most important determinant of aortic root size in both men and women in the multivariable regression models. Models with age and body surface area yielded R2 values of 0.214 in men and 0.222 in women. Models with age and height yielded lower R2 values of 0.136 in men and 0.181 in women. Thus aortic root dimensions vary widely with the age, sex, and body size of individuals. Sex-specific reference nomograms of aortic root dimensions in relation to age and body size (body surface area or height) are presented to facilitate the detection of abnormalities of aortic root size.     

含能材料分子结构与感度的相关性

综述了国外近年来含能材料分子结构参数与感度相关关系的最新研究成果。研究表明：某些芳香族硝基化合物的撞击感度与Ｃ－ＮＯ２键强度有关；硝胺及脂肪族硝基化合物的冲击波感度与分子中Ｎ－ＮＯ２键的数目，长度和分子量相关。     

用于多种组装技术的厚膜导体复合结构

厚膜导体Ｐｄ－Ａｇ／Ａｕ、Ｐｔ－Ｐｄ－Ａｕ／Ａｕ平面复合结构，Ｐｄ－Ａｇ／Ａｕ立体复合结构可使多种组装技术相互兼容。立体复合结构还可有效地降低导体线电阻，减少线损耗。而且，其超声键合性尤佳