General Solution for the Dynamic Modeling of Parallel Robots

In this paper, we present a general method to calculate the inverse and direct dynamic models of parallel robots. The models are expressed in a closed form by a single equation in which all the elements needed are expressed. The solution is given in terms of the dynamic models of the legs, the dynamics of the platform and some Jacobian matrices. The proposed method is applied in this paper on two parallel robots with different structures. Categories (2), (3).     

储层压力与天然气分布关系——以鄂北塔巴庙地区上古生界储层为例

通过分析塔巴庙地区储层压力的分布特征，建立了研究区泥岩压实曲线，并对影响和控制该区储层压力的主要因素和机理进行了探讨，对“欠压实”剩余压力、生气增压、抬升引起的降压进行了定量计算。分析结果表明，晚三叠-早白垩世末“欠压实”作用和晚侏罗-早白垩世末烃源岩大量生烃作用使塔巴庙地区上古生界形成异常高压；晚白垩系构造抬升降压，使得现今储层为正常-低异常压力。同时证实了“欠压实”对天然气有压力封盖作用，天然气都分布在最大“欠压实”幅度以下的储层当中。烃源岩生气高峰为晚侏罗-早白垩世末，但天然气大规模运移是在晚白垩世，方向以沿过剩压力梯度降低较快的方向（太原-山西组至下石盒子组）垂向运移，通道主要为裂缝，运移的动力主要为异常高压。由于储层致密，聚集成藏能量有限，造成天然气充注不足、气水分异不好、含气饱和度低。     

Effects of low radiation on the power quality of a distributed PV-grid connected system

We have previously investigated effects of radiation levels on power quality of a number PV-grid interactive systems in Thailand, in terms of harmonics and voltage variation at the point of common coupling (PCC). In this paper, we focus on the nature of components of complex power (actual, reactive and apparent power) of inverter output of a PV-grid interactive system due to low radiation, below 400 W/m². The system being investigated has an array of 4.2 kWp and representative of roof top units. It is observed that a PV array supplies increasing real power, in magnitude and as percentage of complex power, at high values of radiation. At low radiation level when the array does not provide enough output power, reactive power is drawn from distribution transformer and fed into an inverter and loads. Based on results from the test site and long term radiation data of Bangkok, we then estimate energy available from low radiation from a hypothetical PV-grid interactive unit in Bangkok of a similar size. It can be seen that for a tropical climate like Thailand a significant amount of energy, 20–30% of radiation energy, is in the form of reactive power. Methods must be devised to capture this low radiation energy and converted into real power form.     

水系统的积垢及其物理控制技术

主要综述了水系统中水垢的种类、形成机理及其物理防治方法。详细阐述了静电、电子以及磁化等物理控垢法的工作原理及技术要点,并指出了其发展方向。     

PDC钻头在东海西湖凹陷的实践与认识

文章针对在东海西湖凹陷六口井 31 1 .2mm及 2 1 5 .9mm井眼所使用的PDC钻头统计分析 ,并结合笔者自己使用PDC钻头的实践 ,提出使用PDC钻头时注意环节 ,建议针对西湖凹陷地层的特点选择适合该地区的PDC钻头类型     

安棚深层系凝析气井射孔压井液技术研究

介绍了一种保护油气层的射孔压井液技术，该技术所用的配方具有低密度，低表面张力且具有较强的防膨能力等特点，在安棚深层系低孔低渗油田安3003等凝析气井作业中现场试验，解决了安棚深层系低压气井的水锁伤害等问题，对低孔低渗油气田作业入井流体的研究与应用具有较好的借鉴意义。     

Modeling language acquisition in atypical phenotypes.

An increasing number of connectionist models have been proposed to explain behavioral deficits in developmental disorders. These simulations motivate serious consideration of the theoretical implications of the claim that a developmental disorder fits within the parameter space of a particular computational model of normal development. The authors examine these issues in depth with respect to a series of new simulations investigating past-tense formation in Williams syndrome. This syndrome and the past-tense domain are highly relevant because both have been used to make strong theoretical claims about the processes underlying normal language acquisition. The authors conclude that computational models have great potential to advance psychologists' understanding of developmental deficits because they focus on the developmental process itself as a pivotal causal factor in producing atypical phenotypic outcomes. (PsycINFO Database Record (c) 2010 APA, all rights reserved)     

Comparison between photocatalytic ozonation and other oxidation processes for the removal of phenols from water

Photocatalytic ozonation (1O₃ + VUV + TiO₂), ozonation (O₃), catalytic ozonation (O₃ + TiO₂), ozone photolysis (O₃ + VUV), photocatalysis (TiO₂ + VUV) and photolysis (VUV) have been compared in terms of formation of intermediates, extent of, mineralization (TOC, COD, chloride, nitrate) and kinetics in the aqueous treatment of three phenols (phenol, p‐chlorophenol and p‐nitrophenol). In all cases, photocatalytic ozonation led to lower degradation times for chemical oxygen demand and total organic carbon removal. Intermediates formed were similar in the different oxidation systems with some exceptions. They can be classified into three different types: polyphenols (resorcinol, catechol, hydroquinone), unsaturated carboxylic acids (maleic and fumaric acids) and saturated carboxylic acids (glyoxylic, formic and oxalic acids). First order kinetic equations have been checked for the oxidation processes studied in the case of the parent compound. Rate constants of these systems have also been calculated. Copyright © 2005 Society of Chemical Industry     

迭代回归法计算T型电位滴定中试液含量

本文将迭代回归法计算Ｔ型电位滴定中，叙述了其原理及数学推导，并运算了一批实验数据，结果表明，该法准确度较高，且不需空白溶液校正。