机械臂的动态混合控制

本文研究当机械臂的终端受有约束时的控制问题,其中心内容是给出“任务规范投影算子”的概念,利用它首先将机械臂的动态方程解耦为两组方程,它们分别描述了运动与约束力,在此基础上给出了机械臂的控制律,使闭环系统跟踪期望的速度与约束力。     

基于多分辨率的图象压缩系统结构分析

本文着重对图象多分辨率技术进行分析，并提出了相应的系统结构成框架，同时还探讨了以图象多分辨率处理为核心，采用了 新的压缩编码的可能性。     

LED显示技术的现状和发展

综合介绍了ＬＥＤ显示技术的现状，详细叙述了全色ＬＥＤ显示的关键技术和主要性能，对ＬＥＤ在室内，室外的应用前景作出评述。     

国外混合微电子技术的新进展

混合微电子技术，推动了整个电子工业的发展。从市场和技术两个方面评述这种发展态势，重点介绍先进混合集成技术。     

一个全数字化交流永磁伺服系统

介绍了开发的全数字交流伺服系统的组成、基本原理及软、硬件结构。通过与模拟交流伺服系统的比较，说明了全数字交流伺服系统可编程能力强、系统稳定性好、系统性能提高等特点。     

How to Control Robots Interacting with Dynamic Environment

The goal of this paper is to shed light on the control problem of constrained robot motion from the aspect of the dynamical nature of the environment with which the robot is in contact. Therefore, the criticism of traditional hybrid control which allows position/force feedback loops to split into independent control with respect to position and force, is not the main point we want to make. Reference to the papers written by the founders of hybrid control and their numerous followers served only to better understand the reason and motivation for suggesting a different approach to control of robots interacting with environment.The paper has a predominantly review character, based on recently published work. It also contains some new, unpublished results in the framework of the unified approach to the position/force control of robots, proposed by the present author and his co-workers. By pointing to the possibility of introducing an environment dynamics in the contact tasks of the machining type, the author emphasizes that the proposed dynamically interactive control can be applied to a completely different class of tasks, in which a contact is made between the system (constructions or structure) and very specific kinds of dynamic environments.     

On the curing of a vinylester-urethane hybrid resin

Curing kinetics of a vinylester-urethane hybrid (VEUH) resin consisting of vinylester resin (VE) diluted in styrene and novolac type polyisocyanate (NPI) have been studied by differential scanning calorimetry (DSC). As VEUH is crosslinked via free radical polymerisation between the vinyl functions of styrene and VE, and polyaddition reaction between the secondary -OH groups of VE and -NCO of NPI, it was necessary to study these reactions separately. This was achieved by studying the curing with and without incorporating the NPI. The curing reaction was monitored by measuring the heat of reaction under isothermal and dynamic temperature conditions. Models describing the curing were developed, which are in good agreement with the experiments. A comparison between the curing of the VEUH and the VE resin without NPI leads to the conclusion that the curing of the VEUH as accessed by DSC is dominated by the radical polymerisation of styrene with VE although the two reactions are not time separated.     

计及PMU的混合非线性状态估计新方法

提出一种将同步相量测量单元（PMU）的直接电压相量量测变换为间接支路电流量测，并与监控与数据采集（SCADA）量测量一起进行混合迭代的非线性状态估计方法。对构造等效电流修正量而带来的间接量测误差进行了详细和定量的分析，并对该混合估计算法的精度进行了定性分析和定量计算。理论分析和算例表明，该方法可以获得较高的估计精度，在收敛次数和滤波效果上也有所改进。     

9200kW同步电动机全压异步启动及其励磁装置

从结构性能、直接启动、励磁装置等方面全面介绍了大型同步电动机全压异步启动的方法。