柔性冗余度机器人残余振动主动控制

研究柔性冗余度机器人的残余振动主动控制问题，设计了具有压电作动器与应变传感器的机敏杆件，建立了受控系统的状态空间表达式，采用独立模态空间控制理论设计LQR状态反馈控制器，并基于对偶原理设计了具有指定收敛特性的Luenberger全维状态观测器，最后，以平面3R柔性冗余度机器人为例进行了计算机仿真，结果表明，采用这种主动控制方法可以显著改善柔性冗余度机器人的动力学品质。     

Response level crossing rate of a linear system excited by a partially specified Gaussian load process

The problem of determining the maximum mean response level crossing rate of a linear system driven by a partially specified Gaussian load process has been considered. The partial specification of the load is given only in terms of its total average energy. The critical input power spectral (PSD) function, which maximizes the mean response level crossing rate, is obtained. The critical input PSD turns out to be highly narrow-banded which fails to capture the erratic nature of the excitation. Consequently, the trade-off curve between the maximum mean response level crossing rate and the maximum disorder in the input process, quantified in terms of its entropy rate, has been generated. The method of Pareto optimization is used to tackle the conflicting objectives of the simultaneous maximization of the mean response level crossing rate and the input entropy rate. The non-linear multi-objective optimization has been carried out using a recently developed multi-criteria genetic algorithm scheme. Illustrative example of determining the critical input of an axially vibrating rod, excited by a partially specified stationary Gaussian load process, has been considered.     

压电类智能层合结构的力学和计算模型综述

综述了压电类智能层合结构的力学和计算模型。基于大量国内外有关压电类智能层合结构的文献 ,根据各自采用的运动学假设、场变量的近似、压电层的表达法以及曲率和温度的影响 ,对压电层合结构的力学和计算模型进行了分类 ,阐述了各种理论的特点及一般形式。     

Disparity field and depth map coding for multiview 3D image generation

In the present paper techniques are examined for the coding of the depth map and disparity fields for stereo or multiview image communication applications. It is assumed that both the left and right channels of the multiview image sequence are coded using block- or object-based methods. A dynamic programming algorithm is used to estimate a disparity field between each stereo image pair. Depth is then estimated and occlusions are optionally detected, based on the estimated disparity fields. Spatial interpolation techniques are examined based on the disparity/depth information and the detection of occluded regions using either stereoscopic or trinocular camera configurations. It is seen that the presence of a third camera at the transmitter site improves the estimation of disparities, the detection of occlusions and the accuracy of the resulting spatial interpolation at the receiver. Various disparity field and depth map coding techniques are then proposed and evaluated, with emphasis given to the quality of the resulting intermediate images at the receiver site. Block-based and wireframe modeling techniques are examined for the coding of isolated depth or disparity map information. Further, 2D and 3D motion compensation techniques are evaluated for the coding of sequences of depth or disparity maps. The motion fields needed may be available as a byproduct of block-based or object-based coding of the intensity images. Experimental results are given for the evaluation of the performance of the proposed coding and spatial interpolation methods.     

地震资料精细处理和解释在徐家围子油田的应用

以地震资料精细处理和解释在大庆长垣外围徐家围子油田开发中的成功应用为例，论述了地震地质综合描述技术在地质情况复杂的低、特低渗透油田开发中的应用效果。     

DST压恢法在大港油田的应用

非自喷井解释方法一直是困扰试井界的难题之一。自1995年底应用DKS2．0软件中DST压恢分析法先后处理了大港油田200多层实测资料以来，发现一部分井与常规分析法的处理结果完全不同。这些井多出现在均质无限大油藏，且其压力及压力导数曲线开口小、导数曲线驼峰较小。通过对DST压恢分析法在大港油田应用情况的分析，认为此方法适用于均质非自喷井，尤其是处理低渗且地层受污染井的结果比较符合地层的实际地质情况，其成果的应用对地层改造有一定的指导作用。     

起重机吊钩拖动绕线电动机他励双高调速系统

本文提出励磁电流可自动控制的他励式双高调速系统设计方案。系统在提升特别是在下放重物时，具有较硬的机械性；在负载１０－１００％的变化范围内，可实现最大偏差Δｎｍａｘ／ｎｍｉｎ１００％≤１０％，调速范围Ｄ≥１０；在满载运行条件下，可节约电能８０％以上。     

各向加权异性有限元法在不可压粘性流动计算中的应用

本文利用各向异性张力有限单元，考虑到其独特的性质，提出了一种各向加权异性的算法，即在不同方向采用不同连续性的插值函数，然后再在原连续性较弱的方向以连续性较强的插值函数计算，最后把两次计算的结果加权处理。这种方法可以适应两个方向连续性要求不同或相同的各种情况，即克服了一般各向异性张力有限单元的局限性，又大大减少了存贮量和计算量。     

弹性杆与水下壳体接触冲击的冲击力计算研究

对弹性杆与水下壳体接触冲击问题进行了研究，用有限元法模拟壳体，边界无法模拟无限域流体，通过温面上的耦合条件进行联立求解，文中给出了典型算例，并进行了有关讨论。     

Superconductivity and magnetism in niobium doped YBa2Cu3O7 Related high Tc ceramics

Magnetic characterization has been performed on the members of the cuprateniobate RBa₂Cu₂NbO₈ (R = Pr, Nd, and La) series and R_1.5Ce_0.5Sr₂Cu₂NbO₁₀ (R = Pr, Eu, Nd, and Sm) series. The PrBCNO samples show a signature in the magnetization of a magnetic ordering at 12K. The PrCSCNO sample is nonsuperconducting and shows two distinct orderings at 17K and 53K. No such magnetic phase transition is observed down to 2K in the Nd and La based RBCNO materials or the Nd, Sm, and Eu based RCSCNO materials. Measurements of the lower critical field curve, dc irreversibility line, and critical curent densities are reported for each of the superconducting NdCSCNO, SmCSCNO, and EuCSCNO compounds.