双机械臂协调：以运动学为基础的模型分析与动态补偿控制方法

本文建立了双机械臂协调系统的主从式控制的非结构模型，并针对两臂具有相同特性和不同特性这两种情形作了稳定性分析，提出特性校正的方法，本文还利用内模原理设计出动态补偿器来克服标定约束的不确定性对系统控制品质的影响，最后给出了实验结果。     

An object-oriented manufacturing control system

This paper presents the development of an event-driven control architecture and its implementation in a physical simulator of a computerized manufacturing system using object-oriented techniques. The architecture was developed to improve the efficiency of handling concurrent control events in the DOS environment. In the implementation, the control system of the physical simulator consists of four distinct layers of control devices: a PC/386 computer, a microcontroller, I/O modules and the system's control devices such as motors, solenoids and sensors. A control program residing in the PC/386 coordinates system-level tasks such as event scheduling, while a BASIC program running on the microcontroller handles all low-level control tasks such as sensor monitoring and motion control. The concepts and developments presented in this paper should help in implementing an efficient control system for both CIM systems and their physical simulators.     

丙烯酸接枝聚丙烯纤维的结构与性能

本文研究了用化学引发剂引发丙烯酸接枝聚丙烯纤维的某些影响因素。红外光谱分析表明，丙烯酸接枝在聚丙烯大分子链的叔碳原子上。Ｘ－射线衍射和ＤＳＣ分析指出，纤维接枝后结晶度有所增加，接枝前纤维存在的β－变体转化成了α－变体，接枝纤维的吸湿性、离子交换容量和染色性随接枝率增加而增大。接枝纤维的力学性能有所下降。     

认清形势 振奋精神全面完成化工“八五”计划的各项任务

总结回顾了１９９４年中国化学工业的改革及发展现状，提出了１９９５年化工生产建设的目标及在化工行业改革方面的四项试点工作，强调了编制“九五”计划的重要性。     

葡萄糖电解氧化还原工艺研究

采用自制的无膜电解槽，对同时电解氧化还原葡萄糖生成葡萄糖酸和山梨醇的工艺进行了研究。所得到的最佳工艺条件为：葡萄糖浓度０．４ｍｏｌ／Ｌ，ｐＨ值１１，电流密度３Ａ／ｄｍ￣２。在此条件下电解１２ｈ，葡萄糖转化率可达９６．４％，葡萄糖酸产率８８％，山梨醇产率１０％。同时，考察了和Ｚｎ￣（２＋）加入以及ｐＨ值对电流效率的影响。     

Adhesion Mechanisms of Polyurethanes to Glass Surfaces. III. Investigation of Possible Physico-Chemical Interactions at the Interphase

Surface free energies of polyurethanes made from toluene diisocyanate and 1, 4 butanediol-based hard segments and caprolactone polyol-based soft segments were calculated using additive functions. Good agreement was found between the calculated values based on additive functions and the calculated values based on contact angle measurements. The phase-separated polyurethanes were found to have a higher polar surface free energy component (γ^P). This was linked to the preferential segregation of butanediol/butanediol-derived moieties to the polyurethane surfaces due to phase separation. The adhesion values of these polyurethanes to soda-lime glass were correlated with their respective γ^P values and a linear relationship was found. It was also shown that the adhesion values of the low γ^P polyurethanes improved substantially when the glass surfaces were coated with a thin layer of butanediol prior to the bonding. The modulus of the interphase region rich in butanediol was evaluated. Although a modulus increase was found at the interface, this increase was found to play a secondary role in the adhesion. The chemical interactions at the polyurethane/glass interphase were investigated by pre-treating the glass surfaces with methyl-trimethoxysilane and trimethylchlorosilane prior to adhesion testing. The adhesion data showed no significant difference between the uncoated and the silane-treated glass substrates. Based on this experimental evidence, the possibility of any covalent or ionic bonding at the polyurethane/glass interphase was assumed negligible. It was determined that the mechanism of adhesion between the polyurethanes and the glass surface could be through the formation of an interphase region in which hydrogen bonding between the butanediol-rich interphase region and the hydroxylated glass surface plays a key role.     

本钢烧结矿冷却及其余热回收的试验研究

从烧结矿冷却并回收其余热的角度出发，介绍了利用烧结机尾落矿空间，采用喷吹空气装置对烧结矿进行冷却的小型模拟试验，从测出的结果来看，有可能成为一种新的烧结矿冷却方式。     

Intelligent Control of Consolidation and Solidification Processes

Intelligent processing of materials (IPM) deals with the integration of process models and in situ sensors into an intelligent process controller to achieve desired material properties. IPM-based control systems recently have been developed for both consolidation and solidification processes. This article explores the application of models based on the finite- element method (FEM) to develop process actuation systems, to design process schedules and component shape, and to develop a control model with which to control the process. The results in this article were presented at the AeroMat ’93 Advanced Aerospace Materials/Processes Conference and Exposition, Anaheim, CA, 7–10 June 1993     

厚沙波沙脊区海底管道用爆破法开沟初探

某区在海上铺设管道,须通过厚沙波沙脊区,采用机械方法施工很困难,应用沉入混凝土管的爆破方法具有投资省,速度快,施工简单的特点。