Development and implementation of a NURBS curve motion interpolator

This paper deals with the issues of development and implementation of a real-time NURBS interpolator for a six-axis robot. Using an open-architecture controller system as a testbed, a real-time NURBS curve interpolator was developed, implemented and tested. Sample runs were conducted with the resulting trajectories measured in real-time during robot motion. The resulting trajectories are analyzed, discussed and compared with those from a commonly used point-to-point approximation technique. The real-time NURBS curve interpolator's feasibility, advantages and related issues are also discussed.     

A polynomial factorization approach to the discrete time GI/G/1/(N) queue size distribution

The queue of a single server is considered with independent and identically distributed interarrivai and service times and an infinite (GI/G/1) or finite (GI/G/1/N) waiting room. The queue discipline is non-preemptive and independent of the service times.

A discrete time version of the system is analyzed, using a two-component state model at the arrival and departure instants of customers. The equilibrium equations are solved by a polynomial factorization method. The steady state distribution of the queue size is then represented as a linear combination of geometrical series, whose parameters are evaluated by closed formulae depending on the roots of a characteristic polynomial.

Considering modified boundary constraints, systems with finite waiting room or with an exceptional first service in each busy period are included.     

Direct Spectroscopic Determination of Europium(Ⅱ) Concentration During Europium(Ⅲ) Electro-Reduction in Hydrochloric Acid Medium

UV-Vis spectroscopy was used to directly determine the concentration of Eu(Ⅱ) during electroreduction of Eu(Ⅲ) in hydrochloric acid medium. Electroreduction was carried out in a flow type electrolyzer with glassy carbon cathode at the constant potential of -800 mV vs. Ag/AgCl. The effects of oxygen and concentration of hydrochloric acid on the system were investigated. For 0.01 mol·L-1 hydrochloric acid, calibration curves for Eu(Ⅱ) absorption bands at 248 and 320 nm were constructed. Molar absorption coefficients were estimated to be 2016 and 648 L·mol-1·cm-1, respectively. The absorbance strongly decreased with decrease in pH of the solution, whereas concentration of chloride had only a negligible effect.     

Effect of Microstructure on the Accelerated Creep of 20CrMoV12‐1 and P 91 Steels

In the initial part the change of microstructure for steel X20 CrMoV 121 is discussed in terms of the distribution of carbide precipitates and its effects on accelerated creep resistance and hardness are presented. In the following, experimental results of microstructure and accelerated creep resistance are presented for the steels X20CrMoV 121 and P91 annealed for up to 8760 hours at 650°C and 750°C before the testing. A similar evolution of the distribution of carbide particles of a size above 102 nm is found for both steels, while the accelerated creep resistance is diminished much stronger for the steel X20CrMoV 121. This difference is due to a greater stability of NbC than that of VC precipitates, both related to the evolution of the chemical composition of complex chromium, molybdenum and iron carbide particles.     

一种基于时间分层决策矩阵的综合评价算法

综合评价系统用四元总体（A，Z，X^(k)，D）表示，其中决策矩阵X^(k)是具有对象维i,指标维j,时间维k的三维矩阵，将三维矩阵X（k)按时间划分形成m个二维矩阵，每个二维矩阵分别代表每个年度n个评价对象对应于p个指标的属性集，讨论了按时间分层决策矩阵的多指标综合评价问题，描述了按时间分层的决策矩阵的求解算法，并采用Visual Foxpro数据库语言编程实现。     

试验模态分析技术的进展

本文对试验模态分析技术的进展,特别是80年代发展起来的有关新技术进行了综合评述。主要内容有:试验激振技术、频响函数估计方法、试验测试设备、以及各种模态识别方法,包括单输入/多输出和多输入/多输出识别的时域和频域方法。文中强调了试验模态分析技术各环节之间的相互联系、相互影响,对于80年代已成为模态识别主流的多输入/多输出各种方法(包括作者发展的几种方法),用统一方法作了描述。最后提出了若干值得进一步研究的方向。     

The intervalley X6→Γ6, L6 scattering time in GaAs measured by ultrafast pump-probe infrared absorption spectroscopy

A direct measurement of the dynamics of electrons in the X₆ valley for a GaAs crystal by time-resolved absorption spectroscopy is reported for the first time. IR picosecond probe pulses were used to monitor the growth and decay of the population in the X₆ valley subsequent to excitation by a 527 nm pump pulse. The intervalley X₆→Γ₆, L₆ scattering time t_x of 0.70 ± 0.50 ps is determined and the crossection for the X₆→X₇ transition is estimated to be 1.8 × 10⁻¹⁶ cm².     

Identification environment and robust forecasting for nonlinear time series

In this paper, the methods of time series for nonlinearity are briefly surveyed, with particular attention paid to a new test design based on a neural network specification. The proposed integrated expert system contains two main components: an identification environment and a robust forecasting design. The identification environment can be viewed as a integrated dynamic design in which cognitive capabilities arise as a direct consequence of their self-organizational properties. The integrated framework used for discussing the similarities and differences in the nonlinear time series behavior is presented. Moreover, its performance in prediction proves to be superior than the former work. For the investigation of robust forecasting, we perform a simulation study to demonstrate the applicability and the forecasting performance.     

Computational Schemes for Flexible,Nonlinear Multi-Body Systems

This paper deals with the development of computational schemes for the dynamic analysis of flexible, nonlinear multi-body systems. The focus of the investigation is on the derivation of unconditionally stable time integration schemes for these types of problem. At first, schemes based on Galerkin and time discontinuous Galerkin approximations applied to the equations of motion written in the symmetric hyperbolic form are proposed. Though useful, these schemes require casting the equations of motion in the symmetric hyperbolic form, which is not always possible for multi-body applications. Next, unconditionally stable schemes are proposed that do not rely on the symmetric hyperbolic form. Both energy preserving and energy decaying schemes are derived that both provide unconditionally stable schemes for nonlinear multi-body systems. The formulation of beam and flexible joint elements, as well as of the kinematic constraints associated with universal and revolute joints. An automated time step selection procedure is also developed based on an energy related error measure that provides both local and global error levels. Several examples of simulation of realistic multi-body systems are presented which illustrate the efficiency and accuracy of the proposed schemes, and demonstrate the need for unconditional stability and high frequency numerical dissipation.