Real-time accurate hand path tracking and joint trajectory planning for industrial robots (I)

Previously, researchers raised the accuracy for a robot’s hand to track a specified path in Cartesian space mainly through increasing the number of knots on the path and the number of the path’s segments, which results in the heavier online computational burden for the robot controller. Aiming at overcoming this drawback, the authors propose a new kind of real-time accurate hand path tracking and joint trajectory planning method. Through selecting some extra knots on the specified hand path by a certain rule and introducing a sinusoidal function to the joint displacement equation of each segment, this method can greatly raise the path tracking accuracy of robot’s hand and does not change the number of the path’s segments. It also does not increase markedly the computational burden of robot controller. The result of simulation indicates that this method is very effective, and has important value in increasing the application of industrial robots. Foundation item: Foundation of the Robotics Laboratory, Chinese Academy of Sciences (No. RL200002) Biography of the first author: TAN Guan-zheng, Dr., professor, born in Oct. 1962, majoring in artificial intelligence, robotics and automation.     

机载雷达空时二维信号处理自适应权值训练的距离分段递推算法

本文针对机载预警雷达的杂波环境，分析了杂波数据的非平稳性，由此提出在距离上分段实现空时二维自适应处理（STAP）的方法，并通过分析杂波于空间的距离来确定分段的方法。在同时考虑实时性和处理器性能的前提下，给出了一种自适应权值计算的递推算法。理论分析和计算机仿真结果均表明，本文提出的分段递推算法是有效的。     

原子吸收分光光度法测定焦锑酸钾中锑含量

比较详细地研究用火焰原子吸收分光光度法测定焦锑酸钾中锑含量的技术条件和测定方法。     

影响碲镉汞晶体电子迁移率的主要因素

通过把迁移率的实测值与影响ＨｇＣｄＴｅ晶体电子迁移率的主要散射机构进行对比，得出结论：位错是ＨｇＣｄＴｅ晶体低温电子迁移率降低的主要原因。     

CIMS软件开发工具：Petri网编辑器的语法分析及其实现

本文给出并发表达式语言的文法，并描述了Petri网编辑器的语法分析过程和中间代码的产生过程。解决了Petri网在计算机中的存贮结构问题，处理了可能会出现的重名变量，实现了从井发表达式语言到安全标号的Petri网的转换工作。     

水土保持工程施工阶段的设计变更

通过对水土保持工程施工阶段设计变更原因的分析，指出水土保持生态工程施工阶段变更的必要性和建设、监理单位对变更管理的重要性。通过对变更设计的程序和原则进行的分析，阐述了变更设计涉及的几个主要问题。     

Robotics in the factory of the future: AI in manufacturing: The NBS AMRF as an intelligent machine

Within its Automated Manufacturing Research Facility (AMRF), the U.S. National Bureau of Standards (NBS) is addressing research issues in interface standards for the fully automated factory of the future for the production of small batches of discrete parts. Consisting of robots, machine tools and computers, the AMRF is being integrated using a real-time, sensory-feedback, data-driven hierarchical control architecture. As such, the AMRF is a research tool for investigating the manufacturing enterprise as a system of intelligent machines. This paper: (1) describes the AMRF in terms of its real-time control system architecture; (2) notes the role of symbolic languages, knowledge-representation, sensory-processing and other aspects of artificial intelligence in its development; and (3) speculates on further application of AI in future intelligent manufacturing systems similar in form to the AMRF.     

佛尔哈德法测定氯化除汞上清液中的氯量

控制pH4-6，用锌粉还原氯化除汞上清液中的汞（Ⅱ）离子，取置换后液加入过量的硝酸银标准溶液，以硫酸铁铵溶液作指示剂，用硫氰酸钾标准滴定溶液滴定来测定氯量。该方法的检出限：0．25mg／100mL，回收率：98％-101％。     

An extended minimax disparity to determine the OWA operator weights

This paper contributes to extend the minimax disparity to determine the ordered weighted averaging (OWA) model based on linear programming. It introduces the minimax disparity approach between any distinct pairs of the weights and uses the duality of linear programming to prove the feasibility of the extended OWA operator weights model. The paper finishes with an open problem.