Cable-direct-driven-robot (CDDR) with a 3-link passive serial support

Cable-direct-driven-robots (CDDRs) provided with a passive serial support represent an interesting and rising evolution of planar cable robots. The paper is devoted to present and analyze a novel CDDR robot. The robot consists in a fully actuated CDDR supported against loading normal to the motion plane with a 3-link passive planar serial manipulator. This hybrid structure combines positive features of both parallel and serial architectures, and prevents out-of-plane movements without the necessity for the robot to be supported on the motion plane. The adoption of a 3-link serial manipulator ensures a greater workspace area compared with similar structures that adopt a smaller number of links, and improves specific characteristics of their dynamics. Nevertheless undesired oscillations may occur since the serial manipulator is underconstrained. For this reason damping elements are inserted in the structure. Simulation examples are presented to demonstrate the novel CDDR concept and its dynamics. In addition, a strategy to select proper values of damping coefficients is presented.     

加筋生态护坡技术的应用与发展

在越来越注重工程生态性的今天,生态护坡在道路、堤防、城市水利等方面得到了广泛应用。然而很多情况下,生态护坡在强度上无法满足工程设计的要求。加筋生态护坡是土工织物与植草相结合形成的一种护坡形式,在保证工程生态性的同时大大提高了生态护坡的强度,近年来逐渐得到重视与应用。综合介绍了加筋生态护坡的发展历程,将其概括为传统生态护坡、普通加筋生态护坡和高性能加筋生态护坡3个阶段,在此基础上对加筋生态护坡使用的不同结构型式和材质的土工合成材料进行了分类总结,针对国内外加筋生态护坡技术的研究现状和主要结论,结合实例分析了加筋生态护坡的工程应用,指出在保护边坡、减少水土流失及改善生态环境方面的作用。最后,展望了未来需要研究的方向。     

单组分聚脲材料在寒冷地区某大坝溢流面防护中的应用

水利水电工程泄洪建筑物表面经常遭受高速含沙水流或携带推移质的冲刷,经过一段时间的运行,往往会出现不同程度的磨损及气蚀破坏,采用性能优越的水工混凝土抗冲耐磨材料修复和防护尤为重要。本文通过单组分聚脲材料性能试验揭示了材料的特点,介绍了其在新疆某大坝溢流面防护中的应用情况,其处理技术对类似工程具有良好的借鉴意义。     

炭素阳极环式焙烧炉自动化燃烧技术研究

以中国长城铝业公司炭素厂34室环式焙烧炉为对象进行自动化燃烧控制技术的研究，通过分析工艺特性，研究开发了燃烧控制系统，计算机实时网络控制系统，而投资只是引进系统的三分之一，整体技术达到世界先进水平。     

时间Petri网与CAGA算法相结合的并行测试研究

在并行测试的研究中对于任务的测试次序一直是个研究重点及难题。用时间Petri网建立关于并行测试系统的模型,并首次用元胞遗传算法(CAGA)对模型中的变迁序列进行搜索,快速得到最好的测试序列。通过仿真结果表明,该算法展示了很好的收敛效果,并且与已有的研究成果相比更具优势。     

羟乙基纤维素添加在醋丙乳液中做保护胶体的初步研究

采用羟乙基纤维素为保护胶体制备了醋丙乳液,探讨了乳液聚合过程中共聚单体配比、保护胶体用量、温度和引发剂等因素对乳液聚合的影响,多方面考察乳液的性能.结果表明：羟乙基纤维素为保护胶体可制备稳定的醋丙乳液,该乳液具有优良的电解质性能.     

保护胶体稳定的丙烯酸酯乳液流变性

分别采用常规乳化剂和羟乙基纤维素为保护胶体制备丙烯酸酯乳液。通过TEM分别观察乳胶粒的形态。利用流变仪测定剪切速率（Ds）-剪切应力（τ）关系、剪切速率（Ds）-黏度（η）关系。结果表明：采用羟乙基纤维素为保护胶体制备的乳液与常规乳液具有不同结构，该结构使其乳液体系流变性能不同。在相同剪切速率下，保护胶体制备的丙烯酸酯乳液的剪切力明显大于常规乳液的剪切力，该乳液在一定剪切速率范围内有剪切稀化现象。     

共挤保护膜研究概况

介绍了共挤保护膜的特点及国外发展现状以及共挤保护膜所用基材种类及特点，压敏胶主要成分及作用。     

The European,Japanese and US protective helmet,gloves and boots for firefighters: thermoregulatory and psychological evaluations

The purpose of this study was to investigate the physiological and subjective responses of the European, Japanese (JPN) and US firefighters' helmet, gloves and boots for international standardisation. Three experimental conditions were evaluated (clothing mass: 9.4, 8.2 and 10.1 kg for the three conditions, respectively) at the air temperature of 32°C and 60% relative humidity. The results showed that there was no significant difference among the three conditions in oxygen consumption, heart rate, total sweat rate, rectal temperature and mean skin temperature, whereas peripheral temperatures and subjective perceptions were lower in the JPN condition than in the other conditions (P < 0.05). These results indicate that a 0.5-kg reduction in helmet mass and a 1.1-kg reduction in boot mass during exercise resulted in a significant decrease in head and leg temperatures and subjective perceptions, while a 1.9-kg reduction in total clothing mass had insignificant influences on the metabolic burden and overall body temperature.     

Duration of slip-resistant shoe usage and the rate of slipping in limited-service restaurants: results from a prospective and crossover study

Several studies have indicated that slip-resistant shoes may have a positive effect on reducing the risk of slips and falls, a leading cause of injury at work. Few studies, however, have examined how duration of shoe usage affects their slip-resistance properties. This study examined the association between the duration of slip-resistant shoes usage and the self-reported rate of slipping in limited-service restaurant workers. A total of 475 workers from 36 limited-service restaurants in the USA were recruited to participate in a 12-week prospective study of workplace slipping. Of the 475 participants, 83 reported changing to a new pair of shoes at least once during the 12-week follow-up. The results show that slip-resistant shoes worn for less than six months were moderately more effective than those worn for more than six months. Changing to a new pair of shoes among those wearing slip-resistant shoes at baseline was associated with a 55% reduction in the rate of slipping (RR = 0.45, 95% CI = 0.23–0.89). Further research is needed to develop criteria for the replacement of slip-resistant shoes.

Practitioner Summary: The duration of usage impacts the slip-resistance properties of slip-resistant shoes. Slip-resistant shoes worn for less than six months were moderately more effective in reducing slips than slip-resistant shoes worn for more than six months. Shoe use policies should not only encourage or require their use but also include guidance on replacing slip-resistant shoes at regular intervals.