The stiffness matrix in elastically articulated rigid-body systems

Discussed in this paper is the Cartesian stiffness matrix, which recently has received special attention within the robotics research community. Stiffness is a fundamental concept in mechanics; its representation in mechanical systems whose potential energy is describable by a finite set of generalized coordinates takes the form of a square matrix that is known to be, moreover, symmetric and positive-definite or, at least, semi-definite. We attempt to elucidate in this paper the notion of “asymmetric stiffness matrices”. In doing so, we show that to qualify for a stiffness matrix, the matrix should be symmetric and either positive semi-definite or positive-definite. We derive the conditions under which a matrix mapping small-amplitude displacement screws into elastic wrenches fails to be symmetric. From the discussion, it should be apparent that the asymmetric matrix thus derived cannot be, properly speaking, a stiffness matrix. The concept is illustrated with an example.     

History of depression and smoking cessation outcome: A meta-analysis.

The authors conducted a meta-analysis of published studies to (a) evaluate the premise that a history of major depression is associated with failure to quit smoking and (b) identify factors that moderate the relationship between history of depression and cessation outcome. Fifteen studies met the selection requirements and were coded for various study methodology and treatment characteristics. DSTAT was used to calculate individual study effect sizes, determine the mean effect size across studies. and test for moderator effects. No differences in either short-term (≤ 3 months) or long-term abstinence rates (≥ 6 months) were observed between smokers positive versus negative for history of depression. Lifetime history of major depression does not appear to be an independent risk factor for cessation failure in smoking cessation treatment. (PsycINFO Database Record (c) 2010 APA, all rights reserved)     

选矿供电系统过电压治理

针对包钢选矿供电系统过电压事故频发的问题，进行分析并提出了解决办法，实践证明效果很好。     

冬瓜山铜矿初步设计概算编制的几点体会

简述初步设计概算重要性,结合冬瓜山铜矿概算编制的实例,总结了编制初步设计概算的几点体会。     

基于Matlab/Simulink的机械工程控制系统仿真

通过列举一些实例 ,分析了Matlab/Simulink软件在机械工程控制系统仿真中的应用 ,能够简化编程 ,取得了很好的效果。     

谈谈马克思主义理论课教师世界观与价值观修养问题

马克思主义理论课教师世界观的要求就是辩证唯物主义和历史唯物主义的思想体系和方法论；其价值观的要求就是以大公无私为特征的价值判断标准。马克思主义理论课所具有的知识性和思想性、科学性和实践性相统一的特点，要求马克思主义理论课教师，不仅要有扎实的化知识，而且必须加强其世界观和价值观的修养。许多事实证明，只有这样才能真正提高马克思主义理论课的教学实效。     

In flight MTF monitoring and compensation for CCD camera on CBERS-02

All image systems cause a blurring of the scene radiance field during image acquisi- tion. Accurate characterization of this blurring is referred to as the modulation transfer function (MTF)[1]. The MTF is a fundamental imaging system design specification and system quality metric often used in remote sensing. It results from the cumulative effects of the instrumental optics (diffraction, aberrations, focusing error), integration on a pho- tosensitive surface, charge diffusion along the arra…     

对技术定义的思索

技术的定义不是唯一的 ,可以从技术的来源、技术与科学的对应性、技术与人的关系、系统论几个不同的角度给技术下定义 ,这些定义从不同侧面揭示了技术的本质 ,各有各的用途 ,各有各的适用范围。这种给技术下定义的方法也为给其他概念下定义提供了有益的借鉴与启迪。     

Express Method for Estimation of Tensile Strength and Crack Resistance of Brittle Media

The procedure is proposed for estimating the crack resistance and tensile strength of rocks by the results of experiments on disk samples with holes. The gradient approach to the strength problem is employed in processing the experimental data.     

中间馏分油型加氢裂化催化剂用沸石的研究

通过水热处理法制备了3个不同脱铝深度的改性Y沸石，再经浸渍法制成中间馏分油型加氢裂化催化剂，在200mL小型加氢裂化装置上进行了催化性能评价。试验结果表明，除了沸石的酸性外，其孔结构和比表面积对催化剂的活性、中间馏分油选择性和液体收率都有很大的影响，为最大幅度提高催化剂的中间馏分油选择性并保持较好活性，要求沸石具有较低的酸量、较高的比表面积和较多的二次孔及适量的L酸量。