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)     

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。     

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.     

ISIS全局优化多道反演技术在墩2块岩性油藏描述中的应用

为进一步落实墩2块戴一段岩性油藏成藏规模及分布规律，针对该储层薄、横向变化快的特点，利用ISIS全局优化多道反演技术，对该构造区岩性储层进行了精细描述，较好的预测出戴一段储层平面分布规律。     

油藏能量势及应用前景

建立了油藏能量势的定义，阐述了其物理意义。油藏能量势好地揭示油藏开发过程中流体运动的本质，运用该定义能较好地解释油藏开发过程中的水窜、气窜、间歇注水和脉冲注水、注水井调剖和注氮气采油技术机理，对指导油藏勘探、开发具有一定的意义。     

项目管理软件的开发思路

详细介绍了项目管理的发展及项目管理软件的现状。通过对P3管理软件的分析论述，得出项目管理软件系统的开发方案。