Theoretical Investigation of Time Suboptimal Control of Industrial Manipulators Along Specified Paths

A method for the time suboptimal control of an industrial manipulator from an initial position and orientation to a final position and orientation as it moves along a specified path is proposed. Nonlinear system equations that describe the manipulator motion are linearized at each time step along the path. A method which gives the control inputs (joint angular velocities) for time suboptimal control of the manipulator is developed. In the formulation, joint angular velocity and acceleration limitations are also taken into consideration. A six degree of freedom elbow type manipulator is used in numerical examples to verify the method developed.     

Study on axiomatic rules for building up relationships between requirement and source programs

The purpose of our study is to build up relationships between requirement and source programs with our originally thought-out rules. When other rules to be derived from these original rules are applied to software development, even a single instruction in a programming language could be determined, and the program would satisfy the requirement. More specifically speaking, these rules will turn into a formula or a prototype of software programs. Hence, when the variables in the requirement are placed in the formula, we can get a required program in an automatic way.     

Preparation of ultra-fine copper powder and its lead-free conductive thick film

In this paper, non-agglomerated monodispersed ultra-fine copper metallic powders have been synthesized with chemical reduction method. Fine lead-free glass powders were also prepared by solid synthesis process. Thick film paste prepared by above-mentioned copper metallic powders and lead-free glass powders was applied as conductive paste of MLCC. Mixture of glass and zinc oxide give the thick film a high adhesion strength which is attributed to the rough interface from interfacial reaction between glass and chip, and a good densification. Diffusion of metal between copper thick film and nickel thick film is clear. Ni-Cu solid solution appears under high temperature firing.     

外转子电机关键技术及解决措施

对外转子电机的关键技术和主要工艺问题进行了探讨分析，并提出了解决措施。     

三元吸收制冷的研究进展

氨—水和溴化锂—水是目前使用最广泛的两种二元吸收工质对，但各有缺陷，为此人们希望采用三元吸收工质克服这两种二元工质对的不足。国外许多学者对三元吸收制冷尤其是氨—水—溴化锂三元吸收制冷作了大量理论和试验研究，国内未见这方面的文献发表，该文从物性和循环两方面对这些研究作简单介绍，并对三元吸收制冷研究简单展望。     

Linear Algebra Considerations for the Multi-Threaded Simulation of Mechanical Systems

A solution method suitable for the multi-threaded simulation ofmechanical systems represented in Cartesian coordinates isproposed and analyzed. In a state-space framework for thesolution of the Differential Algebraic Equations (DAE) ofMultibody Dynamics, the position/velocity stabilization and theacceleration computation are based on iterative solvers applied toequivalent reduced problems. The most in-depth computationalaspect analyzed is the preconditioning, i.e., the direct solutionof the reduced systems. Provided a topology index reduction is first applied to the model, the effort for the direct solution of the reduced systems is shown to be of order O(N _J ), where N _J is the number of joints in the model. The recurring theme of thepaper is the central role that the topology of the mechanicalsystem plays in the overall performance of the numericalsimulation. Based on the topology of the model, parallelcomputational threads can be established to start in the equationformulation and continue through the iterative numericalalgorithms employed for the numerical solution. Task schedulingthese parallel threads is expected to redeem real-time performancefor certain classes of complex applications.     

如何加强产品质量管理工作的探讨

从人员质量意识、产品设计质量、原材料/元器件的控制、人员操作质量、产品评审力度等方面,分析质量管理工作中存在的难点,并提出相应的解决措施.     

位置控制器与通用变频器APC系统

在每一周期的开始时的速度值V1预设定到传动装置上进行速度预控制，同时，反馈回来的实际值Sj与S1进行比较计算，得出当时偏差值△S，此偏差值△S乘以比例系数Ksp，得到Vk叠加在Vt上，得出传动装置应具有的速度控制信号V，然后V经速度／电压变换和D／A转换向传动系统的速度控制发出控制信号Uα控制执行机构的定位。调节Ksp的值使系统无超调无振荡。     

真空钙热还原炉渣的综合利用研究

研究了从真空钙热还原炉渣中回收稀土的工艺条件；采用本工艺得到的合格稀土溶液，其回收率达65．41％；副产品氟化钙用作炼硅铁合金的助熔剂，使钙热还原炉渣得到综合利用。     

SJ-721A型调速器导叶行程变送器安装位置的改进

针对调速系统传统方法安装的导叶行程变送器存在的弊端及其对水轮发电机组调节产生的严重影响，对导叶行程变送器的安装位置及安装方法进行了改进，以提高水轮发电机组安全生产和稳定运行的可靠性。