基于旋量和臂形标志的机器人运动学逆解计算

讨论了用旋量和指数积公式计算PUMA类型6自由度机器人运动学逆解的方法。在子问题的计算过程中，通过引入臂形标志来选取关节变量的合理解，以得到运动学逆解的唯一解。这种方法避免了对无效解的计算，可以减少计算量，提高计算效率。通过一个实验机器人的运动学逆解计算验证了算法的有效性。     

NMR studies of poly(2-hydroxy ethyl methacrylate-co-2-vinyl pyridine)

Copolymers of 2-hydroxy ethyl methacrylate-2-vinyl pyridine (H/V) of different composition were synthesized by free radical bulk polymerization using azobisisobutyronitrile (AIBN) as an initiator under nitrogen atmosphere. The copolymer compositions were calculated from ¹H NMR spectra. The reactivity ratios for H/V copolymers obtained from a linear Kelen-Tudos method (KT) and nonlinear error-in-variables method (EVM) are r_H = 0.50 ± 0.10, r_V = 1.04 ± 0.08 and r_H = 0.55, r_V = 1.06 respectively. The complete spectral assignment of methine, methylene, methyl, carbonyl, and aromatic carbon regions in term of compositional and configurational sequences of H/V copolymers were done with the help of ¹³C{¹H} NMR, distortionless enhancement by polarization transfer (DEPT), two-dimensional heteronuclear single quantum coherence (HSQC) along with total correlated spectroscopy (TOCSY). © 2008 Wiley Periodicals, Inc. J Appl Polym Sci, 2008     

Effect of Li+ ions on structure,properties, and actuation of cellulose electro‐active paper actuator

We have reported an electro‐active paper actuator from regenerated cellulose. After dissolving cellulose fibers with a solution of lithium chloride in N,N‐dimethylacetamide, cellulose was regenerated by combining distillation of cellulose solution along with washing with the mixture of deionized water, isopropyl alcohol, and running water. However, the effect of Li⁺ ions on structure, properties, and the actuation behavior of the actuator was not studied. This article describes the changes in these parameters when the Li⁺ ions are removed by subjecting it to different running water exposure time. The structure and properties of cellulose electro‐active paper and its actuation behavior were studied. As Li⁺ ions content reduced from 4354.17 to 10.26 ppm by increasing the exposure time of running water, crystallinity, Young's modulus, and bending displacement decreased. Details about the investigation have been explained. This elimination of ions is important to increase the piezoelectric effect in EAPap by decreasing the ion migration effect. © 2008 Wiley Periodicals, Inc. J Appl Polym Sci 2008     

东华原型在针织服装中的应用初探

针对针织服装结构设计的特点和现状，运用东华原型的结构原理和技术应用方法，通过试样着装实验，进行比较分析，建立了针织服装基型，并阐述了其应用的方法．     

组态软件在应用中的功能扩展

在DDE动态数据交换基础上,采用本地以太网UDP用户数据报协议,解决了组态王不支持网络变量从本机输出的问题,完善了系统功能。     

双酶法制糖控制策略在DCS上的实现

目前制糖工艺流程基本是手动控制或半自动化控制，极少数企业采用DCS系统进行集中控制，特别是应用于“一线液化两线糖化”的制糖生产工艺流程中。从实际的生产应用中介绍“两次液化-两次加酶”法生产淀粉糖生产工艺、自动化控制系统的原理、JX-300 DCS系统简述、DCS系统构成和系统组态、系统调试，重点捕述“一线液化两线糖化系统”在DCS上的具体实现。通过近五年的运行，该系统控制方案是可行的，工艺运行稳定可靠，完全满足工艺的要求。     

高层建筑擦窗机的选型与建筑设计要求

论述了擦窗机产品的发展现状与安装的必要性；在擦窗机产品的分类与选型考虑因素的基础上，对目前我国擦窗机的型式及其配置做了比较系统的介绍；最后还简单列举了几种擦窗机的布置方式。对高层建筑在建筑设计时就考虑擦窗机的安装型式，结构设计的承载要求等，提供了较为实用的参考。     

聚酯固相装置反应器温度控制方案改进

分析聚酯固相装置原料温度在工艺系统过程中存在的问题,介绍6820反应器的温度控制优化方案,给出为改善系统反应温度控制的方案设计和组态内容。     

母线保护选型配置原则及整定计算

以220kV变电站母线保护为例,介绍母线保护选型配置及整定计算原则。     

CS3000顺控表的组态和应用

介绍CS3000系统顺控表的结构、参数定义和功能块组态,以聚丙烯加氢控制为例,描述顺控表的组态方法、顺控动作和操作步骤等。