一种新的机器人手臂控制方法

从机器人手臂的关节电机力学出发，本文提出了一种独立于现行机器人关节控制器的离线补偿方法，通过对－２自由度机器人的数值研究，证明该法不仅能有效地克服由于惯性负载，关节间耦合与重力效应给控制系统带来的动态精度问题，而且还可以消除由于控制系统本身的固有特性所决定的系统的跟踪误差。     

Best L1 Piecewise Monotonic Data Modelling

Let us consider n data measurements of a univariate process that have been altered by random errors. We assume that an underlying model function has a substantially smaller number of turning points than the observed ones. We propose algorithms that make least the sum of the moduli of the errors by requiring k monotonic sections, alternately increasing and decreasing, in the sequence of the smoothed values. The main difficulty in this calculation is that the optimal positions of the joins of the monotonic sections have to be found automatically among so many combinations that it is impossible to test each one separately. Moreover, the calculation seems to be very intractable to general optimization techniques because O(n^k) local minima can occur. It is shown that dynamic programming can be used for separating the data into optimal disjoint sections of adjacent data, where each section requires a single L₁ monotonic calculation. This procedure is highly efficient, requiring at most O(kn²) computer operations and O(n) best L₁ monotonic calculations to subranges of data for a global minimum.     

线加权余量法及其在正交异性板弯曲分析中的应用

利用有限差分法对控制方程和边界条件进行半离散化,使其定义在一些离散线上,然后采用加权余量法求解。这就是本文提出的线加权余量法,也可称之为有限差分-加权余量分维耦合法。文中以正交各向异性薄板弯曲平衡问题为例推导了有关具体算式,给出了数值算例,说明了本文方法的有效性。     

Effects of a Nd—Fe—B magnetic filler on the crystallization of poly(phenylene sulfide)

The crystallization of poly(phenylene sulfide) (PPS) in a polymer–magnetic Nd—Fe—B powder suspension was studied. Isothermal crystallization behavior was analyzed by way of differential scanning calorimetry, and the kinetics were described via the Avrami equation. The Avrami parameters and the crystallization times were strongly affected by both the particle size and the presence of a coupling agent coated on the filler particles. The small Nd—Fe—B particles exhibited long induction and half‐times, whereas the large particles tended to have short crystallization times. Particles ranging from 38 to 150 μ appeared to have similar crystallization times and to have no significant change in the value of Avrami index with melt crystallization temperature. As a result of these analyses, the dynamic mechanical properties were determined to correlate the fundamental polymer crystallization characteristics and the physical properties of the PPS binder. The enhancement of the wetting of the filler to the binder was promoted through the coupling agent, as confirmed by dynamic mechanical testing performed on the samples. The storage modulus typically decreased because of the presence of the uncoated small particles. Conversely, the loss modulus was enhanced because of the presence of the coated small particles in the PPS binder. © 2002 Wiley Periodicals, Inc. J Appl Polym Sci 83: 1091–1102, 2002     

基于ODMG—93标准的面向对象视图集成机制

模式集成多数据库系统中需要解决的关键问题之一，己存在的大多数面向多数据库系统都采用了面向对象视图机制来建立集成模式。为了满足基于ＣＯＲＢＡ的ＣＩＭＳ信息集成平台呆订成的需要，本文提出了一种基于数据库管理组ＯＤＭＧ的ＯＤＭＧ－９３标准的视图集成机制并通过一个完整的例子说明了这种视图机制在模式集成中的应用。     

聚醚酰亚胺热焓松弛的分子量依赖关系

采用ＤＳＣ对不同分子量的聚醚酰亚胺的等温及动态热焓松弛行为进行了研究，并以ＫＷＷ方程对实验数据进行了非线性拟合。结果表明，分子量对热焓松弛的影响是由高分子端基引起自由体积的差异所致。不同分子量的聚醚酰亚胺分子具有不同数量的端基，淬冷时端基数目的差异将产生不同数量的过剩自由体积，从而影响松弛热焓及松弛速率、低分子量的聚醚酰亚胺松弛相对较快，且起始热焓高，松弛的表观活化能亦较小。     

Practical method for generation expansion planning based on dynamic programming

This paper presents an efficient method which provides the optimal generation mix and the optimal generation construction process. The approximation method in which the dynamic programming technique and gradient method are combined is applied to determine the optimal generation mix with hydropower generation technologies. The successive approximations dynamic programming (SADP) technique, which is very suitable for high-dimensional multistage decision process problems, is used for obtaining the optimal generation construction process. The effectiveness and feasibility of the developed technique are demonstrated on a practical power system model which has five types of generation technologies including a hydropower generation technology.     

非串行生产线的建模,分析及设计

本文利用等效工作站理论和工件流平衡原理，推导出非串行离散事件生产线可以等价于串联系统，并归结为装配和拆卸两条定理，解决了系统的建模、分析与设计问题。     

连续驱动摩擦焊动态扭矩检测的新方法—VCMM法

连续驱动摩擦焊动态扭矩检测的新方法──ＶＣＭＭ法刘金合，罗键连续驱动摩擦焊扭矩是一个重要的工艺参数。摩擦焊扭矩是动态扭矩，具有时变性、速变性以及变化范围大等特点。现有的检测摩擦焊扭矩的方法均有一定的局限性’‘－’‘，本文提出了通过驱动主电机定子电压和...     

Finances and Well-Being: A Dynamic Equilibrium Model of Resources.

This study of 513 Dutch farmers tested a dynamic equilibrium model of resources (an extension of the conservation of resources theory; S. E. Hobfoll, 1989, 1998, 2001). With structural equation modeling, the advantages of a 3-wave longitudinal design were comprehensively used, such as addressing bidirectional causal effects and within-individual vs. between-individual change. This allowed for a careful analysis of the management function of resources in the stress process. Results showed that well-being had stronger within-person stability than finances. Increased levels of financial problems temporarily increased psychological distress but not self-reported illness. Conversely, farmers with higher stable baselines of psychological distress also had higher baselines of self-reported illness and experienced more negative changes in their financial situation. (PsycINFO Database Record (c) 2010 APA, all rights reserved)