基于专家系统的机器人高层规划

本文介绍一个基于专家系统的机器人高层规划系统,阐述几个潜在应用子系统,并应用专家系统方法进行多机器人协调避碰运动规划。本系统具有良好的规划性能。     

如何辨别电影画原底片的优劣

本文提供一个简便实用的质量鉴定方法,用于在制作发行拷贝前,辨别电影画原底片的优劣。     

Latexes with intrinsic crosslink activity

In order to develop and study ‘two pack in one pot’ systems, i.e. binder systems consisting of a blend of complementary reactive latexes, epoxy- and amino-functional latexes were prepared and characterised, with atte lion especially directed to control of the number of functional groups and control of the molecular weight. The investigation is focused on the control of the molecular weight of epoxy-functional latexes and on the incorporation of amino groups in latexes by using amino-functional methacrylic monomers. To determine the reactivity of the epoxy and amino groups and to check which factors influence the crosslink reaction a number of blends were prepared from both solution and emulsion copolymers and dried at ambient temperatures. It was found that the major factors, which affect the efficiency of crosslinking, are the T_g and the molecular weight of the copolymers and, in the case of a ‘two pack in one pot system’, the rate of the polymer-polymer reaction in relation to that of the polymer-polymer interdiffusion.     

Drying of persimmons (Diospyros kaki L.) and the following changes in the studied bioactive compounds and the total radical scavenging activities

Fresh persimmons were subjected to two different processes: sun-drying during 1 month and dehydration at 60 °C during 12 h. To assess the effect of this process on nutritional and health-related properties of persimmons dietary fibers, minerals, trace elements, polyphenols and the total radical scavenging activities (TRSAs) were determined before and after processing. It was found that the contents of dietary fibers, minerals and trace elements in fresh and dried persimmons fruits were comparable. Total polyphenols in fresh persimmons was higher than in dried fruits (1.3 vs. 0.9 and 0.8 mg/100 g FW, respectively) and percentage of inhibition was higher than in dried fruits (70% vs. 59% and 55% and 58% vs. 53% and 46% for 1,1-diphenyl-2-picrylhydrazyl (DPPH) and 2,2′-azino-bis (3-ethylbenzthiazoline-6-sulfonic acid) [ABTS] radicals, respectively (P>0.05 in all cases). In conclusion: (1) the differences in the contents of dietary fibers, minerals and trace elements in fresh and dried persimmons are not significant; (2) the contents of polyphenols and the level of the TRSA are higher in fresh persimmons than in dried fruits; however, both variables are also high in dried persimmons; (3) when fresh fruits are not available, proper dried persimmons could be used as a valuable substitute.     

旋风燃烧器冷态模型内颗粒运动轨迹计算

在冷态模型流场内，考虑气流对粉煤颗粒的气动阻力，建立其运动微分方程式。通过计算，得到九种粒径的颗粒在流场中的运动轨迹、停留时间、着膜位置和气－固相相对速度与该燃烧器几何参数和气动参数的关系，为燃烧器的深入研究提出了建议。     

Interfacial activity and rate of palladium(II) extraction with decyl pyridine monocarboxylates

Decyl isonicotiniate and decyl nicotiniate permit a rapid extraction of palladium(II) from its hydrochloride solutions. Decyl picoliniate is not a suitable extractant. 4-Octylphenylamine can act as a phase transfer catalyst when its concentration in the organic phase is at least 2·5 × 10^?4 M . It seems that the interfacial adsorption of pyridine carboxylates and of 4-octylphenylamine is not the decisive phenomenon in palladium(II) extraction. The negligible protonation of the pyridine-type extractants and the phase transfer catalysis explains well the quick extraction of palladium(II) with the commercial and highly hydrophobic extractant ACORGA CLX-50.     

Emulsifying Properties of the Total Fraction and the Hydrophobic Fraction of Bovine Milk Proteose-peptones

Since proteose-peptone is a mixture of heterogeneous proteins and peptides, its functional properties have not yet been fully understood. The present study was undertaken to elucidate the emulsifying properties of proteose-peptones and a parallel evaluation was performed of the emulsifying activity of the total fraction prepared from bulk skimmed milk by precipitation with ammonium sulphate and of the most hydrophobic fraction purified by hydrophobic interaction fast protein liquid chromatography. A turbidimetric technique was used and the absorbance value at 500 nm was then directly used as the emulsifying activity index. The results obtained confirmed the good emulsifying activity of this protein fraction of the whey and demonstrated the considerable influence of the concentration on the capacity of the proteose-peptones to stabilize a model oil-in-water emulsion. Moreover, at all the concentrations examined, the purified component 3 showed a higher emulsifying activity than the total unpurified fraction.     

Electrolytic regeneration of bleach solution in the motion picture industry

Cyclic voltammetric and galvanostatic experiments have been carried out with both synthetic and commercial bleach solutions with a view to regenerating the same. Maximum efficiency could be achieved if the oxidation is carried out below an anodic potential of 0·80 V vs SCE. The data obtained in galvanostatic experiments with RCE confirm the results of the earlier technique.     

Modified Atmosphere Packaging Affects Ascorbic Acid, Enzyme Activity and Market Quality of Broccoli

Reduced ascorbic acid (RAA) content, total chlorophyll and green color retention, enzyme activities and texture changes were followed in broccoli spears packaged in polymeric film and nonpackaged during 96 hr storage (10°C). Concentrations within packages monitored by gas chromatography were (CO₂,) 8% and (0²) 10%. RAA retention, moisture content, total chlorophyll and color retention were greater in packaged broccoli. No differences were found between packaged and nonpackaged broccoli for ascorbate oxidase and peroxidase activities, or texture.     

Anaerobic digestion of alkaline black liquor using an up-flow anaerobic sludge blanket reactor

The anaerobic digestion of alkaline black liquor from a cereal straw pulping mill was studied in batch (serum bottles) and continuous systems (up-flow anaerobic sludge blanket reactor—UASB). The batch digestion studies confirmed that lignin and related compounds (LRC) in the alkaline black liquor were the main inhibitory substances and could not be decomposed by anaerobic bacteria. At organic loading rates of 5–10 kg COD m^?3 day^?1, the UASB reactor achieved 50–60% COD removal efficiencies. Gas production was 2–3 dm³ per dm³ of alkaline black liquor. Two different sludge types were examined in the reactor: granular and cluster-like sludges. Sludge in a cluster, which involved many small granules and flocs, tended to form larger aggregates and possessed good settling ability.