Complete forward displacement solutions for a class of three-branch parallel manipulators

Forward displacement solutions are presented for a class of spatial parallel manipulators. In particular, considered are manipulators consisting of a platform supported through passive spherical joints by three branches, each branch having three-revolute joints forming its main arm. Solutions are described for arbitrary main-arm layouts and for all possible cases of redundant (nine, eight, and seven sensors) and non-redundant (six sensors) sensing of branch main-arm joint displacements. It is demonstrated that closed-form forward displacement solutions can be found for all cases of redundant sensing. Furthermore, it is shown that a closed-form solution can be obtained for one of the two possible cases of non-redundant sensing of the main-arm joint displacements. The only case of joint displacement sensing not allowing a closed-form forward displacement solution is two joints sensed per branch, a case that can be expressed as a 16th-order polynomial of a single variable. Due to the importance of having efficient and failure-safe solutions for the forward displacement problem, it is suggested that appropriate redundancy in displacement sensing should be an important consideration in the design of parallel manipulation devices. © 1994 John Wiley & Sons, Inc.     

Biapenem versus imipenem/cilastatin in the treatment of complicated intra-abdominal infections: report from a Swedish Study Group

The objective of this study is to describe usual medical management and costs associated with recurrent respiratory infections in subjects with chronic obstructive bronchitis in France. A prospective survey was performed in Autumn 1994 on a national sample of private practice pulmonologists (N = 71). Two hundred forty-four patients, presenting at least one infection of the lower respiratory tract, were included. Bronchitis was the most frequent acute exacerbation observed (94%). Pneumonia concerned 9% of the patients. Biological tests, X-rays and pulmonary function tests were prescribed for, respectively, 59, 65 and 45% of the patients. Following the visit, 15 patients were hospitalized (6%). The direct medical cost per acute exacerbation was estimated 3,289 francs (1994 value) of which 60% were hospital-related. An average 10.4 day sick-leave was prescribed to 21% of patients in employment. For those patients, this sick-leave was associated to an extra-cost of 1,264-1,876 francs for Social Security and of 0-2,553 francs out of pocket per episode varying according to their Benefit Regimen.     

Cross sections of proton induced nuclear reactions on enriched 111Cd and 112Cd for the production of 111In for use in nuclear medicine

Proton induced nuclear reactions on enriched 111Cd and 112Cd have been studied up to 30 MeV in the context of routine production of the medically used isotope 111In with low and medium energy cyclotrons. The excitation functions of 111Cd(p,n)111m,gIn and 112Cd(p,2n)111m,gIn as production reactions and 111Cd(p,2n)110mIn, 111Cd(p,2n)110In, 111Cd(p,3n)109ml,m2,In, 112Cd(p,3n)110mIn, 112Cd(p,3n)110gIn as competing processes have been measured using the activation method involving the stacked-foil technique. The deduced thick target yields are compared with those obtained experimentally.     

3％克百威颗粒剂生产工艺技术的改进

论述了以国产克百威代替进口７５％呋喃丹母粉加工３％颗粒剂的技术改进；并通过产品质量、药效、毒理、残留、环保诸方面的对比，证明改进后的工艺技术是成功的，具有独创性，为以产顶进，节汇创汇，闯出了一条新路子。     

<乙酸乙酯>合成实验中产品产率计算的讨论

乙酸乙酯合成实验的方法、产品产率计算几种情况的分析讨论。     

微生物发酵生产2,3-丁二酮的研究

2,3-丁二酮又称双乙酰,是一种黄色至浅绿色具有强烈奶油香味的重要香料。2,3-丁二酮传统上用合成法生产,我们以农副产品为主要原料,利用选育的高产菌株发酵生产,发酵工艺条件温和,产品风味自然、逼真、安全性高,视同天然产品,符合人们崇尚自然的趋势,可广泛用于食品、日化、饲料香精的生产。     

Variable Structure Control with chattering elimination and guaranteed stability for a generalized T-S model

In this paper, a fuzzy based Variable Structure Control (VSC) with guaranteed stability is presented. The main objective is to obtain an improved performance of highly non-linear unstable systems. The main contribution of this work is that, firstly, new functions for chattering reduction and error convergence without sacrificing invariant properties are proposed, which is considered the main drawback of the VSC control. Secondly, the global stability of the controlled system is guaranteed.The well known weighting parameters approach, is used in this paper to optimize local and global approximation and modeling capability of T-S fuzzy model.A one link robot is chosen as a nonlinear unstable system to evaluate the robustness, effectiveness and remarkable performance of optimization approach and the high accuracy obtained in approximating nonlinear systems in comparison with the original T-S model. Simulation results indicate the potential and generality of the algorithm. The application of the proposed FLC-VSC shows that both alleviation of chattering and robust performance are achieved with the proposed FLC-VSC controller. The effectiveness of the proposed controller is proven infront of disturbances and noise effects.     

基于MATLAB的小波包信号消噪处理

信噪分离是小波包应用于信号分析的一个重要方面。本文在基于MATLAB的基础上,采用小波包对含高斯白噪声信号进行分解,通过不同的量化阈值对小波包系数进行处理、重构得出小波包消噪后的信号。计算机仿真结果表明,用不同量化阈值的小波包可对含高斯白声信号进行消噪重构。     

SNMPv3在网络安全管理系统中的应用

本文介绍了网络安全管理系统和简单网络管理协议SNMP的概念,并对系统的框架结构进行了深入研究,最后重点阐述了安全管理系统中SNMPv3的设计实现。     

计算机取证有效打击计算机犯罪

计算机取证研究的是如何为调查计算机犯罪提供彻底、有效和安全的技术,其关键是确保证据的真实性、可靠性、完整性和符合法律规定。本文首先分析计算机取证的产生背景,重点介绍计算机取证的原则和取证的步骤,进一步阐述计算机取证所采用的技术以及国内外在计算机取证领域研究的进展。