空间机器人组装超大型结构的动力学分析北大核心CSCD

超大型航天结构具有超大柔性、超低固有频率的特点,空间机器人在轨组装时应尽可能避免激起超大型结构的柔性振动.空间机器人组装超大型结构模块的过程分成抓捕阶段、位姿调整与稳定阶段、安装阶段和爬行阶段.通过对安装阶段的动力学与控制研究,提出共线安装的轨迹规划方法,有效避免了柔性结构振动.首先,采用自然坐标法和绝对节点坐标法建立主结构-空间机器人-待组装结构的在轨组装系统动力学模型.然后,将共线安装的要求转化为空间机器人的轨迹规划约束,要求空间机器人质心到主结构/待组装结构的距离保持不变,实现共线安装的轨迹规划.数值仿真表明:提出的组装方法在组装过程中可有效避免超大型结构的横向运动,降低夹持力矩.最后,分析了系统参数对组装过程动力学响应的影响,为超大型航天器的在轨组装提供了参考.     

AFFINITY LABELLING OF E.coil LEUCYL-tRNA SYNTHETASE WITH 3''''-OXIDIZED tRNA~(Leu)

The E.coli leucyl-tRNA synthetase (E. C. 6. 1. 1. 4) was specifically labelled with 3'-oxidized tRNA~(Leu) (tRNA_(ox)~(Leu)).The procedure involves a Schiff's base formation and its subsequent reduction by sodium cyanoborohydride. Stoichiometric inactivation of aminoacylation was achieved with the incorporation of 1 mol of tRNA_(ox)~_(Leu) per mol LeuRS.On the other hand, the amino acid activation activity of LeuRS-tRNA_(ox) complex was partially inhibited. After extensive digestion of the complex by pancreatic ribonuclease, the amino acid activation activity was fully recovered, while the aminoacylation activity was not restored at all.The results suggest that the active sites responsible for the activities of LeuRS correlate with each other as well as differ from each other.     

乙烯基聚硅氧烷共聚反应竞聚率的测定及其对复合粒子形态的影响

用Ｆｉｍｅｍａｎ－Ｒｏｓｓ法处理数据，测定了乙烯基聚硅氧烷（ＳＶ）与苯乙烯（ＳＴ）、甲基丙烯酸甲酯（ＭＭＡ）和甲基丙烯酸正丁酯（ｎ－ＢＭＡ）的共聚反应的竞聚率，结果为ｒＳＴ＝１．４５和ｒＳＶ＝１．０８，ｒＭＭＡ＝０．７８和ｒＳＶ＝２．０１，ｒｎ－ＢＭＡ＝０．４６和ｒＳＶ＝３．４９．以含ＳＶ的乳液作为种子进行烯类单体的乳液聚合，单体和ＳＶ共聚反应对复合粒子的形态有很大影响。     

TEA-CO_2激光多光子解离2,2-二氯1,1,1-三氟乙烷分离氢氘同位素

本工作从CF_2ClCCl_2F经AlCl_3催化重排、铜粉催化与三乙醇胺反应得到CF_3CHCl_2。经与重水交换得到CF_3CDCl_2(D丰度93.5％),二者红外光谱有很大差别,前者在842cm~(-1)处有强吸收;后者在842cm~(-1)的吸收大为减弱,而在944cm~(-2)、986cm~(-1)出现C-D键的强吸收。944cm~(-1)处的吸收恰与CO_2激光器输出P(20)支线相匹配,致使激光一次脉冲(～3焦耳/脉冲)的照射,可分解8.9％(CF_3CDCl_2压力为9.6乇),而CF_3CHCl_2的吸收与CO_2激光器输出波长不匹配,辐照不引起分解。利用此原理,将人工配制CF_3CHCl_2:CF_3CDC1_2=4:1的2乇样品,用激光辐照,可选择性分解CF_3CDCl_2,达到同位素富集的效果。目前已获得辐照100次脉冲,分离因数     

铈对光亮镀锌层耐蚀性的影响

研究了铈对光亮镀锌层耐蚀性的影响，发现当镀液中铈盐浓度为０．１～０．２ｇ／Ｌ时，镀层耐蚀性提高约３５％。化学分析及Ｘ射线衍射试验表明，微量铈进入了镀层，并促使晶面产生取向效应。对镀液的若干性能测试证明，微量铈的加入，对基液的性能基本无影响。     

四元交互体系Li+, Mg2+/SO42-, B4O72-—H2O25℃溶解度和溶液物化性质的研究

研究了Li⁺,Mg²+/SO₄^2-,B₄O₇^2-—H₂O四元交互体系25℃时的溶解度和溶液的密度及折光率.四种原始组份未发生脱水作用,体系中也没有复盐或固溶体形成.体系25℃溶解度等温线由五段组成,有四个结晶区,分别对应于四种原始组份,其中以MgB₄O₇·9H₂O的结晶区最大.溶解度等温线上有两个零变量点,其一为MgB₄O₇·9H₂O,MgSO₄·7H₂O,Li₂SO₄·H₂O三盐共饱点,另一为MgB₄O₇·9H₂O,Li₂B₄O₇·3H₂O,Li₂SO₄·H₂O三盐不相称共饱点.     

Construction of a Novel 2D Polymer [Co（dmpzm）（dca）2]∞ from Reaction of a Mononuclear Complex [Co（dmpzm）Cl2] with Sodium Dicyanamide （dca） [dmpzm=bis（3,5-dimethylpyrazolyl）methane]

Reaction of COC12.6H20 with equimolar bis（3,5-dimethylpyrazolyl）methane （dmpzm） produced a mononuclear adduct [Co（dmpzm）Cl2] （1）. Treatment of 1 with sodium dicyanamide （dca） afforded a polymeric complex [Co（dmpzm）（μ-dca）2]∞ （2）. 1 and 2 were characterized by elemental analysis, IR spectra, thermogravimetric analysis and single-crystal X-ray diffraction. The cobalt atom in 1 adopts a distorted tetrahedral coordination geometry, bound to two N atoms of one dmpzm and two Cl atoms. Complex 2 has a 2D brick-wall network （extended along the bc plane） in which the { [Co（dmpzm）（μ-dca）]2} n^2n＋ chains are interconnected by pairs of μ-dca anions along the c axis. The magnetic properties of 1 and 2 were also investigated.     

β—芳氧基丙酸衍生物的合成及生物活性

合成了β－芳氧基丙酸芳酯及β－芳氧基丙酰芳胺等１７种化合物，经ＩＲ，ＵＶ，ＨＮＭＲ和元素分析确定了它们的结构，并对它们的生物活性进行了初步考察。     

新颖双核钐硫酚化合物[(THF)3I2Sm(m-SAr)]2 (Ar = Ph, 4-Me2NC6H4)的合成与化合物[(THF)3I2Sm(m-S-4-Me2NC6H4)]2的晶体结构

Reactions of SmI2 in THF with ArSSAr produced two binuclear samarium thiolate complexes [（THF）3I2- Sm（μ-SAr）]2 [Ar=Ph （1）, 4-Me2NC6H4 （2）] in high yields. The structure of 2 was characterized by single crystal X-ray crystallography. The crystal of 2 belongs to the triclinic system with space group P 1 and a=0.95705（13） nm, b= 1.22287（14） nm, c= 1.26450（14） nm, a=64.194（11）°, B=78.491（13）°, y=76.176（12）°, V= 1.2860（3） nm^3, Z= 1,μ=4.783 mm^-1, Dc= 1.964 Mg/m^3, M= 1521.19, S= 1.046, R1=0.0358, wR2=0.0910. X-ray analysis revealed that 2 is a thiolate-bridged dimer in which each Sm atom adopts a distorted pentagonal bipyramidal coordi- nation geometry.