Minimum-time optimal control of robotic manipulators based on Hamel’s integrators

Meccanica - In this paper, we develop a framework of time optimization path planning for robotic manipulators surrounded by static obstacles. Our approach is based on the recursive dynamics method...     

Isolation and Purification of Unstable Iridoid Glucosides from Traditional Chinese Medicine by Preparative High Performance Liquid Chromatography Coupled with Solid-phase Extraction

An efficient preparative method was successfully developed for isolation and purification of unstable components from medicinal plant extracts, using a combined method of preparative high performance liquid chro-matography(HPLC) and solid-phase extraction(SPE). The aim of this study was to obtain an effective method with high preparative efficiency and importantly to avoid the transformation of unstable compounds. The preparative HPLC system was based on an LC/MS controlled four-channel autopurification sys...     

三醋酸甘油酯的气相色谱分析

本文介绍了一种快速、简便的测定高含量三醋酸甘油酯的气相色谱法。本法使用10%PEG-20M涂渍在Chromosob W上的色谱柱(2 m×3 mmi.d.),以N_2作载气(40ml/min)氢火焰离子化检测器(FID),柱温180℃,汽化温度200℃,能很好地将三醋酸甘油酯与二醋酸甘油酯分离。并选用十二醇为内标物测定了十批合成样品中的三醋酸甘油酯含量,变异系数<0.4%。     

Synthesis, Structure and Luminescent Property of a Zinc(Ⅱ) Coordination Polymer Incorporating Flexible Cyclohexane-1,2,3,4,5,6-hexacarboxylate Ligand

The hydrothermal reaction of Zn(NO3)2·4H2O, cyclohexane-1,2,3,4,5,6-hexacarboxylic acid hydrate (H6LI·H2O, cis-conformation LI: a,e,a,e,a,e) and 2,2'-bpy yielded a new coordination polymer [Zn2(H2LII)(2,2'-bpy)]·2H2O(trans-conformation LII: e,e,e,e,e,e), which was characterized by single-crystal X-ray diffraction, elemental analysis, IR and XRPD(X-ray powder diffraction). This complex crystallized in the triclinic system, with P1 space group and parameters a=0.66922(5) nm, b=0.97291(8) nm, c=1.22184(9) nm, ...     

颗粒流的动力学模型和实验研究进展

首先叙述了颗粒流研究的背景和基本概念,接着概述了颗粒流动力学研究的三种基本数学力学模型:颗粒动理论(kinetic theory)模型、摩擦塑性模型和离散元模拟模型.介绍了它们的基本原理,并分析了各个模型的优缺点和适用范围.随之,对颗粒流的实验研究情况作了简要的介绍,列举了研究中几种常用的试验方法和观测手段,以及观测到的一些典型现象.最后,我们简述了颗粒流研究的主要困难,并提出了某些有待解决的研究课题.      

宽板塑性弯曲成形过程中的板厚变化规律

根据宽板弯曲过程中的变形与应力分布特征，提出了一种计算弯曲过程中板料厚度随弯曲程度变化的新的近似解答方法．该方法基于塑性增量理论，应用塑性成形过程的体积不变假设和弯曲过程的平面假设．作为算例，得到了理想刚塑性材料的板料厚度、变薄系数以及应变中性层内移系数随板料弯曲内表面曲率半径变化的规律，并与实验数据进行了比较，两吻合良好．     

不同年龄段天然牙的摩擦磨损行为研究

采用往复滑动摩擦磨损试验台考察了不同年龄段的天然牙同钛合金配副时的摩擦学性能.结果表明:天然牙的摩擦磨损行为同年龄密切相关,早期和中期恒牙的摩擦磨损行为相似,磨损表面主要呈现轻微擦伤迹象,中期恒牙的抗磨性能最佳;乳牙及晚期恒牙的摩擦系数变化波动较大,抗磨性能不佳,磨损表面主要呈现严重犁削和剥落特征.     

黎开管热声振荡的主动控制研究

本文以黎开管内的热声耦合振荡为研究对象,设计基于主动补偿的适应性控制器抑制黎开管内的不稳定燃烧。试验以扬声器为执行机构来改变黎开管的边界条件,从而抑制黎开管内的热声耦合振荡。实时控制效果表明,本文所采用的适应性控制算法能够有效抑制因热声耦合产生的燃烧振荡,为实际动力系统燃烧振荡抑制提供了思路。     

Output nonlocality and nonclassicality in a two-mode entanglement laser

Output nonlocality and nonclassicality for the two modes are investigated in an entanglement laser sys-tem. Within the framework of a quantum theory of multiwave mixing,nonlocality and nonclassicality are discussed according to the violations of Bell inequality and Cauchy-Schwarz inequality. It is found that both nonlocality and nonclassicality can be fulfilled in the outside cavity fields under certain conditions. It is also shown that there are some nonclassical states that do not show nonlocality.     

绝对编码光栅的相位细分及其在位移测量中的应用

提出通过光栅条纹相位的精密测量,获取光栅高精度位移信息的方法。具体方法是对光栅图像采用多码道设计,用CCD二维图像传感器获取测量段光栅图像多码道信息。对最低码道图形的周期函数序列进行傅里叶变换、基频滤波和逆傅里叶变换获得光栅截断相位分布,其余码道信息提供相位展开的级次,以此获得测量段光栅的绝对相位分布。用光刻的手段制作了实用的绝对编码光栅,基元码道的尺寸是:27.36μm用于明条纹,27.36μm用于暗条纹,最小基元码道空间周期为54.72μm,光栅长度为14008.32μm。在步长近似3μm的位移测试中,与比对的标准仪器记录值比较,标准偏差为0.2057μm,精度在亚微米量级。重复性实验表明,位置测试的稳定性为0.09μm(标准差),得到600倍以上细分的分辨力。