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.     

An approach for solving fuzzy multi-criteria decision problem under linguistic information

Fuzzy Optimization and Decision Making - Linguistic information processing exists in multi-criteria decision making, and linguistic truth-valued lattice implication algebra (LTV-LIA) has definite...     

热敏电阻温度计的设计与制作

本文介绍了设计性实验“热敏电阻的设计与制作”的实施情况。说明了只要选题合适、要求恰当,设计性实验不仅可行,而且对物理实验训练的总结提高十分有效。     

Entrapment of both glucose oxidase and peroxidase in regenerated silk fibroin membrane

Two enzmyes, glucose oxidase and peroxidase, were for the first time simultaneously immobilized in regenerated silk fibroin membrane. The structure and morphology of the regenerated silk fibroin membrane containing both glucose oxidase and peroxidase were investigated with IR spectra and SEM. The bienzymes do not change the structures of the regenerated silk fibroin in the membrane, which has an islands-sea structure. For the first time, an amperometric methylene green mediating sensor for glucose based on co-immobilization of both glucose oxidase and peroxidase in regenerated silk fibroin was constructed. Cyclic voltammetry and amperometry were used to test the suitability of methylene green shuttling electrons between peroxidase and the glassy carbon electrode. The bienzyme-based system offers fast response and high sensitivity of the sensor to glucose. The effects of pH, temperature, and the concentration of the mediator on the response current were evaluated, and the dependence of the Michaelis-Menten constant K_m^app on the concentration of the mediator was investigated.     

Characterization of charge neutralization reaction in aqueous solution using the membrane separation method

Colloid titration and streaming current detector are two popular techniques used to determine the charge density of dissolved and colloidally dispersed polyelectrolytes. However, both techniques are based on some assumptions that may not be valid under some circumstances. In this paper, a membrane separation technique developed to determine the charge density and characterize a charge neutralization reaction is described. The technique characterizes the reaction between cationic and anionic charge carriers by measuring the counterions released during reaction or the unreacted small molecule charge carriers. Membranes with selected cutoff pore size were used to separate the species of interest from the bulk of the reaction mixture. Three different charge determination techniques were also compared.     

正交试验选择组织电极的最佳分析条件

本文用正交试验法对花椰菜组织Ｌ－抗坏血酸传感器和香蕉组织儿茶酚类化合物传感器的分析条件进行了优化，通过与单因子分析方法及４种儿茶酚类化合物之间正交试验结果的比较，说明用正交试验选择组织传感器的最佳分析条件，在少量的试验次数内，得到较多的分析实验信息，是一种较理想的试验方法。