并联机器人刚度与静力学研究现状与进展

并联机器人的刚度与静力学分析, 对于机构力学性能研究具有重要的理论价值和意义. 本文围绕杆支撑、绳牵引和钢带传动 3 种结构形式, 详细阐述了国内外并联机构刚度和静力学分析的研究现状. 着重从有限元、解析模型和性能分析 3 方面分析了杆支撑并联机构的刚度研究进展. 讨论了有关绳牵引并联机构中绳拉力、动载荷频率、绳牵引预紧力与刚度、静力学之间关系的研究成果. 根据钢带并联机器人结构的特殊性, 对钢带并联机构的刚度与静力学分析中可能遇到的失稳与振动问题进行了探讨. 最后, 对并联机器人技术发展情况进行总结与展望, 指出随着刚度分析与静力学分析的不断深入, 并联机器人的力学理论将会日趋成熟和完善, 为并联机器人机构优化设计提供更深入、系统的理论依据.      

深圳某电厂H型钢桩沉桩与效果测试

在上部为花岗岩块石填土、下部为相对软弱的粘性土 ,地下水与海水相通的地区进行大型工程建设 ,主要建 (构 )筑物采用桩基础是安全可靠的措施 ,但采用何种桩型、沉桩时怎样才能顺利穿过花岗岩块石填土是一个值得研究的课题。采用潜孔锤引孔穿过花岗岩块石填土 ,往孔内回填碎石 ,然后打H型钢桩 ,在深圳某电厂地基处理中获得了较好的效果     

Radiative recombination of excitons in semiconductors at high excitation intensities

The shape of the exciton luminescence band of the gaseous phase of free excitons in crystal Si is investigated under high level excitation. Only the exciton-exciton interaction is considered and the influence of collisions of excitons with phonons and electrons is not taken into account. The theoretical shape of the exciton luminescence band qualitatively agrees with experiment. The process of the radiative Auger-recombination of two indirect excitons without the participation of phonons is studied in Ge and Si. The expression for the frequency and temperature dependence of the probability of radiation is obtained. The band has the asymmetrical Gaussian form with the steep short-wave tail. The predicted luminescence band in Ge is shifted at the long-wavelength side from the well-known exciton luminescence bands with participation of the phonons. The selection rules for the probability amplitude of the process under consideration are obtained.     

A General Random Walk Model of Molecular Motor

A general random walk model framework is presented which can be used to statistically describe the internal dynamics and external mechanical movement of molecular motors along filament track. The motion of molecular motor in a periodic potential and a constant force is considered. We show that the molecular motor‘s movement becomes slower with the potential barrier increasing, but if the force is increased, the molecular motor‘‘s movement becomes faster. The relation between the effective rate constant and the potential battler‘s height, and that between the effective rate constant and the value of the force are discussed. Our results are consistent with the experiments and relevant theoretical consideration, and can be used to explain some physiological phenomena.     

空间机器人捕获航天器后基于无源性理论的鲁棒镇定控制

研究了漂浮基空间机器人捕获非合作航天器过程对系统产生的冲击效应及其后联合体系统镇定运动的控制问题。为此,利用拉格朗日方法及牛顿-欧拉法分别获得了捕获前空间机器人及目标航天器的动力学模型;结合动量守恒定律、系统运动几何关系及力的传递规律,分析了捕获过程相互碰撞所产生的冲击效应,建立了捕获完成后两者联合体的系统动力学模型。在此基础上,针对同时存在不确定参数及外部扰动的联合体系统,设计了基于无源性理论的镇定运动神经网络H_∞鲁棒控制算法。本文提出的基于无源性理论设计的鲁棒控制算法具有良好的动态特性及较强的鲁棒性,可快速完成系统的镇定控制,实现轨迹的精确跟踪。系统数值模拟仿真验证了本文控制方案的正确性。     

Magnetic Ordering of Iron-Oxygen and Iron-Organic Nanostructures on a Diamagnetic Matrix

The study of the magnetic susceptibility of iron-oxygen quasi-two-dimensional nanostructures (nanolayers) showed that the dependence of the susceptibility on the number of iron-oxygen groups deposited on a silica support is nonmonotic. It was found that a two-dimensional magnetization region arises at a certain number of iron-oxygen groups in the surface layer of the support.     

Optical exciton Stark effect and quantum beats at exciton quasienergy levels in quantum wells

The optical Stark effect and quantum beats in a GaAs/AlGaAs quantum well are investigated theoretically for the case when the first two electron size-quantization levels are mixed dynamically by a high-intensity CO₂ laser pulse polarized perpendicular to the plane of the quantum well. The quasienergy spectrum of heavy-hole excitons and the ratio between the probabilities of exciton transition with and without a strong electromagnetic field are obtained. The time-dependent intensity of absorption of the sensing light is determined. It exhibits quantum beats at twice the electron Rabi frequency. Fiz. Tverd. Tela (St. Petersburg) 39, 1291–1294 (July 1997)     

气相色谱-脉冲火焰光度法测定水产品中的二硫氰基甲烷残留

建立了气相色谱-脉冲火焰光度法(GC-PFPD)测定水产品中二硫氰基甲烷(MBT)残留的分析方法。用二氯甲烷-正己烷溶液(1∶1,v/v)在超声条件下提取水产品中的MBT,然后用中性氧化铝固相萃取小柱对提取物进行净化和富集,通过HP-5MS石英毛细管柱(30 m×0.32 mm×0.25μm)分离,最后采用配有脉冲火焰光度检测器的气相色谱仪进行测定,外标法定量。MBT在1.0~20.0 mg/L范围内线性关系良好,相关系数为0.997 1;检出限为0.1 mg/kg;加标回收率为65.6%~97.6%,精密度为6.32%~12.8%(n=7)。该法能很好地满足水产品中药物残留检测的需求。     

中兽药口服液中非法添加化学药物高分辨质谱筛查

建立了适用于中兽药口服液中167种非法添加化学药物的超高效液相色谱-四极杆静电场轨道阱质谱高通量筛查方法。样品采用0.5%甲酸乙腈-水进行振荡超声提取,电喷雾电离源（ESI）、正负离子同时扫描方式进行数据采集。通过与自建的167种化合物的基本信息及色谱-质谱信息数据库进行比对,对色谱-质谱条件、提取溶剂的种类和净化条件进行优化。将经前处理后的口服液样品上机测试后,采用Trace Finder筛查软件对数据结果进行分析。结果显示,50 ng/mL非法添加药物（头孢类和内酰胺类药物为100～200 ng/mL）上机时可定性检出。不同药物配方因基质影响,其非法添加药物的检出率略有差异。该方法可基本实现中兽药口服液中非法添加化学药物的高通量快速筛查,具备操作简便、快速高效的特点,为其他兽药剂型中非法添加药物的筛查奠定了基础。     

基于功能材料的电化学传感器检测新烟碱类杀虫剂的研究进展

基于纳米材料的电化学分析技术已成为快速检测新烟碱类杀虫剂的研究热点。尤其是新型功能材料的应用,对拓宽农药传感器的适用性和增大检测范围具有重要意义。该文以功能材料为核心,梳理了适配体、分子印迹、光电材料、碳纳米材料、有机框架材料等新型功能材料的最新发展,重点阐述了功能材料在构建新烟碱类杀虫剂电化学传感器中的突出作用、优缺点及最新进展,并对基于功能材料的各类新烟碱类杀虫剂电化学传感器的未来发展进行了展望,以期为其深入研究与应用提供参考。