基于偏差向量的机器人装配系统误差分析

机器人装配系统中，装配误差是影响装配质量的重要因素。在分析了机器人装配过程各种误差的基础上，用偏差向量建立了装配误差的模型。基于刚体运动学原理，研究了装配工夹具的姿态偏差对零件配合面位置偏差的影响，推导了配合件和基础件相应配合面的位置和姿态偏差的计算公式,建立了机器人装配系统零件配合过程的误差分析模型。实例计算表明，该模型物理意义明确，通用性强，是系统评价机器人装配系统装配质量的基础。     

棉花膜下滴灌田间小气候规律的试验研究

试验研究表明，棉花膜下滴灌的田间小气候优于普通沟灌，在光、温、水等方面能够较好配置，从而可充分利用光热资源，提高棉花的产量和品质。     

现代企业技术预见理论方法研究

提出了企业技术预见的定义，描述了它的内涵特征和工作流程，探讨了现代企业技术预见中的预测方法及其体系结构。     

基于可进化性的快速遗传算法

给出三类可进化性较强的个体的定义,提出充分重视个体的可进化性并对可进化性强的个体加以引导,来提高遗传算法搜索效率的思想·同时考虑算法全局收敛性能而采用一种并行群体进化结构,设计了旨在提高遗传算法寻优效率的基于可进化性的快速遗传算法,仿真结果验证了这种快速遗传算法的良好性能     

2n+1阶非线性微分方程的周期解

平等地非共振高阶Duffing方程周期解问题的研究，利用拓扑度方示和Schwarz不等式，给出一类线性奇数阶常微分方程周期解的存在惟一性定理。     

The Syntheses and Properties of Poly(L-Lactide)

Poly (L-lactide) was prepared by bulk polymerization of L-lactide at 140℃ in the presence of stannous octoate. The polymer products were characterized by number average molecular weight Mn, weight average molecular weight Mw and molecular weight distribution MWD (Mw/Mn) respectively. The results showed that stannous octoate was a high effective catalyst, and coordinated insertion mechanism of the reaction was proposed.     

Abnormal overpressure distribution and natural gas accumulation in foreland basins,Western China

Shizitan in Jixian County, Shanxi Province, is a site of transitional period from Paleolithic to Neolithic. The dating and the sporopollen analysis show that the middle reaches of the Yellow River where the site is located had been maintaining a steppe environment during 35.1-9.4 kaBP, in which, 35.1-17 kaBP belonged to the last glacial. With cold and dry climate, this period featured a desert steppe environment. In the late of this period, the area had a cold and half-humid steppe environment. The 17.0-11.9 kaBP belonged to the early- and mid-period of the last deglaciation. Mild and half-arid steppe alternates with mild and half-arid steppe, with a small amount of deciduous broadleaf species. During the period of 11.9-10.5 kaBP, cold and dry glacial climate appeared once more, featuring a desert steppe environment. During 10.5-9.4 kaBP, it is mild and half-arid, and later transited toward warm and half-humid. The early phase of this period featured a steppe environment and the later transited into a steppe environment with fairly more deciduous broadleaf species. Microlith, a mark of a transitional period from Paleolithic to Neolithic, was distributed mainly in 17.0-11.9 kaBP. The relatively warm, half-arid and fluctuating steppe environment in the early and medium period of the last deglaciation made a contribution to the appearance and development of Microlithic culture.     

Cr6+对厌氧微生物的毒性作用研究

通过对取自ASBR中的厌氧污泥Cr^6 中毒的产甲烷活性恢复试验，研究了不同Cr^6 质量浓度对产甲烷微生物的抑制程度及抑制作用的分子机理，得出结论：当Cr^6 质量浓度小于30mg/L时，是生理毒素；当Cr^6 质量浓度大于110mg/L时，是杀菌性毒素以及当Cr^6 质量浓度小于10mg/L时，其抑制作用发生在反应后期，当Cr^6 质量浓度大于30mg/L时，其抑制作用发生在反应初期，通过对不同Cr^6 质量浓度下的厌氧微生物群落及产甲烷菌形态的照片分析，发现Cr^6 对厌氧微生物群落的组成和厌氧微生物的形态没有影响，但是高质量浓度Cr^6 强烈抑制了产甲烷菌的活性。     

多媒体技术在化工过程仿真培训系统中的应用

介绍了多媒体技术在化工过程仿真培训系统中的具体应用，并详细地说明了利用VB语言编程实现多媒体的声音、动画效果的方法。     

松褐天牛传递松材线虫数量的研究

松褐天牛从取食开始到试验结束（50d），将松材线虫通过补充营养伤口传递到健康松树，取食到20d时传递的数量最多，每头694条，到第30天数量较多，在此之前和之后数量较少，每头100条左右。松褐天牛将60％的松材线虫传递到当年生树树，随着树枝年龄增加，传递数量减少。实验室和林间试验分离分离测计表明，松褐天牛的身体仍残留一定数量的松材线虫。