机器人多指协调操作中抓取力的实时控制

提出了一个通用的抓取力实时控制算法．推广了抓取力的定义,探讨了抓取力存在性．定义了最优抓取力,给出了计算最优抓取力的具体算法．其核心是把抓取力的大小与方向分开处理,在抓取规划阶段确定抓取力的方向,在任务操作时仅调整抓取力的大小,而方向保持不变．该算法能很好地满足协调操作中力控制的实时性要求．仿真结果显示了其优越性．     

多线程Java程序的Petri网模型

Ｊａｖａ的多线程特性能有效地提高各种计算机资源的利用率．但是,多线程并行运行所造成的非确定性使得程序中潜在错误的定位和再现十分困难,这严重阻碍了Ｊａｖａ多线程机制的使用．提出了从Ｊａｖａ程序到Ｐｅｔｒｉ网的转化规则,利用所得的Ｐｅｔｒｉ网模型能有效地支持并行和分布式软件的分析．该模型在应用中取得了很好的效果．     

解决我国城市生活垃圾问题的出路

对目前国内垃圾主要处理方法进行了评价,认为要从根本上解决我国城市生活垃圾问题必须建立健全垃圾减量与处理的双重机制。提出了“清洁生活”的概念,指出了城市生活垃圾的减量要建立在“清洁生活”战略指导思想的基础上;建立城市生活垃圾多级、低熵分选处理体系是符合我国国情的有效处理垃圾的最佳选择。     

神经网络多参数诊断法

讨论了机械故障诊断中采用多参数诊断法的必要性,阐述了神经网络理论用于多参数诊断的理论依据,归纳了神经网络多参数诊断法的实施步骤,并以滚动轴承故障诊断为例,对该方法进行了实验验证,证明了该方法的实用性。     

逐步回归分析的拓展

给出一种方法,在逐步回归后,使每一前进（后退）步为一单元步,用Ｆ检验来判别这单元步的去留,使回归式子比逐步回归纳入更多的解析变量,同时能减低向后消元法产生多重共线性的可能性．     

一类二维非线性对流扩散问题的特征—差分法

研究了一类具有Ｄｉｒｉｃｈｌｅｔ边界的二维非线性对流扩散问题的特征—差分法,建立了基于双线性插值的特征—差分格式,给出了其最大模估计。     

荷载效应组合系数的统计方法

根据实测数据,以多车道公路桥梁车辆荷载效应组合为背景,基于ＩＳＯ２３９４提出的原则,探讨了荷载效应组合系数的统计方法,以合理确定参与组合的各种荷载的设计值．     

A characterization of discrete unimodality with applications to variance upper bounds

Bertin and Theodorescu (1984,Statist. Probab. Lett.,2, 23–30) developed a characterization of discrete unimodality based on convexity properties of a discretization of distribution functions. We offer a new characterization of discrete unimodality based on convexity properties of a piecewise linear extension of distribution functions. This reliance on functional convexity, as in Khintchine's classic definition, leads to variance dilations and upper bounds on variance for a large class of discrete unimodal distributions. These bounds are compared to existing inequalities due to Muilwijk (1966,Sankhy, Ser. B,28, p. 183), Moors and Muilwijk (1971,Sankhy, Ser. B,33, 385–388), and Rayner (1975,Sankhy, Ser. B,37, 135–138), and are found to be generally tighter, thus illustrating the power of unimodality assumptions.     

Solvent effects on 17O nuclear magnetic shielding: N-methylformamide in polar and apolar solutions

The solvent effect on ¹⁷O isotropic shielding was computed by different methods: the polarizable continuum model and a mixed approach, including a few real solvent molecules treated as the solute. The experimental data show that the behavior of protic and aprotic solvents is markedly different: we found that the continuum approach describes well the observed shielding at various dielectric constants for aprotic solvents, while the mixed procedure is needed when hydrogen bonds to the magnetic centre are present.Contribution to the Jacopo Tomasi Honorary Issue     

Analyzing functional similarity of protein sequences with discrete wavelet transform

This paper applies discrete wavelet transform (DWT) with various protein substitution models to find functional similarity of proteins with low identity. A new metric, 'S' function, based on the DWT is proposed to measure the pair-wise similarity. We also develop a segmentation technique, combined with DWT, to handle long protein sequences. The results are compared with those using the pair-wise alignment and PSI-BLAST.