On the Characterization of the Dynamic Performances of Planar Manipulators

The characterization of the dynamic performances of a manipulator is important both to compare different manipulators and to improve the dynamic performances of a manipulator during the design stage. In a previous paper the concepts of swiftness and of dynamic isotropy were used to characterize some dynamic performances of 3-dof manipulators. This paper analyzes the usefulness of these concepts for three-dof planar manipulators and shows that the concept of swiftness is still significant, whereas the concept of dynamic isotropy has no practical interest. Moreover, it introduces three new dynamic properties that are useful in the design of a 3-dof planar manipulator. Finally, it proposes some indices that measure both the swiftness and the three new dynamic properties and shows how to use them, both for evaluating the dynamic performances of a given 3-dof planar manipulator and for improving the dynamic performances during its design.     

Large-scale failure modes of dielectric elastomer actuators

Dielectric elastomer actuators (DEAs) show promise for robotic and mechatronic applications. However, to date, these actuators have experienced high rates of failure that have prevented their practical application. Here, large scale modes of failure of DEAs and their performance limits are studied. The objective is to provide design guidelines and bound the performance of DEAs that avoid failure. An idealized DEA is modeled and its failure is predicted as a function of film pre-stretch used during actuator fabrication, actuation voltage, and stretch rate. Three failure modes are considered: pull-in, dielectric strength, and material strength. Each failure mode is shown to dominate for different combinations of pre-stretch and stretch rate. High stretch rates lead to dielectric strength failure while low stretch rates lead to pull-in failure. Material strength failure is less important for most cases. Model predictions are validated experimentally using practical DEAs operating under load. This study suggests that DEAs cannot be operated reliably under load for long periods of time or low stretch rates due to pull-in failure limitations. To be reliable, DEAs must be used for short periods of time with high stretch rates.     

金属钴对泡沫型镍电极及Ni/MH电池性能的影响

活 性物质 为化学共 沉积锌的 Ｎｉ（ Ｏ Ｈ） ２ ,并 物理 掺杂 钴粉 的泡 沫镍 涂 膏式 镍电 极 表现出高的 放电比 容量和循 环稳定性 ,其中 钴 可以 显著 提 高镍 电 极活 性物 质 利用 率, 这是 由于 第 一次活化充 电时由 Ｃｏ 形 成导电 性能良好 的 Ｃｏ Ｏ Ｏ Ｈ 提高了放 电深度, 循环过程 中的容量 稳定 性是 锌和钴协同 作用的 结果,特别 是共沉 积锌,它可 以抑制 γ＿ Ｎｉ Ｏ Ｏ Ｈ 的形成 从而缓 解镍电极 的膨胀 ．     

T＝∞跟踪问题的一种解法

跟踪问题是线性系统二次型性能指标最优控制讨论的一个重要应用问题。当终端时间T为有限时 ,很多文献都给出了适当的解法 ,但T =∞时的求解还有很多问题值得探讨。本文给出了终端T =∞时预期输出满足一定条件的跟踪问题的一种解法。此种情况可转化为输出调节器问题 ,并给出了具体的求解方法和例子。     

高效液相色谱中的金属螯合体系

本文将金属螯合物高效液相色谱研究中的螯合体系分成十类。综述了金属螯合物在高效液相色谱研究中的应用,侧重讨论了金属螯合物高效液相色谱研究中的分离方式,检测方式及其检测样品类型等发展状况,并提出展望。主要参考文献50篇。     

一种快速检测反应堆大厅密封性能的方法

发展了一种检验反应堆大厅密封性能的新的实验方法——正压试验法;该方法操作简便、快捷、直观,利用反应堆大厅原有的通风系统就可以很容易地实现,不仅在短至几分钟的时间内即可获得反应堆大厅在有超压和无超压两种情况下的气体泄漏率,还能直观地检查和发现漏点,以便于进行有效封堵。介绍正压试验法的实验原理,以及用此法检查两个临界实验装置大厅密封性能的实验结果。与传统的SF_6扩散法实验测量的气体泄漏率结果相比较,证明正压试验法的实验结果是可信的。     

IPv6协议栈性能分析

对常用操作系统支持的IPv6协议栈进行了实验研究,并与IPv4协议栈进行了量化对比分析.实验结果表明,Linux的IPv6协议栈的性能远远好于Windows XP的IPv6协议栈性能.     

Numerical investigation of finite-source multiserver systems with different vacation policies

Systems with vacations are usually modeled and analyzed by queueing theory, and almost all works assume that the customer source is infinite and the arrival process is Poisson. This paper aims to present an approach for modeling and analyzing finite-source multiserver systems with single and multiple vacations of servers or all stations, using the Generalized Stochastic Petri nets model. We show how this high level formalism, allows a simple construction of detailed and compact models for such systems and to obtain easily the underlying Markov chains. However, for real vacation systems, the models may have a huge state space. To overcome this problem, we give the algorithms for automatically computing the infinitesimal generator, for the different vacation policies. In addition, we develop the formulas of the main exact stationary performance indices. Through numerical examples, we discuss the effect of server number, vacation rate and vacation policy on the system’s performances.     

费菜不同部位原花色素含量分析

以儿茶素为标准对照品,使用香草醛/硫酸比色法和超微量微孔板分光光度计在500nm波长下测定并比较费菜根、茎、叶和果4个部位原花色素含量.结果表明：费菜中原花色素含量较高,不同部位差异较大,其中,根中含量为1.7％,茎中含量为0.29％,叶中含量为1.4％,果实中含量为1.2％,不同部位原花色素含量根＞叶＞果＞茎;叶片作为费菜主要的食用部位,原花色素含量较高,具有较好的营养价值.