蠕动式步行机器人研究

提出了一种可在复杂地面环境下行走的需蠕动式步行机器人本体结构。该结构采用一种地面被动态适应技术，使得腿部可根据地面情况自动调整伸缩长度，以获得较为稳定的支撑。机器人依靠本体变形及被动适应地面的方法产生步行，在很大程度上简化了步行过程中复杂的动作协调控制问题。根据机器人的结构特点，给出了两种步态规划方式。仿真试验表明，该机器人控制简单，运动灵活，具有较广的应用前景。     

教师的创造性人格及培养模式

创造性的人格特征是教师素质的重要方面,在教师创造活动中起着动力、导向、调节作用.教师的创造性人格特征,一方面为创造型教师的成长提供帮助,另一方面也为教师培养学生的创造精神、创造能力提供重要手段.本文在阐述教师创造性人格的基础上,论述教师创造性人格特征的培养模式,即认知切入、情境陶冶、活动交往、体验反思.     

基于B/S模式的年度考核管理系统的设计与实现

本文阐述了新疆师范大学年度考核管理系统的功能、设计与实现。     

物理教学中物理思想的培养

本文讨论了物理思想的概念和特征及其在素质教育中的重要作用，并提出了在物理教学中培养大学生的物理思想的几点想法。     

试论散打运动的恢复性训练

散打项目的比赛特点，决定了其训练是高强度、高密度大运动量的训练，这种性质的运动负荷和心理负荷刺激，势必给机体带来强烈的反应。因此，应根据不同性质和不同内容训练及机体能力恢复的异时性规律，科学安排恢复训练的方法，再通过合理的营养补充，促进运动员机体的快速恢复。     

改进的直接分支模态综合法

介绍了直接分支模态综合法的基本原理并通过算例对算法进行验算,分析了该方法计算结果很不准确的原因并进行了改进。改进的分支模态法将系统中主子结构的剩余模态加入,降低了略去高阶模态带来的严重误差。计算结果与有限元软件ANSYS的计算结果吻合较好,误差小于2%。改进的方法不仅使计算结果准确,而且保持了原方法的优点,适用于工程计算。     

Dielectric properties of KDP-type ferroelectric crystals in the presence of external electric field

Considering external electric field as well as third- and fourth-order phonon anharmonic interaction terms in the pseudospin-lattice coupled mode (PLCM) model Hamiltonian for KDP-type ferroelectrics, expressions for field-dependent shift, width, renormalized soft mode frequency, Curie temperature, dielectric constant and dielectric loss are evaluated. For the calculation, method of statistical double-time temperature-dependent Green’s function has been used. By fitting model values of physical quantities, temperature and electric field dependences of soft mode frequency, dielectric constant and loss have been calculated which compare well with experimental results of Baumgartner [8] and Choi and Lockwood [9]. Both dielectric constant and loss decrease with electric field.     

Nonlinear modelling and control of a common rail injection system for diesel engines

Modern trends in designing mechatronic systems call for a synergic design of the separated subsystems (mechanic, electronic parts, control modules, etc.) concurring to the overall performance. Following this point of view, this paper presents a control oriented model and a nonlinear control design for a Common Rail injection system. First a model is developed, which is tuned in a virtual simulation environment, representing the injection system in details in a reliable replication of reality. Then a sliding mode control is developed. Both the model of the injection process and of the control law are validated by a virtual detailed simulation environment. The prediction capability of the model and the control efficiency are clearly shown.     

Stability of tokamak plasmas with internal transport barriers against high n ideal magnetohydrodynamic ballooning mode

A ballooning mode equation for tokamak plasma, with the toroidicity and the Shafranov shift effects included, is derived for a shift circular flux tokamak configuration. Using this equation, the stability of the plasma configuration with an internal transport barrier （ITB） against the high n （the toroidal mode number） ideal magnetohydrodynamic （MHD） ballooning mode is analysed. It is shown that both the toroidicity and the Shaftanov shift effects are stabilizing. In the ITB region, these effects give rise to a low shear stable channel between the first and the second stability regions. Out of the ITB region towards the plasma edge, the stabilizing effect of the Shaftanov shift causes the unstable zone to be significantly narrowed.     

二维随机激光器的模式选择及阈值与饱和特性

基于将Maxwell方程与四能级原子系统速率方程相结合而建立起随机激光时域理论，并利用有限时域差分法，研究了二维随机介质中激光模式的输出特性与介质尺寸、外形及抽运速率等参数的关系.结果表明，与传统激光模式相似，随机激光模式的强度随抽运速率的变化不仅具有阈值特性，而且具有饱和特性.基于模式特性对介质及抽运参数的依赖关系，提出了二维随机激光器的选模方式，在很大程度上不同于传统激光器的选模方式. 关键词： 随机激光器 模式选择 无序介质中的光学特性