欠驱动系统Pendubot的模糊控制策略

本文针对欠驱动Pendubot机器人系统，提出一种简单可靠的摇起及平衡控制策略。通过利用模糊控制及全状态反馈控制技术来分别设计摇起控制器及平衡控制器，其中模糊摇起控制器的设计使得系统的摇起可靠性得到大大的加强，并缩短了响应时间，两个控制器的转换通过转换装置实现。最后的仿真结果验证了算法的有效性。     

Nickel Chloride Promoted Glaser Coupling Reaction in Hot Water

A Glaser coupling reaction of terminal alkynes in the presence of nickel chloride withoutany organics and bases in hot water has been developed, which produces the correspondinghomo-coupling products in good yields.     

Lot Streaming in a Two-stage Flow Shop with Set-up,Processing and Removal Times Separated

This paper considers the job (lot) scheduling problem for two-stage flow shops in which the movement of transfer batches (sublots) from the first stage to the next are allowed. Set-up, processing and removal times are considered as separable and independent of the order in which jobs are processed at any of two stages. An optimal transfer batch sizing and scheduling algorithm which has an objective of minimizing the maximum flow time (makespan) is developed and demonstrated by a numerical example.     

不用专门相移装置的三维面形测量

提出一种不需要专用相移装置实现相移，主要利用数字图像处理技术实现三维面形测量的方法，研究结果表明，用原干涉图像及1幅以上的移值条纹图主可能实现物体三维面形的测量。     

Metallothionein as a biomarker for mercury in tissues of rat fed orally with cinnabar

Cinnabar, as one of the most widely used mineral drugs in traditional Chinese medicines, has been proven to have prominent curative effects in clinical use for more than 2000 years. But the safety and toxicity of the drug has been under constant debate in clinic usage. Metallothionein (MT) contains about 30% of cysteine in the molecule, and plays an important detoxification role against heavy metals. In this study, it was used as a biomarker to assess mercurial accumulation in rats fed orally with cinnabar. After feeding rats with cinnabar by gastric gavage at different dosages and at different times, the distribution of heavy metals (including mercury, copper and zinc) and MT was investigated among rat tissues, including liver, kidney, heart, brain, testis and blood. Metals and MT determinations were carried out using inductively coupled plasma mass spectrometry (ICP‐MS) and a modified mercury saturation assay technique respectively. The results indicated that mercury was easily accumulated in the tissues of rats exposed to cinnabar, especially in kidney. For example: at a feeding dosage of 5 g kg^?1 (bw) for 4 weeks, the mercury concentrations in kidney were 13, 8.7, 21.6 and 26 times those in liver, testis, brain and heart respectively; and at 2.5 g kg^?1 (bw) for 2 weeks, the mercury concentrations in kidney were 21, 2.1, 3 and 21 times those in liver, testis, brain and heart respectively. In addition, mercury in kidney and liver of all cinnabar groups was significantly higher than that of the control group (P < 0.01). A high positive correlation observed between MT concentrations and mercury levels in both liver and kidney (R² = 0.9299, P < 0.02 for liver; R² = 0.9923, P < 0.0008 for kidney) indicated that MT could be used as a biomarker for mercury in tissues. Copyright © 2004 John Wiley & Sons, Ltd.     

氮化铁催化剂的制备及其苯胺催化加氢性能

用α－Ｆｅ２Ｏ３与氨气程序升温还原方法制备出不同温度氮气的氮化铁系列催化剂。通过ＸＲＤ测试对氮化过程中的晶相转变进行了分析。在中压反应装置上考察了氮化铁系列催化剂上苯胺加氢活性以及反应条件对苯胺加氢反应活性的影响。结果表明，在７００℃氮化制香的氮化铁催化剂显示有较高的苯胺加氢活性，在氢压为３．０ＭＰａ，温度为２５０℃，ｎ（Ｈ２）／ｎ（ｏｉｌ）＝１８，液体空速（ＷＨＳＶ）为０．３ｈ＾－１时，该催化剂     

Effect of electrolyte on surface free energy components of feldspar minerals using thin-layer wicking method

Application of the thin-layer wicking (TLW) technique on powdered minerals is useful for characterizing their surfaces. Albite (Na-feldspar) and orthoclase (K-feldspar) are feldspar minerals which are frequently found in the same matrix. Despite similarities in their physicochemical properties, separation of these minerals from each other by flotation is generally possible in the presence of monovalent salts such as NaCl. Both albite and orthoclase exhibit the same microflotation properties and rather close electrokinetic profiles in the absence of salt. In this study, contact angles of albite and orthoclase determined by the TLW technique yielded close values in the absence and presence of amine collector. While the calculated surface energies and their components determined using contact angle data reveal that the energy terms remain farther apart in the absence of the collector, the differences narrow down at collector concentrations where full flotation recoveries are obtained. However, the effect of addition of NaCl on contact angles and surface free energy components at constant amine concentration indicates that albite is significantly affected by salt addition, whereas orthoclase remains marginally affected. This interesting finding is explained on the basis of ion-exchange properties, the stability of the interface, flotation data, and zeta potential data in the presence of NaCl.     

Ammonia-treated activated carbon as support of Ru-Ba catalyst for ammonia synthesis

Ammonia-treated activated carbon has been studied as a support of Ru-Ba catalyst for ammonia synthesis. It is shown that the introduction of nitrogen leads to a decrease of ammonia synthesis activity for the catalysts with a low Ba/Ru molar ratio, while no significant changes are obtained for the catalysts with a high Ba/Ru molar ratio, confirming that electronegative impurities suppress the activity in ammonia synthesis and consume part of the promoters. This revised version was published online in June 2006 with corrections to the Cover Date.