Mathematical Modeling, Control, Computer Simulation and Laboratory Experiments of a Spatial Servopneumatic Parallel Robot

In this paper, the special construction of a parallel robot, called spatial servopneumatic multi-axis test facility, will be discussed. The investigations include the following aspects: (i) the laboratory set-up of the robot, (ii) various results obtained in laboratory experiments, taking into account quite different control algorithms and command-input signals, (iii) a comparison of the laboratory experiments with the computer simulations of Part I of this paper, and ({vi}) a quality check of the results compared with the cost of the different controller realizations. The results of both the computer simulations and the laboratory experiments show: (i) The dynamic behavior of the parallel structure can be tremendously improved by using sophisticated nonlinear control algorithms. (ii) This improvement has to be paid by a drastically increased amount of work for deriving the model equations and control algorithms, and by augmented hardware cost of the sensing elements and controller electronics. (iii) Carefully developed model equations and identified model parameters provide theoretical models of the complex parallel structure that are very close to reality. This enables the design engineer to systematically investigate constructive alternatives of the design parameters, sensor and actuator concepts, and control strategies of the MAP prior to their hardware realization.This work has been supported by the German Science Foundation (DFG) under Contract No. Ha 1666/6-3.     

Liquid-liquid phase equilibria of aqueous two-phase systems containing salts and polyethylene glycol

Liquid-liquid phase equilibria of the ternary systems: (a) polyethylene glycol - ammonium sulfate- water and (b) polyethylene glycol - sodium carbonate -water have been determined experimentally at 15°, 25°, 35° and 45°C and for two different molecular weights of the polymer (Avg. M.W. 1000 and 2000). Details of the glass cell and of the equilibration and analytical procedures used are described. Equilibrium data along with phase diagrams are presented. Finally the effect of temperature and of the molecular weight of the polymer are also discussed.     

改革物理实验课教学,提高实验课的教学质量

根据多年的物理实验教学经验，阐明了物理实验教学改革应重视的问题，并提出了几点改进措施。     

What is Erased in the Quantum Erasure?

In this paper, we re-examine a series of gedanken welcher Weg (WW) experiments introduced by Scully, Englert and Walther that contain the essential ideas underlying the quantum eraser. For this purpose we use the Bohm model which gives a sharp picture of the behaviour of the atoms involved in these experiments. This model supports the thesis that interference disappears in such WW experiments, even though the centre of mass wave function remains coherent throughout the experiment. It also shows exactly what it means to say ‘that the interference can be restored by manipulating the WW detectors long after the atoms have passed’. It does not support Wheeler’s notion that ‘the past is undefined and undefinable without the observation (in the present)’.     

鲤鱼体中鱼腥味物质的提取和鉴定

采用同时蒸馏萃取法提取鲤鱼鱼体中的挥发和半挥发性有机物，用GC／MS从提取物中分析鉴定出鱼腥味和疑是鱼腥味物质16种。包括醛、烯醛、酮和呋喃4类化合物。其中己醛、庚醛和2，4-二烯癸醛被确认为鱼腥味的化合物。研究发现，这些物质总量在鲤鱼体的鱼鳞、鱼鳃和鱼肉的分布呈现下降趋势，且其总量与鱼腥味强度之间具有可比较的对应关系。     

一种自制的蒸馏水器保护装置

本装置由检测、控制、执行、报警和电源五部分组成。检测部分采用了靠正常水位导通的两根信号线。当蒸馏水器在正常运行时遇停水,本装置可立即实现断电保护,同时发出声光报警,有效防止干烧,杜绝事故发生。本装置制作简便,元器件均为市售,成本低廉,性能可靠。     

超细Sr2CeO4 粉体微乳液-高温法制备条件的正交试验及其发光性能研究

本文首先利用正交试验确定了微乳液-高温法合成蓝色发光Sr₂CeO₄超细粉体的最佳制备条件。接着研究了最佳条件下制备的Sr₂CeO₄超细粉体的性能。场发射扫描电镜(FE-SEM)显示，在850 ℃、900 ℃、1 000 ℃或者更高温度下退火4 h制备的粉体的形状分别呈球状、梭状和球状，平均粒径分别在100 nm左右和1 μm以内。X射线粉末衍射数据分析表明，该超细粉体属于正交晶系。室温下的光致发光光谱显示，该粉体的激发光谱有3个激发峰，主峰分别位于262 nm、281 nm和341 nm，而其发射光谱只呈现出1个发射峰，主峰位于约470 nm。与高温固相制备方法相比，微乳液-高温法可以在较低温度下制备出超细的粉体，而且它不但在262 nm处出现了一个新的激发峰，主激发峰和发射峰的位置也分别蓝移了大约30 nm和12 nm。     

Supercritical fluid chromatography of industrial paraffins and waxes

Summary The application of capillary SFC for SIMDIST investigations of paraffins and waxes is reported. Pressure, density and temperature of the mobile phase are optimized to obtain high chromatographic resolution of complex mixtures of industrial products. Isothermal linear pressure programming and asymptotic pressure and density programming are used in the range from 15 to 35 MPa in the isothermic mode above 100°C. SFC chromatograms of natural and synthetic paraffins, microcrystalline wax and candle wax are compared. The retention behaviour of paraffin mixtures and waxes has been investigated on methyl/phenyl and biphenyl capillary columns. The polarity of the stationary phases influences the absolute retention time more than it influences the chromatographic resolution.     

重整汽油近红外光谱的稳健偏最小二乘解析

近红外光谱(ＮＩＲ)光谱复杂,组分间光谱重叠严重,目前,多元线性回归(ＭｕｌｔｉｐｌｅＬｉｎｅａｒＲｅ ｇｒｅｓｓｉｏｎ,ＭＬＲ)和偏最小二乘法(ＰａｒｔｉａｌＬｅａｓｔ ｓｑｕａｒｅｓ,ＰＬＳ)是近红外光谱分析中使用最多和效果较好的方法[1]。稳健偏最小二乘(ＲｏｂｕｓｔＰａｒｔｉａｌＬｅａｓｔ Ｓｑｕａｒｅｓ,ＲＰＬＳ)是由稳健统计学构造的具有稳健性能的多元校正方法。当化学测量中引入随机异常点或误差的内在分布偏离正态分布时,它仍能给予接近最优性能的校正,确保分析结果的准确性,是消除奇异点的非常有效的方法[2-4],…