具备多操作手协调的微装配机器人系统

针对微零件装配工艺需要，研制了一种具备多操作手协调工作的微装配机器人系统．该系统包括2个四自由度的主微操作手和1个三自由度的辅助微操作手，三手各司其能，相互配合完成微装配作业．采用双光路正交立体显微视觉完成微装配过程的监测以及操作手和装配对象空间位置与姿态信息的获取．根据微零件形状、大小和材质的差异，研制了真空吸附式和压电双晶片式微夹钳完成装配对象的夹取与放置操作．采用人机交互的半自主方式控制机械手进行微装配作业．微装配实验证明系统工作可靠有效，目前微零件最小装配精度可达30μm．     

微摩擦测试的微力传感器设计

论述了一种新的应用于微摩擦测试的微力传感器,这种微力传感器能同时测定微小摩擦力及相应正压力的大小,其独特的悬臂结构消除了多维力传感器普遍关注的耦合问题．正压力和摩擦力的测力原理分别基于应变片法和位移法．标定及静态特性的分析表明,该微力传感器具有较高的测力精度和分辨力,适合于mN级的摩擦测试．摩擦测试实验表明,该微力传感器完全能进行各种润滑膜的微摩擦性能评估测试,从而为微摩擦研究提供了一种有效的实验工具．     

利用液体桥力的微球转移操作

为了克服粘着对微机电系统装配的影响,提出了一种利用液体桥力实现微球转移操作的方法。利用操作臂和微球之间的液体桥力实现微球的抓取,利用目标平面和微球之间的液体桥力实现微球的释放。对微球受力的理论分析表明,重力可以被忽略。由于干燥微球和粗糙平面之间的粘着力很小,抓取操作容易实现;释放操作要求操作臂末端的半径小,操作液体的界面能尽量低。使用该方法实现了一种微滚动导轨的装配,从而验证了该方法的可行性。     

车轮装配机械手装配精度优化设计研究

针对提高车轮装配助力机械手装配精度的共性需求,提出了一种装配精度的优化方法。结合机械手的结构和工作原理,推导出了装配精度和操作力的函数,分析了机械手装配精度、操作力和夹具质量之间的关系,进而提出了装配精度的优化方法:减小夹具质量。利用ANSYS Workbench中的Design Xplorer模块对夹具进行了轻量化设计,以装配精度和操作力的函数为基础定量分析了优化前后的操作力和装配精度,计算结果表明:机械手的操作力有所降低,装配精度有所提高,验证了优化方法的可行性和有效性。     

力／位置混合控制的新型机器人装配系统

介绍了新研制的一种适用于一般销孔零件装置的机器人末端微操作器。该操作器具有力觉功能和５自由度，采用主被动混合方式，与ＰＵＭＡ５６２机器人组成宏－微操作系统，可由一台ＩＢＭ－ＰＣ机控制，成功地完成零件配作业，并能对不同的装配策略的方案进行实验评价。     

微/纳米机械粘附及表面分子自组装膜改性技术

江苏大学研发的“微/纳米机械粘附及表面分子自组装膜改性技术”日前通过省科技厅组织的鉴定．该研究成果建立了考虑量子效应的微/纳机械粘附的作用力分析理论模型,首次将量子力作用引入微/纳机械的设计,首次得到了不同表面力作用下的抗粘附结构参数设计图．研制出点接触纯滑动微摩擦测量仪,填补了宏观与纳米级之间微摩擦测试的空白,在国内首次成功制备了FDTS的自组装膜,在国际上首先对FDTS自组装膜的减摩性能、摩擦力随栽荷变化的规律、污染膜的影响、破坏规律、时间稳定性以及湿度对FDTS自组装膜摩擦性能的影响进行了全面系统的研究。     

基于微粒群优化的自动电压PID调节器

为提高微粒群算法的搜索性能,提出一种基于Logistic方程的退火微粒群算法优化自动电压调节器(AVR)系统的PID参数.在微粒群算法的基础上,对部分较优微粒进行退火操作.在退火操作中,结合Logistic方程的特点,设计了一种新的错位调整方式,对当前已知最优区域重点搜索.该方法能有效改善微粒群算法易于陷入局部极值的缺点,提高算法精度.将采用该方法的PID控制器应用于实际AVR系统,计算结果表明该PID控制器可以获得较好的控制性能指标,具有一定的实用价值.     

时延力觉临场感遥操作机器人系统预测控制研究

通讯时延是造成力觉临场感遥操作机器人系统不稳定和操作性能下降的关键因素，针对时延问题，提出了一种适用于时延力觉临场感遥操作机器人系统的广义预测控制方法，该方法通过预测控制器产成实时的预测力反馈以消除时延的影响．此外，为使该方法应用于遥操作机器人未知环境作业，本采用AUDI辨识算法对环境模型进行辨识．构造实验系统，通过实验验证了该方法的有效性．     

基于无源观测器的机器人笛卡尔空间力/阻抗控制方法研究

许多由机器人完成的任务都需要机器人与外部环境接触。在如抛光、去毛刺和装配作业中都需要执行精确的力控制。由于环境模型的不准确在力控制过程中当机器人与环境脱离接触时可能与周围环境发生激烈碰撞。针对此问题提出了基于无源观测器的力控算法。通过分析系统无源性, 研究了笛卡尔空间力/阻抗控制的稳定条件。发现只有力控制器的输出会破坏系统的无源性,根据系统无源性的分析结果设计了使用无源性观测器的力/阻抗控制器。在MATLAB仿真环境中对力/阻抗控制控制算法和基于无源性观测器的力/阻抗控制进行仿真验证。仿真结果表明基于无源性观测器的力/阻抗控制器在机器人末端工具与环境脱离接触时能够有效降低机械臂移动速度,减小对周围环境的冲击力。     

面向非硅MEMS的桌面微装配系统模块化设计方法

针对非硅MEMS零件的装配瓶颈难题,提出一种面向非硅MEMS的桌面微装配系统模块化设计方法.论述了所提出桌面微装配系统的内涵、特点及其应用对象,并在此基础上提出了基于装配单元通用功能完整性和系统可重配置性的模块划分原则;利用相关性分析方法建立了综合相关矩阵并应用模糊聚类方法对其进行了操作,确定了模块划分定量计算流程,利用模糊评价方法对模块划分合理性进行了评价;以桌面微装配系统的自主式装配单元为实例进行了设计方法的验证,证明了模块化设计方法的有效性.      

Markedness and its Interpretation in Language Use

Language markedness is a common phenomenon in languages, and is reflected from hearing, vision and sense, i.e. the variation in the three aspects such as phonology, morphology and semantics. This paper focuses on the interpretation of markedness in language use following the three perspectives, i.e. pragmatic interpretation, psychological interpretation and cognitive interpretation, with an aim to define the function of markedness.     

Lower Paleozoic oil relationships within Williston Basin, Canada

The Williston Basin is a significant petroleum province, containing oil production zones that include the Middle Cambrian to Lower Ordovician, Upper Ordovician, Middle Devonian, Upper Devonian and Mississippian and within the Jurassic and Cretaceous. The oils of the Williston Basin exhibit a wide range of geochemical characteristics defined as "oil families", although the geochemical signature of the Cambrian Deadwood Formation and Lower Ordovician Winnipeg reservoired oils does not match any "oil family". Despite their close stratigraphic proximity, it is evident that the oils of the Lower Palaeozoic within the Williston Basin are distinct. This suggests the presence of a new "oil family" within the Williston Basin. Diagnostic geochemical signatures occur in the gasoline range chromatograms, within saturate fraction gas chromatograms and biomarker fingerprints. However, some of the established criteria and cross-plots that are currently used to segregate oils into distinct genetic families within the basin do not always meet with success, particularly when applied to the Lower Palaeozoic oils of the Deadwood and Winnipeg Formation.     

An Analysis of Catherine＇s Character——Wuthering Heights

Wuthering Heights, Emily Bronte＇s only novel, was published in December of 1847 under the pseudonym Ellis Bell. The book did not gain immediate success, but it is now thought one of the finest novels in the English language. Catherine is the key character of this masterpiece, because everybody and everything center on her though she had a short life. We can understand this masterpiece better if we know Catherine well.     

Characterization of Ordovician carbonate reservoirs, southeastern Saskatchewan, Canada

The discovery of the prolific Ordovician Red River reservoirs in 1995 in southeastern Saskatchewan was the catalyst for extensive exploration activity which resulted in the discovery of more than 15 new Red River pools. The best yields of Red River production to date have been from dolomite reservoirs. Understanding the processes of dolomitization is, therefore, crucial for the prediction of the connectivity, spatial distribution and heterogeneity of dolomite reservoirs.The Red River reservoirs in the Midale area consist of 3～4 thin dolomitized zones, with a total thickness of about 20 m, which occur at the top of the Yeoman Formation. Two types of replacement dolomite were recognized in the Red River reservoir: dolomitized burrow infills and dolomitized host matrix. The spatial distribution of dolomite suggests that burrowing organisms played an important role in facilitating the fluid flow in the backfilled sediments. This resulted in penecontemporaneous dolomitization of burrow infills by normal seawater. The dolomite in the host matrix is interpreted as having occurred at shallow burial by evaporitic seawater during precipitation of Lake Almar anhydrite that immediately overlies the Yeoman Formation. However, the low δ18O values of dolomited burrow infills (-5.9‰～ -7.8‰, PDB) and matrix dolomites (-6.6‰～ -8.1‰, avg. -7.4‰ PDB) compared to the estimated values for the late Ordovician marine dolomite could be attributed to modification and alteration of dolomite at higher temperatures during deeper burial, which could also be responsible for its 87Sr/86Sr ratios (0.7084～0.7088) that are higher than suggested for the late Ordovician seawaters (0.7078～0.7080). The trace amounts of saddle dolomite cement in the Red River carbonates are probably related to "cannibalization" of earlier replacement dolomite during the chemical compaction.     

Design and analysis of generic LBS application developing platform

Location based services is promising due to its novel working style and contents.A software platform is proposed to provide application programs of typical location based services and support new applications developing efficiently. The analysis shows that this scheme is easy implemented, low cost and adapt to all kinds of mobile nework system.     

橡胶颗粒沥青混合料低温抗裂性试验研究

以AC-13级配为基础,将橡胶颗粒代替部分集料掺入混合料中,以低温弯曲试验为评价方法对不同橡胶颗粒掺量下沥青混合料的低温抗裂性进行研究,并引入应变能密度值对混合料的低温抗裂性进行综合评价.试验结果表明:橡胶颗粒沥青混合料试件的破坏微应变均超过2 300,满足冬寒区的技术指标;无论是否掺加橡胶颗粒,随着温度的下降,沥青混合料破坏时的最大弯拉强度增大,弯拉应变降低,劲度模量增大;弯曲应变能密度在胶粒掺量为1%左右时具有较大的弯曲应变能密度值,此时橡胶颗粒沥青混合料具有较好的低温抗裂性.     

低渗透非均质砂岩油藏启动压力梯度研究

理论推导与室内实验相结合,建立了低渗透非均质砂岩油藏启动压力梯度确定方法。首先借助油藏流场与电场相似的原理,推导了非均质砂岩油藏启动压力梯度计算公式。其次基于稳定流实验方法,建立了非均质砂岩油藏启动压力梯度测试方法。结果表明:低渗透非均质砂岩油藏的启动压力梯度确定遵循两个等效原则。平面非均质油藏的启动压力梯度等于各级渗透率段的启动压力梯度关于长度的加权平均;纵向非均质油藏的启动压力梯度等于各渗透率层的启动压力梯度关于渗透率与渗流面积乘积的加权平均。研究成果可用于有效指导低渗透非均质砂岩油藏的合理井距确定,促进该类油藏的高效开发。     

Quantitative trait loci （QTLs） for quality traits related to protein and starch in wheat

Quality traits in wheat （Triticum aestirum L.） were studied by quantitative trait locus （QTL） analysis in a recombinant inbred line （RIL） population, a set of 131 lines derived from Chuan 35050 × Shannong 483 cross （ChSh）. Grains from RILs were assayed for 21 quality traits related to protein and starch. A total of 35 putative QTLs for 19 traits with a single QTL explaining 7.99-40.52% of phenotypic variations were detected on 10 chromosomes, 1D, 2A, 2D, 3B, 3D, 5A, 6A, 6B, 6D, and 7B. The additive effects of 30 QTLs were positive, contributed by Chuan 35050, the remaining 5 QTLs were negative with the additive effect contributed by Shannong 483. For protein traits, 15 QTLs were obtained and most of them were located on chromosomes 1 D, 3B and 6D, while 20 QTLs for starch traits were detected and most of them were located on chromosomes 3D, 6B and 7B. Only 7 QTLs for protein and starch traits were co-located in three regions on chromosomes 1D, 2A and 2D. These protein and starch trait QTLs showed a distinct distribution pattern in certain regions and chromosomes. Twenty-two QTLs were clustered in 6 regions of 5 chromosomes. Two QTL clusters for protein traits were located on chromosomes 1D and 3B, respectively, three clusters for starch traits on chromosomes 3D, 6B and 7B, and one cluster including protein and starch traits on chromosome 1D.     

On Tragic Consciousness In The Works By Ernest Hemingway

As an American modern novelist who were famous in the literary world, Hemingway was not a person who always followed the trend but a sharp observer. At the same time, he was a tragedy maestro, he paid great attention on existence, fate and end-result. The dramatis personae's tragedy of his works was an extreme limit by all means tragedy on the meaning of fearless challenge that failed. The beauty of tragedy was not produced on the destruction of life, but now this kind of value was in the impact activity. They performed for the reader about the tragedy on challenging for the limit and the death.     

The Analects and the Moment in Peking——The influence of a Confucian education system on the personality formation,the way of thinking and the fate of the main characters

0.Preface China has long been boasting of its colorful and immense culture which comprises of Taoism,Confucianism and Buddhism.The interwoven influence among the religions on Chinese way of thinking,on the nation＇s behavior in their social life throughout the long history is beyond list.