机器人多指手的位置一力混合控制

分析了一类机器人多指手的动力学模型的特点,针对这类机器人多指手在运动和抓握２个过程中动力学特性有根大差异的特点,提出了１种切实可行的位置─力混合控制方案,并成功的应用于北京科技大学双拇指手控制系统。     

东平湖轮虫群落与水质评价

报道了东平湖轮虫群落结构特征及数量的季节变动,并依据调查结果,采用“指示生物法”“生物指数法”和“Ｒ．Ｍａｒｇａｌｅｆ多样性指数法”评价该糊水质状况及营养化程度,研究表明,轮虫对水体污染具有较好的指示作用,东平湖水质属于寡污－β中污至β中污型,且各采样站水质污染程度有的差别。     

Observational study of the circulation in the southern South China Sea

CTD data from two oceanographic survey cruises, conducted by “Shiyan No. 3” R/V during two reversing monsoons, were employed to calculate and analyze the distributions of temperature, salinity and geopotential anomaly in the southern South China Sea (SSCS). Based on these distributions, the horizontal structures of the SSCS circulation are described systematically. Study results show that the SSCS circulation structure could be classified as a two-layer (the upper and the lower) pattern, and that the main circulation in the upper layer (0–400 m) is driven by the South China Sea monsoons and is opposite in direction to the reversal of the monsoons. The distributions of principal current systems and their features are presented. Two important local phenomena, local eddy and oceanic front, were observed.     

Structural OH in mantle-derived clinopyroxene megacrysts from Nushan

Thirteen clinopyroxene megacrysts from Nushan Cenozoic basalts have been investigated by Fourier transform infrared spectrometer(FTIR). The results demonstrate that all samples contain trace amount of structural OH. Clinopyroxenes from Nushan show four groups of absorption bands, in which, 3 472–3 506 cm⁻¹ is the major characteristic one. It is suggested that the position of major band is probably related to AI content: the position of major characteristic band for high-AI samples is around 3 470 cm⁻¹, whereas that for low-AI samples around 3 620 cm⁻¹.     

A recording phase lag between ocean and continent climate changes: Constrained by the Matuyama/Brunhes polarity boundary

The Matuyama/Brunhes polarity boundary (MBPB) is recorded in Chinese loess L8, which is associated with the glacial period. It is proved that loess L8 is capable of recording earth’s secular variation, and the lock-in depth in Chinese loess is no more than that of marine sediments. Comparison with the location of MBPB in Chinese loess and marine sediments, it is put forward that there is a recording phase lag between ocean and continent climate changes.     

The neodymium isotopic characteristic and geological significance of Kuokesu plagioclase amphibolites from the Kuruktag, Xinjiang, China

The plagioclase amphibolites from Kuokesu area, Kuruktag, Xinjiang occur as enclaves embedded in the granodioritic gneiss. In the light of major elements and REE data, the parent rocks of the plagioclase amphibolites belong to weak_alkaline basalts. Their Nd model ages mainly range from 2 832 to 3 075 Ma. The seven plagioclase amphibolites yield a reasonable good isochron age of (828±86) Ma(2σ) with I Nd =0.510 981±82, ε Nd ( t )=-11.5±1.6. Such a case shows the existence of great proportion of the Archaean mafic crustal basement on the Kuokesu area. The strong tectonic_thermal event at about 820 Ma made the Sm_Nd isotope of the metamorphic rocks homogenization. This event would be associated with the Tarim Movement.     

用边界层理论计算平底闸孔出流的流量

应用边界层理论,对闸孔出流的水力计算方法进行了分析,得出了用边界层厚度表示的流量计算的表达式。该计算式物理意义明确、计算简单,经验证与试验结果一致。     

春秋刘国故城考

刘国是春秋时期东周王畿内的重要封国之一。笔者就刘国故城遗址、地望及其兴衰进行了考证     

提高注射法导入外源基因棉铃成铃率的技术研究

对采用注射法导入外源基因的棉铃,在激素种类、不同生态条件、结铃部位、结铃性、整枝方式等方面进行分析,探讨了导入棉铃落铃机理和提高导入棉铃成铃率的技术途径。