Ground demonstration system based on in-orbit assembly oriented manipulator flexible force control

To eliminate the load weight limit of carrier rockets and reduce the burden on support struc-tures,in-orbit assembly is a key technology to make design of scattering a large diameter telescope into submirror modules, which requires smooth operation of assembly robots, and flexible force con-trol technology is necessary.A ground demonstration system is presented for in-orbit assembly focu-sing on flexible force control.A six-dimensional force/torque sensor and its data acquisition system are used to compensate for gravity.For translation and rotation, an algorithm for flexible control is proposed.A ground transportation demonstration verifies accuracy and smoothness of flexible force control, and the transportation and assembly task is completed automatically.The proposed system is suitable for the development of in-orbit assembly robots.     

Bαlog空间到QK(p,q)空间的复合算子

运用复分析和泛函分析的理论与方法,讨论了B_(log)~α空间到Q_K(p,q)空间的复合算子C_ф:C_ф(f)=foф的有界性,得到了该算子有界的充分必要条件。     

粗糙集计算方法及应用研究

研究总结了粗糙集计算方法新进展,同时对它们的计算复杂性进行了分析,并给出了这些计算方法之间的逻辑关系结构图,然后讨论了粗糙集在模型方面的扩展,最后对粗糙集计算方法的应用进行了论述.     

区域城乡协调发展的综合评价——以宁波为例

城乡之间的协调表现在很多方面.要全面、客观地评价一个地区的城乡协调发展情况,必须建立科学合理的评价指标体系,选择恰当的评价方法.本文结合宁波市的实际情况,讨论了城乡协调发展的内涵和目标,提出了城乡协调发展评价指标体系和方法,揭示了宁波市近年城乡协调发展方面存在的问题和未来可能的变化态势.     

正规族与分担值

通过研究正规族与分担值之间的关系,得到如下两个结果:设F是区域D内的亚纯函数族,a1,a2,a3,a4∈C,a1≠a3,a2≠a4,a2≠0,若(A)f∈F,f(z)=a1(→)f'(z)=a2,f(z)=a3(→)f'(z)=a4,则F在D内正规;设F是区域D内的全纯函数族,k∈Z ,a,b∈C,a≠0,b＞0,若(A)f∈F,f-a的零点重级均≥k,f=a(→)f(k)=a,f(k)=a(→)0＜|f(k 1)|≤b,则F在D内正规.     

基于模糊关系方程组的解构造的模糊控制器

基于若干条模糊规则的模糊推理的数学本质是将有限个模糊集之间的对应延拓成整个模糊空间上的映射,sup-*合成推理算法和inf- →合成推理算法都是实现这种延拓的有效途径.研究了: 1) 基于一种sup-*合成的模糊关系方程组Ai⊙mR=Bi (I=1,…,n),给出了最大解(最优近似解)的公式,并将此最大解用于构造模糊控制器,证明了以此解构造的模糊控制器具有插值函数的泛逼近性; 2) 基于一种inf- →合成的模糊关系方程组Ai⊙mR=Bi (I=1,…,n),证明了在模糊划分意义下解的存在性,给出了最小解的公式,并将此最小解用于设计模糊控制器,证明了以此解构造的模糊控制器具有插值函数的泛逼近性.由于合成运算中引进了一种连续可变的T范数和蕴涵算子,即Schweizer T范数和Schweizer蕴涵算子,因而得到了2个基于已知模糊规则的具有良好柔性和泛逼近性的连续可变的模糊控制器簇的构造方法,这个结果对模糊系统设计与优化有重要意义.     

基于人的信息处理模型分析操作人员视觉信息处理过程

报告了由知觉、思维、运动３个处理器和短期记忆、工作记忆和长期记忆构成的研究用计算机实现 人的信息处理模型;把人的信息处理模型安装在一台PC机上,模拟生产操作人员监视锅炉厂模拟机计算机屏幕 的过程表明,视觉信息处理过程取决于画面因素、人的身心状态和知觉处理器参数等与实际生产操作人员的行 为特征相符。此模型可以用来分析工业生产中人为操作失误的发生机制,以预防和减少事故发生。     

Development and Prospect of China Uranium Mining and Metallurgy

The development of industry of uranium mining and metallurgy in China has been reviewed generally, emphasizing on investigation approaches and application levels of uranium mining technologies such as insitu leaching, heap leaching, stope leaching: on the basis of analysis on status of uranium mining and metallurgy and problems existed, also considering the specific features of deposit resources, the development orientation of uranium mining and metallurgy in China is pointed out. The industry of China uranium mining and metallurgy is faced to new opportunity of development and challenge in 21st century, the only way to realize sustainable development of uranium mining and metallurgy and harmonious development between economy and environment is to develop new technology on mining, ore beneficiation and metallurgy, increase the utilization level of uranium resources, low down impact on environment caused by mining and metallurgy.     

食管支架径向支撑性能

针对目前编织型食道支架支撑性研究存在的问题,完成了支架几何模型及有限元模型的创建、材料模型的选取以及边界条件的设置,提出了基于有限元分析的食管支架径向支撑力计算方法,并对不同头数、不同丝径、不同导程支架的径向支撑力进行分析.分析结果显示:头数越多,径向支撑力越大;丝径越大,径向支撑力越大;导程越大,径向支撑力越小.支撑...