欧拉角和等效轴角参数表示下机械腕的轨迹规划和奇异性分析

为了解决机械腕的控制问题,研究了由欧拉角和等效轴角参数表示的数学奇点。通过计算角速度和角加速度,研究机械腕的奇异位形,并根据它们之间的关系,设计了三种轨迹规划方案,以保证机械腕运动的连续性和稳定性,以及机械腕姿态的优雅性和简洁性,实现实时控制。     

雅思听力教学技巧与方法探析

雅思考试作为学生出国学习的必经之路，以考试的综合性和实用性著称于世，听力部分占总成绩的1/4，是学生反映较难提高的模块之一。该文通过对几种训练方法的梳理，探索寻找对提高雅思听力成绩行之有效的教学方法。     

Schr?dinger-KdV方程的守恒律

利用分步积分公式研究了Schr?dinger-KdV方程的守恒律,证明了方程的6个守恒律.最后,用算例验证了这些守恒律.     

Interannual and interdecadal variations in the North Atlantic Oscillation spatial shift

The spatial shift of the North Atlantic Oscillation (NAO) is analyzed by using the Twentieth Century Reanalysis version 2 dataset and identifying NAO action centers directly on winter mean sealevel pressure (SLP) anomaly maps. The spatial shift of the NAO is characterized by four NAO spatial shift indices: the zonal and meridional shifts of the NAO southern and northern action centers. It is found that the zonal and meridional shift trends of the NAO action centers move along a path of southwest-northwest direction. Spectral analysis shows that the four NAO spatial shift indices have periodicity of 2-6 years and the NAO index has periodicity of 2-3 years in terms of high-frequency variations. On a decadal time scale, the NAO spatial shift indices are closely (positively) related to the NAO index, which is in agreement with previous studies of the relationship between the NAO index and the spatial shift of the NAO pattern. However, there is no relationship between the NAO index and the meridional shift of the northern action center on an interannual time scale. The significant relationship between the NAO index and the interannual variability of NAO spatial shift indices is very likely to be associated with synopticscale Rossby wave breaking, which generates surface pressure anomalies and thus affects the phase and pattern of the NAO. The correlations of winter westerly winds over 90°W-0° and the NAO index and the NAO spatial shift indices have a ’+ - + -’ structure from the Equator to the North Pole. Although there is close correlation between the NAO spatial shift indices and the strength of the zonal winds in the North Atlantic region, the effect of the zonal winds on the NAO spatial shift differs at different latitudes. Hence, the role of the zonal winds is probably a result of the NAO spatial shifts.     

Asymmetric energy flow in coupled nonlinear LC transmission line

We constructed a coupled LC transmission line and studied the propagation of waves in it. We found asymmetric energy flow when we changed the driving conditions at the boundary. We analyzed this change and believe that it occurs because of the bandpass characteristics of the LC transmission line and high-order harmonic waves induced by nonlinearities. The LC transmission line could be used to simulate a microscopic crystal lattice. Therefore, we hope to observe thermal rectification in the system. We investigated the dependence of the system on different parameters, and then discussed the multi-frequency condition to aid in experimental verification.     

复合广义Poisson模型下最终破产概率估计

将经典复合Poisson模型推广到复合广义Poisson模型，证明了复合广义Poisson模型可转化为经典复合Poisson模型，并求出了其破产概率公工以及破产概率的上下界。     

水盐变化对滨海湿地土壤有机碳累积与碳排放的影响综述

滨海湿地作为海岸带蓝碳生态系统的重要组分,具有巨大的碳捕获和碳封存潜力,在减缓气候变暖方面具有重要意义．水盐变化通过影响滨海湿地土壤有机碳的累积和排放过程实现对滨海湿地生态系统碳收支的调控．本文综述了水盐变化对滨海湿地土壤有机碳累积和碳排放过程的影响,以及滨海湿地土壤碳排放研究方法等方面的研究进展,分析了水盐驱动下滨海湿地土壤有机碳分解的微生物作用机制．针对当前研究存在的不足,提出今后应重点关注滨海湿地土壤有机碳分解的温度、湿度和盐度敏感性及其水盐-温度的协同作用机制,氮磷输入和多重污染胁迫对滨海湿地土壤有机碳排放的作用机制,以及滨海湿地土壤微生物碳代谢过程与氮磷硫代谢过程的耦合作用及其水盐驱动机制等方面的研究,以期揭示水盐变化对滨海湿地土壤碳循环的作用机制,为气候变化背景下滨海湿地的碳汇功能提升与管理提供科学依据．      

Diagnosis of prostate cancer by quantitative analysis of 3DMRSI data: A new model

Prostatecancer (PC)hasthehighestmorbidityrateinmaleurinarysystemdisordersinEuropeandAmerica ,anditisoneoftheprimaryreasonsofmaledeath[1] .InChina ,althoughtheattackofPCisrela tivelylow ,ithasa growingtrendinrecent 10years[2— 4 ] .Inclinicalpractice ,magneticresonanceimaging (MRI)could providehighresolutionmor phologicalstructureandhasthecapabilityofmulti parameterimaging ,butitcannotreliablydifferentiatePCfrombenignprostatehyperplasia (BPH)andnor maltissues ,particularlyforthepatientswi…     

复合广义Poisson模型下的破产概率估计

将经典复合Ｐｏｉｓｓｏｎ模型推广到了复合广义Ｐｏｉｓｓｏｎ模型，求出了其破产概率公式以及破产概率的上下界。     

Density-functional formula for strongly correlated systems

Up to now, computation method dealing withthe many electron systems has been based on single particle approximation. That is to say, the wavefunctions of a system are composed of single particlewave functions (SPWF’s), and all the physical prop erties are determined by the SPWF’s. There havebeen two sophisticate techniques to solve the SPWF’s.One is the well known Hartree Fock self consistent e quations (HFSCE). The other is the Kohn Sham e quations of density funct…