欠驱动双足步行机器人运动控制与动力学仿真

以欠驱动双足步行机器人为对象,提出一种基于落脚位置控制的运动控制算法,并对其行走控制过程进行动力学仿真。首先基于三维线性倒摆模型(3D-LIPM)控制机器人的落脚位置,建立其行走姿态的虚拟约束,利用有限时间收敛反馈控制器对行走过程进行控制,实现了机器人的动态稳定行走。最后结合MATLAB的符号运算、SIMULINK和虚拟现实技术对其控制过程进行运动学和动力学仿真。实验结果表明控制算法是可行的。     

大运高速公路立体绿化模式探讨

论述了大运高速公路立体绿化的原则,探讨了大运高速公路立体绿化模式。     

The concentration quenching characteristics of ~5D_3-~7F_J and ~5D_4-~7F_J (J=0―6) transitions of Tb~(3 ) in YBO_3:Tb~(3 ) phosphor

The photoluminescence quenching behaviors of 5D3-7FJ and 5D4-7FJ (J = 0―6) transitions of Tb3 in YBO3:Tb under 130―290 nm excitation were systematically investigated. The results revealed that the quenching concentrations of both 5D3-7FJ and 5D4-7FJ transitions of Tb3 in YBO3:Tb were mainly de-pendent on excitation wavelength. Particularly,the quenching concentrations of 5D4-7FJ transitions of Tb3 under 130―290 nm excitation were correlated with excitation bands of YBO3:Tb. The quenching concentrations of 5D3-7FJ transitions remained at low concentration (2%) under 186―290 nm excitation and then increased gradually with energy of incoming excitation photon when excited at 130―186 nm. This dependence should be involved in their excitation mechanisms and quenching pathway in particular excitation region.     

Li3Sn的电子和几何结构:第一原理计算

CuSn化合物在近来的锂电池负极材料研究中引起了相当的重视.使用基于混合基表示的第一原理赝势法,研究了Li插入CuSn完全替代了Cu而且占满所有间隙位置后形成的Li3Sn的电子与几何结构性质.给出了其"结构～能量"关系图,电子能带结构,电子态密度以及电荷密度分布等.     

流动注射化学发光增强法测定酪氨酸

在Na2CO3-NaHCO3介质中,酪氨酸对Luminol-K3Fe(CN)6化学发光体系有很强的增敏作用.据此建立了流动注射化学发光增强法测定酪氨酸的方法.发光信号的增强值(ΔI)与酪氨酸的浓度在5.0×10-5～4.0×10-7mol/L的范围内呈良好的线性关系,检出限为1×10-7mol/L(S/N=3),对于1.0×10-6mol/L的酪氨酸测定相对标准偏差为2.4%(N=11).该法用于测定医用氨基酸注射液中的酪氨酸,结果令人满意.     

Family I.3 lipase: bacterial lipases secreted by the type I secretion system

Based on the classification of bacterial lipolytic enzymes, family I.3 lipase is a member of the large group of Gram-negative bacterial true lipases. This lipase family is distinguished from other families not only by the amino acid sequence, but also by the secretion mechanism. Lipases of family I.3 are secreted via the well-known type I secretion system. Like most of proteins secreted via this system, family I.3 lipases are composed of two domains with distinct yet related functions. Recent years have seen an increasing amount of research on this lipase family, in terms of isolation, secretion mechanism, as well as biochemical and biophysical studies. This review describes our current knowledge on the structure-function relationships of family I.3 lipase, with an emphasis on its secretion mechanism. Received 18 April 2006; received after revision 3 July 2006; accepted 24 August 2006     

Shevrin问题的若干充要条件

利用偏序讨论了Ｉ＿３一半群的一些性质，并给出了Ｓｈｅｖｒｉｎ问题的若干充要条件。     

最小二乘解存在的充分必要条件

本文提出了当观测值的权矩阵为正定或半正定的前提下，其最小二乘解存在的充分必要条件为并以间接平差为例验证了该结论的正确性。     

基于3S技术的土地利用动态变化研究

3S技术是研究土地利用动态变化的重要技术手段，具有传统方法无法比拟的优越性。本文以秦皇岛市为例，定量分析了区域内土地利用动态变化。针对区域土地利用程度及生态环境可能产生的影响进行了简要的评价，揭示了研究区土地利用变化规律，为秦皇岛市实现生态环境目标提供决策依据。     

Liquid-Liquid Equilibrium for 1-Butanol-Water-KF and 1-Butanol-Water-K2CO3 Systems

KF or K2CO3 was added into the 1-butanol-water system and two phases were formed： water-rich phase （water phase） and 1-butanol-rich phase （1-butanol phase）. The liquid liquid equilibrium （LLE） data for 1-butanol-water-KF and 1-butanol-water-K2CO3 systems were measured at 25℃ and showed that 1-butanol phase contained negligible salt and water phase contained negligible 1-butanol when the concentrations of KF and K2CO3 in the water phase were equal to or higher than 27.11% and 31.68% , respectively. Thus water could be separated efficiently from 1-butanol-water by adding KF or K2CO3 into the system. A theoretical calculation of LLE data was calculated by using the Pitzer theory to get water activity in the water phase, and by the models, such as the Wilson, NRTL or the UNIQUAC for the 1-butanol phase. For 1-hutanol-water-KF system, the experimental data were found in good agreement with the calculated results by using Pitzer theory and Wilson equa tion, while for 1-butanol-water-K2CO3 system, the experimental data were found in good agreement with the calculated results by using Pitzer theory and UNIQUAC eauation.