优化技术在求解机器人操作手IKP中的应用

对于机器人操作手ＩＫＰ求解的问题，提出了利用消元及变量分离技术，将问题简化为仅含部分关节变量的优化问题。对多解的ＩＫＰ，在建立优化模型时，既考虑末端执行器给定的位姿要求，亦充分考虑关节空间、工作环境等因素的约束，从而求得问题的确定解。对于障碍碰撞的判别与躲避，提出了交点控制策略。     

基于人工神经网络的机器人操作手IKP求解

探讨人工神经网络在操作手ＩＫＰ求解中的应用，采用ＢＰ网络，通过训练学习，实现操作手术 量空间到工作变量空间的非线性映射；从而求得全部ＩＫＰ解，给出了两种操作手术的具体计算与仿真实例。     

七自由度相贯焊缝检测机器人运动学逆解

针对采用D—H法求解机械手臂逆运动学存在的不足，提出几何法解决七自由度插接管焊缝检测机器人关节变量的逆解问题．该方法与矩阵变换法相比能很大程度上减少运动方程逆解的计算量，对于提高关节的控制速度极为有利．结合实际扫查的空间相贯曲线，对各关节的运动位移进行了计算仿真．结果表明，各关节的运动学逆解唯一，计算简单，运算量小，特别是对于具有多冗余度的机器人，此法能够避免奇异解的讨论，提高计算效率．     

不可微优化不动点算法软件包—NDOFPA

介绍在ＩＢＭ－ＰＣ／ＸＴ微机上实现的一个通用的不可微优化不动点算法软件包 ＮＤＯＦＰＡ，它可以用于求集值映射的 Ｋａｋｕｔａｎｉ不动点。求解可微和不可微的非线 性方程组，无约束和约束的优化问题．从已经计算过的几十个例子看出：这一类算法 及其计算软件对于上述问题的求解，效果良好．     

SP.n,ISP.n阵的三角分解及线性方程组的反问题

通过矩阵ＳＰ·ｎ和ＩＳＰ·ｎ的三角分解，得到了线性方程组在ＳＰ·ｎ（ＩＳＰ·ｎ）中的反问题的解。     

6-PSS并联机器人操作机行程解析综合

定义了６－ＰＳＳ并联机器人操作机的工作空间；以微分几何的工具，构造出在主动关节变量约束下工作空间边界的数学模型，提出一种综合操作机主动关节变量变化范围的解析方法；讨论了尺度参数对主动关节变量变化范围的影响规律。     

Banach空间中非线性互补问题的解的存在性

证明了一个非线性互补问题ＮＣＰ（Ｔ，Ｋ）的解的存在定理、其中，Ｋ是自反Ｂａｎａｃｈ空间Ｅ中的闭弱局部紧凸锥、Ｔ是从ＫＥ到Ｅ中的非线性算子；另一方面，证明了当ＫＥ是一个Ｇａｌｅｒｋｉｎ锥，Ｔ具有形式Ｔ＝Ｊ－Ｆ时的问题ＮＣＰ（Ｔ，Ｋ）的解的存在定理．其中，Ｊ是对偶映像，Ｆ满足适当的附加条件．     

不动点理论和广义补问题

在本文中利用Ｉｓａｃ引入的保序投影锥的性质，点值和集值映象的已知不动点定理，对广义补问题ＧＣＰ（Ｆ、Ｋ）和广义隐补问题ＧＩＣＤ（Ｆ，ｇ，Ｋ）证明了解的存在性定理．且改进和推广了Ｉｓａｃ和Ｉｓａｃ－Ｎéｍｅｔｈ的最近结果。     

计算机辅助工艺设计系统（CAPP）

介绍ＣＡＰＰ系统及其组成，并重点介绍零件编码的实现和码位的定义，讨论ＣＡＰＰ的构成及其存在问题．通过对工厂的ＣＡＰＰ开发研究，在比较了ＪＣＢＭ．ＪＬＢ－ＩＯＰＩＴＺ．ＫＫ－３等编码基础上，据我国现行工艺的水平及计算机技术的发展，提出了在ＫＫ－３基础上的扩充编码，并简单介绍ＣＡＰＰ实现的流程及方法，提出一种综合的ＣＡＰＰ设计方法．     

2+1 维 Kadomtsev-Petviashvili 方程的 Bcklund 变换和精确解

采用一种新的方法并借助计算机代数的符号运算，求出了２＋１维Ｋａｄｏｍｔｓｅｖ－Ｐｅｔｖｉａｓｈｖｉｌｉ（ＫＰ）方程的一种自Ｂａｃｋｌｕｎｄ变换，并得到ＫＰ方程的三组精确解，其中一组为孤波解．     

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.     

Features of Women's language

Language is a means of verbal communication. People use language to communicate with each other. In the society, no two speakers are exactly alike in the way of speaking. Some differences are due to age, gender, statue and personality. Above all, gender is one of the obvious reasons. The writer of this paper tries to describe the features of women＇s language from these perspectives： pronunciation, intonation, diction, subjects, grammar and discourse. From the discussion of the features of women＇s language, more attention should be paid to language use in social context. What＇s more, the linguistic phenomena in a speaking community can be understood more thoroughly.     

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.     

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.     

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。     

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.     

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.     

Achieving Unusual States of Matter Under High Pressure

正The periodicity of the elements and the non-reactivity of the inner-shell electrons are two related principles of chemistry,rooted in the atomic shell structure.Within compounds,Group I elements,for example,invariably assume the+1 oxidation state,and their chemical properties differ completely from those of the p-block elements.These general rules govern our understanding of chemical structures and reactions.Using first principles calcula-     

Exchange-Correlation and Electronic Excitation Energies from Pairing Matrix Fluctuations

We have developed an adiabatic connection to formulate the ground-state exchange-correlation energy in terms of pairing matrix linear fluctuations.This formulation of the exchange-correlation energy opens a new channel for density functional approximations based on the many-body perturbation theory.We illustrate the potential of such approaches with an approximation based on the particle-particle Random Phase Approximation(pp-RPA).This re-