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。     

再入飞行器总体参数优化设计

研究再入飞行器总体参数的优化设计方法。方法在内部装填物参数给定的情况下,应用步长加速法与外点罚函数相结合的优化设计方法,以再入飞行器的最小质量为目标函数,求得最优设计方案。     

活菌制剂对雏鸡白痢沙门氏菌的体外拮抗及预防效果试验

从健康鸡的新鲜粪便中分离到乳酸杆菌和粪链球菌,佐以地衣芽孢杆菌,按不同比例制成活菌制剂。比较其对雏鸡白痢沙门氏菌的体外拮抗作用。结果表明,复合菌的组合适宜,对雏鸡白痢沙门氏菌的生长有很强的抑制作用。用此复合菌培养物预防人工感染的雏鸡白痢病,其预防保护率为８５％。     

无蹼壁虎消化道组织学及组化观察初报

Ｃａｒｎｏｙ固定,常规石蜡包埋、切片、Ｈ．Ｅ染色、ＰＡＳ反应、ＲＮＡ反应,对无蹼壁虎消化道的组织学进行光镜观察．结果表明：其消化道由同心圆的粘膜层、粘膜下层、肌层和浆膜层组成．绒毛发达,绒毛的上皮细胞为单层柱状上皮．消化腺为分枝管状腺．ＰＡＳ反应显示柱状细胞纹状缘,杯状细胞和腺细胞呈强阳性,与分泌的粘多糖有关．ＲＮＡ反应显示腺细胞呈强阳性,与腺细胞分泌活动有关．     

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。     

Explicit analytical solutions of non-Fourier heat conduction equation for IC chip

Four basic explicit analytical solutions of non-Fourier heat conduction equation simulating IC chip thermal condition are derived. Some other analytical series solutions can also be derived with the above-mentioned basic solutions. Analytical solution has its own irreplaceable important meaning in theory. In addition, as the standard solution to check the accuracy, convergence and effectiveness of various numerical computational methods and their differencing schemes, grid generation ways and so on, the analytical solution is very useful also for the newly rapidly developing computational heat transfer.     

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.