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.     

浙闽龙头草在中国武陵山区分布的新记录

本文报道了武陵山区的植物新记录——浙闽龙头草Meehania zheminensis A.Takano,Pan Li&G.-H.Xia,其与日本特有种高野山龙头草Meehania montis-koyae Ohwi形态近似.浙闽龙头草最初在中国浙江与福建被发现,并鉴定为高野山龙头草,后做了形态与分子的比较,确定其为新种.该种是武陵山区贵州、湖南和湖北3省的植物新记录.本文中引用的凭证标本均保存于吉首大学植物标本馆(JIU).     

石油化工给排水管道常用API标准制造阀门的试验

该文介绍了石油化工给排水管道常用API标准制造阀门—闸阀、截止阀、蝶阀的试验项目及试验比例,通过在某大型石油化工项目的成功实践,证明了严格执行该阀门试验项目及试验比例对保证石油化工给排水管道施工质量的必要性、合理性。     

基于统计数据模型的优秀教练评判的影响因素分析

利用模糊综合评价的方法,根据美国大学教练统计数据的特征分析,从教练的执教胜率,执教年数和获得荣誉等因素来综合评价教练的排名,并运用灵敏度分析的方法分析了各项指标对评判结果的影响因素.     

Development of liquid-nitrogen-cooling friction stir spot welding for AZ31 magnesium alloy joints

A liquid-nitrogen-cooling friction stir spot welding (C-FSSW) technology was developed for welding AZ31 magnesium alloy sheets. The liquid-nitrogen cooling degraded the deformability of the welded materials such that the width of interfacial cracks increased with increasing cooling time. The grain size of the stirred zone (SZ) and the heat-affected zone (HAZ) of the C-FSSW-welded joints decreased, whereas that of the thermomechanically affected zone (TMAZ) increased with increasing cooling time. The maximum tensile shear load of the C-FSSW-welded joints welded with a cooling time of 5 or 7 s was larger than that of the friction stir spot welding (FSSW)-welded joint, and the tensile shear load decreased with increasing cooling time. The microhardness of the C-FSSW-welded joints was greater than that of the FSSW-welded joint. Moreover, the microhardness of the SZ and the HAZ of the C-FSSW-welded joints increased, whereas that of the TMAZ decreased, with increasing cooling time.     

在极限理论教学中培养学生的辩证思维

利用辩证思维的关联性,建立极限概念内部及与其它知识的关联,培养学生发散思维的能力;利用辩证法思维中量变质变规律,培养学生综合知识的能力;利用辩证法思想中对立统一规律,培养学生辩证思维的能力;利用辩证思维否定之否定规律,培养学生的创新思维能力.     

Uncoupled PID Control of Coupled Multi-Agent Nonlinear Uncertain systems

In this paper, PID (proportional-integral-derivative) controllers will be designed to solve the tracking problem for a class of coupled multi-agent systems, where each agent is described by a second-order high-dimensional nonlinear uncertain dynamical system, which only has access to its own tracking error information and does not need to communicate with others. This paper will show that a 3-dimensional manifold can be constructed based on the information about the Lipschitz constants of the system nonlinear dynamics, such that whenever the three parameters of each PID controller are chosen from the manifold, the whole multi-agent system can be stabilized globally and the tracking error of each agent approaches to zero asymptotically. For a class of coupled first-order multi-agent nonlinear uncertain systems, a PI controller will be designed to stabilize the whole system.     

CoPt-Co hybrid supported on amino modified SiO_2 nanospheres as a high performance catalyst for hydrogen generation from ammonia borane

CoPt-Co hybrids were successfully supported on amino modified SiO_2 nanospheres by a chemical reduction method at a temperature of 278 K.The solid carrier i.e.amino modified SiO_2,provides numerous anchoring sites for the metal nanoparticles(NPs)to improve the dispersion while reducing the size of metal NPs.The supported NPs displayed a narrow particle size distribution on the SiO_2 surface with an average diameter of 12 nm.The XRD results alongside with the binary alloy phase diagram suggest that the resulted NPs are bimetallic,composed of CoPt and amorphous Co.Among the prepared materials,the solid with the specific composition of SiO_2@Pt_(0.1)Co_(0.9)was proved to be effective catalyst for ammonia borane(AB)hydrolysis in aqueous solution.The turnover frequency(TOF)value of the supported nanocatalyst was 25.59mol_(H_2)min~(-1)·mol_M~(-1),almost twice as that of unsupported Pt_(0.1)Co_(0.9)NPs while the activation energy was 37.05 kJ mol~(-1).Furthermore,the SiO_2@Pt_(0.1)Co_(0.9)composite manifested high catalytic activity even after five cycles of reuse.     

Benthic foraminiferal δ~(13)C minimum events in the southeastern Okhotsk Sea over the last 180 ka

A total of six d13C minimum events,i.e.,VI,V,IV,III,II,and I,were observed via a stable carbon and oxygen isotope analysis of infaunal benthic foraminifera Uvigerina spp.in gravity core OS03-1 in the southeastern Okhotsk Sea over the last 180 ka.These events occurred at112–109,102–90,85–76,57–54,44–40,and 17–10 ka BP.The largest negative excursions reached 2.5%in event V and were greater than 1%in the other events.We proposed that all d13C minimum events were caused by the increase in sea surface water productivity,the weakened formation of Okhotsk Sea intermediate water,and the enhancement of the oxygen minimum zone.The negative excursions were unaffected by methane hydrate destabilization and subsequent methane release based on the results obtained by using archaeal lipid markers.     

速激肽1型受体（NK1 R）在斑胸草雀脑干鸣唱控制相关核团及部分听觉核团内的分布

采用免疫组织化学的方法研究了速激肽1型受体(NK1R)在斑胸草雀脑干发声控制核团和部分听觉中枢内的分布及阳性标记特征.结果显示,NK1R广泛分布于斑胸草雀发声控制核团和部分听觉中枢内;1)发声控制相关核团:中脑丘间复合体背内侧核(DM)有大量的NK1R免疫阳性胞体标记,极少出现纤维;中脑腹侧被盖区(VTA)、黑质致密部(SNc)及周围脑区有大量的NK1R阳性胞体和NK1R免疫阳性纤维分布;2)听觉中枢:中脑背外侧核(MLd)和耳蜗核前庭外侧核(NM)有密集的胞体标记;而耳蜗核层状核(NL)及角核(NA)有少量NK1R阳性胞体分散分布,且角核可见大量密集深染纤维.本实验结果提示NK1R可能在鸣禽的发声控制及听觉中枢内具有重要的生理功能.