Research on Precision Assembly Robot''''s Joint Torque Control Based on Current Measurement

A set of new current sensing device is used to realize joint torque control based on current measurement in a precision assembly robot's third joint. The output torque's model of the joint's brushless DC motor is founded. Disturbance factors and the compensated effect of the torque's closed loop based on current measurement are analyzed. Related simulations and experiments show that the system has good current tracking and anti-disturbances performance, which improve the force control performance of the robot in assembly.     

Open Contours Extraction of Rotational Surface Oriented to Layer Measurement

With layer-measured contours, an algorithm that can extract the contour segments from a rotational surface is presented. The extraction can be divided into two stages, i. e. the rough segmentation and the refinement. In the rough segmenting stage, an optimal contour matching method is put forward to find similar contour segment from another closed contour with respect to the seed contour. In the refining stage, an iterative way that can extract a circular arc precisely is presented based on parameters identification and contour-ends expanding/shrinking operation. The algorithm can extract the open contour segments from a rotational surface precisely, as demonstrated in the examples. Based on the work of this paper, further research, such as parameter identification of 3 - D surface and CAD model creation, can be conducted.     

Novel Hyper-Redundant Manipulator-. Design, Study and Experiment

A novel hyper-redundant manipulator named RT1 is designed and studied. The unique feature of RT1 is all degrees of freedom (DOF) are actuated with only one motor via special designed hinge bar universal joints. The mechanisms of RT1 are introduced in detail. Some experiments are carried out in order to test the movability and adaptability of the manipulator. RT1 is actuated by pulse string and acts discretely. The discrete working space of RT1 is described and the parameter optimization for kinematical redundancy resolution is studied also. The optimization criterion is altering the design parameter as little as possible during manipulator's motion from the initial position to the expected position. An optimization example is given that is realized with Matlab optimize tool-box.     

电铲铲斗齿的修复工艺

通过分析铲斗齿的磨损原因，提出了采用堆焊的方法对铲斗齿进行修复。详细介绍了铲斗齿的修复工艺，堆焊材料的选择及堆焊时应注意的事项。实践表明，此修复工艺切实可行，取得了令人满意的效果。     

中国化妆品工业的进展

从中国化妆品工业发展史、发展现状以及发展前景等方面论述了中国化妆品工业的进程。同时阐述了中国化妆品工业与世界水平的差距以及中国化妆品工业所面临的机遇和挑战，并对中国化妆品的发展进行了预测。     

ASP开发信息服务系统示例

随着网络技术的迅猛发展，ASP已成为Web应用程序的一种重要开发工具。用ASP(Active Server Pages)技术创建的此信息服务系统分为前端的客户信息浏览、查询和后台的数据库维护两大部分。对数据库设计，程序设计和实现，系统安全进行了详细论述。     

演绎数据库虚关系的内部表示

介绍了演绎数据库的系统结构，并着重介绍了基于SQL Serverr之上的递归查询算法和将以规则形式存放于外存的虚关系转化为内部表示的过程。     

关于非线性方程x+tx=f解的具误差项的Ishikawa迭代过程的稳定性

在一般的Banach空间中证明了非线性方程x tx=f的解的具误差的Ishikawa迭代过程的新的稳定性定理，推广和改进了近期的一系列相关结果．     

氯化十六烷基三甲铵壬基苯酚聚氧乙烯(10)醚硫酸钠的表面活性及其增溶能力

C9φE10S-C16NMe3混合液的表面活性比C9φE10和C16NMe3的高得多，对辛醇的增溶曲线呈“V”字形，混合比接近l：l时，增溶量最小；对苯、邻二甲苯的增溶曲线呈“M”字形，在混合比接近l：5和5：l时出现两个极大值，l：l时出现一个极小值．在C9φE10-C16NMe3的溶液中，辛烷的加入对辛醇的增溶几乎无影响；邻二甲苯的加入使辛醇的增溶量明显下降．     

重庆市大学生求知行为调查研究

通过自编的求知行为调查问卷，对重庆市296名大学生进行了调查．调查结果表明，大学生的学习动机由强到弱依次为内部动机、成就动机、社会动机和外部动机；在学习行为方面，低年级学生满怀理想却缺少实际行动，自主性和独立性不强；高年级学生趋于务实，想学更多的实用知识，以便为就业做好准备；大学生更为看重知识的个体价值，把促进自我的发展和完善以及取得事业成功作为衡量知识价值的重要标准．