Computer Data Processing of the Hydrogen Peroxide Decomposition Reaction

Two methods of computer data processing, linear fitting and nonlinear fitting, are applied to compute the rate constant for hydrogen peroxide decomposition reaction. The results indicate that not only the new methods work with no necessity to measure the final oxygen volume, but also the fitting errors decrease evidently.     

Structural Changes of Polyethylene Terephthalate Fibers Grafted by Acrylamide

A group of grafted PET fibers with different graft yield are formed by grafting acrylamide onto the PET main chains. The structure of grafted fibers are studied by scanning electronic microscope ( SEM ), infra-red spectrophotometer ( IR ), and differential scanning calorimetry(DSC). At the same time, the moisture regain, dyeability, strength, and elongation at break of the samples are measured and their relations with structural changes are discussed. Compared with ungrafted fiber, shape of the fiber cross-section, IR characteristic absorption peaks, and melting behavior of the grafted fibers have been changed, causing the fiber dyeability and moisture regain to be increased, and mechanical properties to be changed.     

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.     

Ordinary Toxicity of Chlorine Dioxide and By-products Chlorite and Chlorate in Water

Acute toxicity and accumulated toxicity of chlorine dioxide (ClO2) and by-products chlorite (ClO2-) and chlorate (ClO3-) in water acted on mice are studied by the method of Horn and accumulation coefficient. Subchronic toxicity of the mixture of ClO2 and ClO2-and ClO3- in water acted on rat is studied though feeding test for 90 days, including statistical analysis of variance on weight gaining, food utilization efficiency,index of blood and serum,liver (or kidney) to body weight ratio, and histopathological examination on liver and kidney. The results show that aqueous solution of ClO2, NaClO2 and NaClO3 ( with the concentration of 276.5 mg/L, 200 mg/L and 200 mg/L respectively) and the mixed aqueous solution of ClO2 with the concentration of 553 mg/L are actually non-poisonous , and non-cumulative aqueous solution as well.     

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.     

对混炼型聚氨酯弹性体生胶可塑度影响因素的探讨

详细论述了混炼型聚氨酯弹性体(MPU)的加工过程和特性，通过实验指出了生胶可塑度与MPU的加工过程和质量有密切的关系，影响可塑度的因素有生胶中硬链段的含量、聚酯二醇的结构和生胶的分子量。     

地基液化的处理措施

砂土地基在地震动荷载作用下会发生液化，使地基丧失承载力，建筑物产生大量不均匀沉降，造成建筑物开裂、倾斜或破坏，国家财产和人民生命遭受损失。通过分析液化的形成条件及本身特性，提出了在设计中全部消除地基波化沉陷，部分消除地基液化沉陷和减轻液化影响的措施。     

太原市发展屋顶绿化应注意的若干问题

屋顶绿化是我国城市建设的一个崭新亮点，它既有增加城市绿地面积、发挥生态林业的作用，又有美化城市、为居民提供活动场所的功能。简要介绍了国内外屋顶绿化的发展状况，分析了太原市发展屋顶绿化的技术难点，提出了地毯式、花槽连网架式、花园式3种屋顶绿化模式，并建议就不同模式进行试点。