一种仿人机器人跑步运动轨迹生成方法

采用小车-曲面桌子模型,提出了一种仿人机器人跑步运动轨迹生成方法.针对仿人机器人在单腿支撑阶段和飞行阶段不同的运动方式,分别规划仿人机器人的质心轨迹,在单腿支撑阶段,求解根据小车-曲面桌子模型建立的动力学方程,规划出机器人的质心轨迹;在飞行阶段,仿人机器人质心作抛物线运动.采用3次插值方法规划双足在不同阶段的轨迹.仿真...     

BiOCl/Bi2WO6复合材料的制备及其光催化性能研究

通过简单的一步水热法制备BiOCl与Bi₂WO₆的复合物,通过XRD、SEM、及循环实验,对复合物的晶相组成、形貌、晶体尺寸以及稳定性进行研究.以环丙沙星和罗丹明B作为污染物,对催化剂的性能进行测试,结果表明复合物对两者的降解效果明显比各自的纯物质要好.通过自由基捕获实验得知空穴为主要的活性物种,·O₂^-在光催化降解中起到辅助作用,并由此提出可能的反应机理.     

NaSn_2（PO_4）_3的水热合成及表征

在Ｎａ２Ｏ－ＳｎＯ２－Ｐ２Ｏ５－Ｈ２Ｏ体系中用水热方法合成了ＮａＳｎ２（ＰＯ４）３。样品通过ＸＲＤ、ＩＲ、ＴＧ进行表征。     

Robust H_∞ control for uncertain descriptor systems with state and control delay

1 .INTRODUCTIONTi me delayis commonly encounteredin various en-gineering systems ,which often occursinthe trans-mission of information or material between differ-ent parts of a systemand is frequently a source ofinstability and poor performance[1]. Transporta-tion systems , communications systems , chemicalprocess , power systems are typical examples ofti me-delay systems . In the recent years , muchwork has been devoted to the analysis and synthe-sis of controller for state-delayed system…     

拟距离空间上非线性映射的不动点定理及迭代逼近的收敛性

本文提出了拟距离空间的概念,在拟距离空间上给出了一类非线性、非单调压缩映射的不动点定理及迭代逼近的收敛性,进而建立了乘积空间上的不动点定理。     

Field test of HTS receivers on CDMA demonstration cluster in China

This paper presents the field test of our first demonstration cluster with five base stations (BTS) on code division multiple access (CDMA) wireless communication in China, while each BTS was installed with a high temperature superconductor (HTS) receiver. The HTS receivers have the same centre frequency of 830 MHz, a bandwidth of 13 MHz, and a noise figure (NF) of 0.9 dB. After the conventional receivers in the BTSs were replaced by the HTS receivers, a consequent drive test was carried out. A 2.35 dB decrease of the mean mobile transmit power was observed in the demonstration cluster. Supported by the National Natural Science Foundation of China (Grant No. 60471001)     

Pb, Sr isotopes in organic matter of Lower Tertiary hydrocarbon source rocks in Liaohe Fault Depression

The Pb, Sr isotopic compositions in organic matters (kerogen and soluble organic matter) of Lower Tertiary hydrocarbon source rock in Liaohe Fault Depression is first reported. There is a great variable rang of Pb isotopic compositions in kerogen, 206Pb/204Pb = 17.488-18.656, 207Pb/204Pb= 15.388-15.692, 208Pb/204Pb = 37.656-37.484. And soluble organic matters have a very stable Pb isotopic composition, that is 206Pb/204Pb = 17.424-17.601, 207pb/204pb= 15.376-15.448, 208Pb/204Pb = 37.620-37.870. Sr isotopic composition varies in the range of 0.747 59-0.716 79 in kerogen and of 0.709 67-0.747 59 in soluble organic matters that have a great range. It is shown that mantle fluid can influence organic matters and make them form hydrothermal hydrocarbon in the geoglogic environment of rift basin.     

基于模糊行为融合的移动机器人避障算法

为了减少移动机器人自主导航过程中过多寻求当前时刻最优路径或最优解而产生的死锁或震荡现象,根据多目标优化理论,提出了基于模糊行为融合的移动机器人避障算法.该算法把指定目标的导航过程分解为具有三个子行为的系统,根据传感器信息动态改变各子行为函数的区间权重和优先级,实时获得当前时刻最满意路径或最有效路径.实验结果证明:该算法可以有效减少导航过程中的死锁和震荡现象,提高避障过程的鲁棒性和实时性.     

临床完全缓解卵巢上皮性癌CA125界值与预后相关性研究

探讨了临床完全缓解卵巢上皮性癌患者CA125界值与复发的相关性,它关系着卵巢癌患者的预后,可为减少难治性卵巢癌的发生提供参考.