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。     

土法造纸木素降解之探索Ⅲ.嫩毛竹自然发酵过程中的细菌分离鉴定与嫩竹软化菌的筛选

试验证实,嫩毛竹自然发酵过程中的微生物主要是细菌。分离出并纯化了１００株细菌,其中６０株是芽胞杆菌。将分离出的１００株细菌分别接入石灰预处理过的嫩竹,从中筛选出能使嫩竹进一步软化的菌株３株,也均为芽胞杆菌。对这６０株芽胞杆菌进行了形态学及其生理生化特征的鉴定,按Ｐｒｉｅｓｔ氏等（１９８８年）的数值分类系统分类到组,将３株（３０８,３０９,３１０）对嫩竹软化有明显作用的芽胞杆菌的１株（３０８）鉴定到种,认为是短小芽胞杆菌（Ｂ．ｐｕｍｉｌｕｓ）。另外４０株非芽胞杆菌参阅《伯杰氏系统细菌学手册》第１卷和第２卷,鉴定到科或属,有微球菌、葡萄球菌、李氏杆菌、不动杆菌、肠杆菌科等。     

两个线性最小二乘问题解流形之间的逼近性

运用广义逆矩阵理论,研究了两个线性最小二乘问题解流形之间的逼近性,推广了若干已有结论。     

Leakage of mantle helium from the Liaodong Peninsula, China

The isotopic cumpositions of helium have been investigated in hot spring gases sampled from the Liaodong Peninsula. China. The³He/⁴He ratios range from 0.14 Ra (0.14 times the atmospheric³He/⁴He ratio of 1.40 × 10^-6 to 0.72 Ra.³He/⁴He versus⁴He/²⁰Ne ratios and He contents suggest that a small amount of mantle-derived helium reaches the earth’s surface. Helium iwtope ratios of the hot spring gases show a distribution pattern similar to the regional heat flow values, indicating that the positive thermal anomaly occurring in the rtrea is closely associated with the presence of mantle-derived helium. The observations described above provide some significant evidence that the molten magma originating from partial melting of the upper mantle may have intruded into the continental crust along the activity fault. The coupling of the presence of mantle He and heat flow anomalies to seismic activity in studied region seem to imply that there is an internal relationship between mantle degassing and seismic activity.     

Properties of a supercritical superdiffusion and solutions of its corresponding differential equation

The range and the nonextinction property of a supercritical superdiffusion and solutions of its corresponding differential equation are studied. It is pruved that under a suitable condition, the conditioned superprocess of the supercritical superdiffusion is a subcritical superdiffusion.     

Cloning, construction of prokaryotic expression vector and expression ofEscherichia coli cytosine deaminase gene

Cytosine deaminase gene ofEscherichia coli strain H-30 was cloned, and its initiation codon of ‘GTG’ was mutated to ‘ATG’ by PCR. Prokaryotic recombinant expression vector pBV220-CD was constructed. Clone with high enzyme activity were selected by detecting their specific activity of cytosine deaminase. 5-FC(5-FC, 5-fluorocytosine) could induce the lethal toxicity to cells containing active CD gene. DNA sequence analysis indicated that there were 16 altered bases and 5 of them resulted in the alteration of amino acids in predicted peptide by comparing DNA sequence of the clone H-30-CD-11 with high enzyme activity with CD gene reported in Gene Bank.     

伪距,伪距增量,载波相位双差／惯性深组合导航系统

利用滞后状态卡尔曼滤波将伪距,伪距增量以及载波相位双差同ＩＮＳ进行了深组合,仿真结果表明该组合导航系统不仅精度高,而且对解决惯导的对准问题具有突出的作用。     

柴油机曲轴应力状态的计算与分析

本文以６１８０柴油机整个曲轴作为有限元计算模型,将曲轴离散为三维２１节点和１６节点单元及边界元,通过适当选取受力条件与约束条件,在大型机上完成了曲轴的有限元强度计算。本文还采用电测法对该曲轴应力状态进行了测量。计算结果与实验结果吻合较好。     

热膨胀系数测定新方法

提出了一种测量材料热膨胀系数的新方法。此方法以云纹干涉原理及微机技术为基础,使用液体恒温,在常温状态下即可高精度地测限材料的热膨胀系数ａ值。     

耐热碱性磷酸酯酶基因的亚克隆及其在大肠杆菌中的表达

根据耐热碱磷酸酯酶基因的酶切图谱和ＤＮＡ序列,分别在基因的起始密友子和终止密码子设计２个突变引物。引物的５‘端分别带有ＮｄｅⅠ和ＢａｍＨⅠ酶切全点。通过ＰＣＲ从质粒ｐＴＡＰ１１８Ｂ中扩增获得了ＦＤ－ＴＡＰ基因的全序列。经过酶切将基因亚克隆于高达载体ｐＪＬＡ５０３。