高速并联机械手抓放操作时间最优轨迹规划

提出了一种两平动自由度高速并联机械手——Diamond机构的时间最优轨迹规划方法．首先分析得到3次样条规律的操作空间轨迹误差与关节空间插扑节点间距的4次方成正比，然后确定出典型抓放操作轨迹各段的最大插补间距并获得抓放轨迹上一组最少轨迹点序列，有效提高了计算效率。 在此基础上，以关节速度、加速度和其变化率，以及关节驱动转矩为约束条件，以抓放时间最短为目标，采用复合型优化法计算出电池分选操作的最大和最小单程运行时间分别为0．21S和0．13S，平均分选速度超过100次／min。该方法已成功应用于由4台Diamond机械手构成的高性能锂离子电池分选系统。     

Protective effect of sodium butyrate on the cell culture model of Huntington disease

This study aimed to develop a cell culture model of Huntington disease and observe the effect of sodium butyrate on this cell culture model. Exon 1 of both a wild type and a mutant IT15 gene from the genomic DNA of a healthy adult and a patient with Huntington disease was amplified and cloned into the eukaryotic expression vector pEGFP-C1. Human neuroblastoma SH-SY5Y cells were transiently transfected with these recombinant plasmids in the absence and presence of sodium butyrate (0.1, 0.2, 0.5, 1.0 mmol/L). The MTT assay was used to measure cell viability. The results indicated that the N-terminal fragment of mutant huntingtin formed perinuclear and intranuclear aggregates and caused a decrease of SH-SY5Y cell viability. Sodium butyrate inhibited the decrease of SH-SY5Y cell viability caused by the N-terminal fragment of mutant huntingtin. This suggests that sodium butyrate has a protective effect on this cell culture model of Huntington disease.     

回归系数的一种有偏估计

在线性回归模型Y=Xβ＋ε；E（ε）=0；Cov（ε）=σ^2V，V〉0下，给出了一种新的有偏估计β^-（F（K））=（X′V^-1X＋TF（K）T′）^-1X′V^-1Y，讨论了这种有偏估计的优良性，推广了已有的相关结果．     

基于小波变换和可操纵金字塔算法的图像纹理分析

本文首先介绍了图像小波变换和可操纵金字塔在图像处理问题中的广泛应用及其数学原理和特点,对二者进行比较,然后分别利用小波变换和可操纵金字塔滤波器进行图像纹理分析,最后给出了结果,并进行分析。     

Control of group velocity in an annular chain of microring coupled-resonator optical waveguides

In order to control group velocity,an annular chain of microring coupled-resonator optical waveguides was analyzed,and its transmission spectra were obtained using the transfer matrix method. The result showed that the curvature of the chain caused the dispersion curves to shift and the resonance fre-quency got fixed. It is therefore concluded that the group velocity of light in the annular chain of mi-croring coupled-resonator optical waveguides can be controlled by adjusting the curvature of the chain. We believe that such an annular chain can be used as an optical buffer or signal retarder for optical communication.     

On the monotone iterative method for set valued equation

This paper deals with the monotone iterative method for set-valued operator equation in ordered normed space. Some results for the case of single valued operator are generalized here, as an application, a discontinuous nonlinear differential equation problem is discussed. Foundation item: Supported by the Naional Natural Sciences Foundation of China Biography: TIAN Yan (1970-), male, Ph.D. candidate, research interests are in numerical analysis for PDE     

关于非频带有限随机信号的采样级数的逼近

香农采样定理可以恢复确定性频带有限信号.而真实信号经常是非频带有限的,这类信号可以被看作边带趋于无穷的频带有限信号.除了确定性型号,平稳的随机信号在许多领域发挥了重要作用.为了解决非频带有限的平稳过程的采样问题,借助香农采样定理,获得当功率在频域衰减时该类信号的采样级数,并求得该级数分别满足均方收敛和以概率1收敛的条件.     

Learning multivariate time series causal graphs based on conditional mutual information

Detection and clarification of cause-effect relationships among variables is an important problem in time series analysis.This paper provides a method that employs both mutual information and conditional mutual information to identify the causal structure of multivariate time series causal graphical models.A three-step procedure is developed to learn the contemporaneous and the lagged causal relationships of time series causal graphs.Contrary to conventional constraint-based algorithm, the proposed algorithm does not involve any special kinds of distribution and is nonparametric.These properties are especially appealing for inference of time series causal graphs when the prior knowledge about the data model is not available.Simulations and case analysis demonstrate the effectiveness of the method.     

杆体可回收锚杆锚固性能分析

塑料锚头、金属可回收杆体，在锚固端能够提供足够大的胀锚力。在完成支护任务后，杆体可回收复用以降低支护材料成本。为了分析其锚固作用，应用ＡＮＳＹＳ软件，对其锚固性能进行了数值计算。分析结果说明，该锚杆具有恒阻让压特性，能够有效支护围岩。     

随机约束条件下线性回归模型中的效率度量

估计效率是一个重要的概念．本文把它作为随机约束条件下线性回归模型中的影响度量，研究厂数据对约束模型的影响．