面向作业任务的AUV用自主式机械手结构设计

论述了研制的自主作业水下机械手的总体、结构设计特点和主要性能技术指标.机械手装备于自主式潜水器(AUV)上,具有五个自由度,直流力矩电机驱动,最大作业水深为100m.机械手具有结构轻巧、运动传递精确、手爪可更换和被动柔顺功能等特点.可在计算机控制下面向对象自主作业.讨论了机械手的运动学计算、计算机仿真和调试试验情况.     

Suppressing progress of pancreatitis through selective inhibition of NF-κB activation by using NAC

OBJECTIVE: To explore the characteristics of NF-KappaB activation in the progress of pancreatitis, the relationship with expression of TNF-alpha in the inflammatory reaction, and prevent the exacerbation of pancreatitis by using NAC. METHOD: Forty-eight rats were divided into three groups: therapy (group C), pancreatitis (group B) and control (group A). NAC served as the inhibitor of NF-KappaB activation. In the time intervals of 1.5, 3.0, 6.0, 12.0 hour, NF-KappaB activation was detected with flow cytometry (FCM) and the expression of TNF-alpha mRNA and protein with in situ hybridization (ISH) and enzyme-linked immuno-sorbent assay (ELISA) respectively. Meanwhile, the level of lipase and amylase in the serum was assayed and the pathological change was evaluated. RESULT: NF-KappaB activation in the pancreatitis group was higher than that in the control group (P<0.01), peaked at 3 hours, and was depressed by the inhibitor of NF-KappaB, NAC. The expression of TNF-alpha as well as the level of lipase and amylase in the serum also rose synchronously with activation of NF-KappaB. In contrast to group A, it was significantly different (P<0.01) in group B. After using NAC in group C, all of these values were decreased and the inflammatory reaction in the pancreas abated evidently. The pathology changes of the pancreas were shown to be alleviated in group C. CONCLUSION: First, NF-KappaB activity is intensively initiated in the course of pancreatitis and shown to have closely relationship with the release of cytokines. Second, use of NAC markedly depressed NF-KappaB activation. TNF-alpha expression is down regulated by cytokines. It is suggested that NAC probably acts as a useful agent for treatment of pancreatitis by indirectly inhibiting activation of NF-KappaB.     

The effects of the guide field on the structures of electron density depletions in collisionless magnetic reconnection

Two-dimensional particle-in-cell simulations are performed to investigate the formation of electron density depletions in collisionless magnetic reconnection.In anti-parallel reconnection,the quadrupole structures of the out-of-plane magnetic field are formed,and four symmetric electron density depletion layers can be found along the separatrices due to the effects of magetic mirror.With the increase of the initial guide field,the symmetry of both the out-of-plane magnetic field and electron density depletion layers is distorted.When the initial guide field is sufficiently large,the electron density depletion layers along the lower left and upper right separatrices disappear.The parallel electric field in guide field reconnection is found to play an important role in forming such structures of the electron density depletion layers.The structures of the out-of-plane magnetic field By and electron depletion layers in anti-parallel and guide field reconnection are found to be related to electron flow or in-plane currents in the separatrix regions.In anti-parallel reconnection,electrons flow towards the X line along the separatrices,and are directed away from the X line along the magnetic field lines just inside the separatrices.In guide field reconnection,electrons can only flow towards the X line along the upper left and lower right separatrices due to the existence of the parallel electric field in these regions.     

复合轻型吸波涂层电磁参数及吸波性能的研究

制备了复合轻型导电导磁材料与环氧树脂吸波涂层,用3cm波导式测量线在9.2GHz测量其电磁参数及吸波性能.实验结果表明,复合导电导磁材料与环氧树脂的质量分数对吸波涂层的电磁参数及吸波性能有较大影响,当复合导电导磁材料与环氧树脂的质量分数为50%,涂层厚度为1.7mm时,吸波效果最好.其吸收峰值为34dB,大于10dB的有效带宽,达11GHz.     

三维几何约束建模的研究与实现

以空间机构运动学为借鉴 ,采用对偶角和旋量对三维几何形体的空间位置进行描述 ,给出了基本几何约束关系的表达 ,并采用有向图来表达装配关系 ,进一步用面向对象方法实现了几何约束系统的设计和集成 .     

K-TSP问题的近似算法

利用△TSP问题的Christofides算法及其在K TSP问题上的扩展 ,通过权函数变换c′ij=cij-ui-vj 使c′ij>0 ,c′ik c′kj≥c′ij,给出了求解K TSP问题的有效途径 ,得到了目标函数的更好的界值估计 ,C(Ha)≤λ(n)C(H ) -(λ(n) -1 ) {(k-1 )c11 ∑ni=1 cii}.     

工程优化计算中Wolfe-Powell准则的研究

讨论在工程优化计算的线搜索阶段如何寻找满足Wolfe-Powell准则的步长问题.针对插值法使用的技巧与方法,给出了一个改进的高效稳定的算法.然后通过数值实验表明,与精确线搜索相比,采用Wolfe-Powell准则的非精确线搜索不仅能大大提高优化算法的效率,而且还增强了算法的数值稳定性, 可以较好地克服罚因子较大时带来的计算困难.     

基于特征的服装人体模型参数化建模方法

介绍一种基于特征的服装人体模型参数化建模方法 .与传统的人体建模方法不同 ,该方法采用基于特征的参数化设计思想 ,并利用图像处理的方法提取服装人体模型的几何特征参数 .该方法已被成功地应用于计算机辅助三维服装设计中 ,成为计算机辅助三维服装设计系统中的一个重要的组成部分     

氧离子束辅助激光制备平面织构的YBCO膜

应用氧离子束辅助准分子脉冲激光沉积薄膜技术 ,先在不锈钢基底上室温下淀积出平面织构的钇稳锆(YSZ)缓冲层薄膜 ,再在YSZ/不锈钢上 750℃下制备出了平面织构和高临界电流密度YBa2 Cu3 O7-x(YBCO)薄膜 .YSZ和YBCO薄膜都为C 轴取向和平面织构的 ,YSZ( 2 0 2 )和YBCO( 1 0 3 )的X射线 (扫描衍射峰的全宽半峰值分别为 2 0°和 1 2°.YBCO薄膜的临界温度和临界电流密度分别为 91K(R =0 )和 7.2× 1 0 5A/cm2 ( 77K ,无外磁场 ) .     

虚拟维修训练系统发展综述及其关键技术探讨

文章述说了虚拟维修训练系统的意义、原理、运用现状、结构级成和关键技术,着重探讨了基于知识和模糊网络的虚拟现实技术在维修训练领域中的运用,对系统中的效果评估子系统检出了一个实用的模糊子集。