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。     

基于领域复用的软插件库应用研究

目的研究基于领域复用的软插件的原理和实现模型。方法 结合基于领域复用的基本原则,对构造基于领域复用的软插件库的方法进行讨论,并以商用ＰＯＳ机软插件库有组织构造为例进行了具体说明。结果与结论基于领域复用的软插件比传统方法更有利于软件复用。     

面向VHDL语言的专用智能编辑器

目的设计面积超高速集成电路硬件描述语言的专用智能编辑器。方法使用散列表记忆各类标识符方法,动态地分析当前输入状态,完成ＶＥｄｉｔｏｒ的功能设置。结果该编辑器汇聚了目前流行的各类通用程序编辑器的优点,同时具有其独特的功能－标识符自动记忆,语句联想式输入及简单词法,语法错误的报错功能,结论实现了一个功能齐全的编辑器。     

New evidence for the Qinghai-Xizang (Tibet) Plateau as a pilot region of climatic fluctuation in China

Over 40 a observed temperature data in 172 stations in China and historical proxy data were analyzed. Evidence suggested that during 1980–1994, the warmest year appeared first in southeastern part of the Qinghai-Xizang (Tibet) Plateau (henceforth SETP) and then gradually spread northwards and eastwards to eastern China. The climatic change on century time scale in recent 600 a shows 3 relatively warm and clod stages in China. Each warm and cold stage appeared first in Tibet Plateau (henceforth TP) and then in the Qilian Mountains, then in the eastern parts of China. The warm and cold stages in TP were 10–60 a earlier than in the eastern China. The facts show that TP is a pilot region of climatic fluctuation in China on the time scale shorter than 10³a.     

16MnR钢中疲劳裂纹扩展的细观研究

采用显微疲劳试验方法和显微疲劳试验装置对低合金钢１６ＭｎＲ单边缺口试样进行了疲劳试验,研究了短裂纹萌生和扩展的特征。结果表明,短裂纹萌生及扩展分三个阶段,每一阶段的形貌都有其特点,在裂纹扩展后期,短裂纹的发展以裂纹密度不断增加并形成损伤区为主要特征,然后在损伤区选择一条主裂纹扩展。     

On analytical treatment of all boundary and volume integrals in BEM

In this paper, the integrals appeared in BEM model for Poisson equation are all implemented analytically. Wherein, the boundary and the domain are discretized by linear boundary elements and linear internal triangle cells respectively. The closed formulations for all integrals are presented so that the computer effort for numerical solution is reduced considerably with higher accuray. The numerical example shows that the results are more accurate in comparision with Gaussian integration in the same discrezition. The basic idea of this paper could be extended to BEM model for Helmholtz equation and/or the time-dependent second other differential equations. Supported by the National Natural Science Foundation of China Tang Shaowu: born in 1971, Ph. D.     

海底电缆铺设系统中监控软件及通讯系统的设计研究

介绍了微机实时监控系统中主机与多台可编程控制器间一种可靠的数据方案,讨论了其通讯接口、通讯格格式和通讯软件,并设计了实时监控软件,该系统具有结构简单,调试方便、工作可靠等优点,已在现场成功应用。     

企业对环境应变的和谐性分析

利用和谐理论原理及和谐分析矩阵,分析和判定企业对环境适应的和谐程度以及环境对企业的制约性,从而为企业进一步的决策奠定基础．     

Lewis酸的F_A标度及其应用

Ｌｅｗｉｓ酸的电负性（ｘＬ）和原子势（Ｚ／ｒｃ）是影响Ｌｅｗｉｓ酸硬软度（ＦＡ）的主要因素,本文给出了它们之间的数学关系式．根据ＦＡ值大小,把Ｌｅｗｉｓ酸分成三类,这与Ｐｅａｒｓｏｎ分类基本一致．用最小二乘法成功地建立ＦＡ与配合物的ｌｇＫｆ的线性回归方程,均通过Ｆ检验．