A hybrid Jacobian control for uncalibrated robot visual servoing

This paper focuses on the visual servo control of an uncalibrated robotic arm with an eye-in-hand camera. Without a prior knowledge of the kinematics of the robotic arm or camera calibration, the proposed hybrid Jacobian controller can track a moving object using visual feedback and joint-space velocity feedback. The proposed hybrid control method is a combination of the uncalibrated visual servoing and approximate Jacobian feedback control. First, the Jacobian matrix from joint-space to image-space is estimated by recursive least-squares (RLS) algorithm, and then the approximate Jacobian feedback controller is designed by using visual feedback and joint-space velocity feedback. The performances of the proposed control methods are illustrated by computer simulations.     

Computational fluid dynamics for dense gas-solid fluidized beds

Many computational fluid dynamics (CFD) models for describing the hydrodynamics of dense gas-solid flows in fluidized beds have been put forward in the past few decades. These models treat the solid phase as continuum or discrete particles, which leads to Eulerian-Eulerian or Eulerian-Lagrangian formulations, respectively. Different governing equations and closure relations essentially result from an insufficient understanding of the complex gas?particle and particle?particle interactions for gas?solid flows. The current status of these models is discussed briefly in this paper. All the approaches in the literature modify only the solid phase momentum balance equation introducing various forms of the solid phase stress tensor and the solid phase pressure drop in the Eulerian-Eulerian models. Taking them into consideration, a new model for predicting the fluid behavior of dense gas?solid flows in fluidized beds has been developed, which contains new terms in both the particle and gas phase momentum balance equations and requires only the use of an experimental drag force correlation. Several results are shown to verify the model’s reliability, which include the homogeneous fluidization of Geldart type A particles, the bubbling and jetting fluidization of Geldart type B particles in rectangular beds, and fluid dynamics in a complicated geometry for a bubbling?bed of a fast internally circulating fluidized?bed biomass gasifier.     

不同类型的Budd—Chiari氏综合征的介入治疗

目的探讨不同类型Budd—Chiari氏综合征（BCS）的介入治疗方法及其临床价值。方法对89例Budd—Chiari综合征患者分别采用下腔静脉球囊扩张术（PBD）、下腔静脉球囊扩张和血管内支架（stent）放置术、经颈静脉行肝静脉成形术或肝内门腔静脉分流术（TIPSS）、经皮经肝和经颈静脉行肝静脉成形术及下腔静脉和肝静脉圾球囊扩张术、下腔静脉和肝静脉双支架放置术。结果治疗成功率为96％，术中无一例死亡及肺栓寒等严重并发症发生。结论1．Ⅰa、Ⅱ及Ⅲ型只需行PTA治疗，Ⅰb型采用TIPPS治疗，而Ⅳ型要PTA加stent治疗；2．Ⅲ、Ⅳ型病例行血管成形术前充分溶栓是必要的。3，B超引导下经皮肝静脉穿刺可提高穿刺成功率、减少并发症。     

(-X)控制图和EWMA控制图的灵敏性分析

在统计过程控制中通过分析X^-控制图，指出X^-图虽然对监测过程大波动非常灵敏，但对过程均值小漂移却不敏感，若结合使用判异规则，将导致虚发警报概率的增加。通过仿真数据图形化，分析了EWMA图的灵敏性，并与X^-图进行比较，结果表明EWMA图对监测过程小漂移比X^-图更灵敏，而X^-图对均值大偏移反应比较灵敏：两种控制图如互为补充，共同用于监测过程波动更有效。     

西部民族地区在大开发中所面临的生态环境问题与思考——以内蒙古自治区鄂托克旗为例

实施西部大开发战略，加快中西部地区发展，是党中央面向新世纪做出的战略决策。位于内蒙古自治区西部的鄂托克旗，是一个典型的蒙古族聚居地区，自然资源丰富、生态环境脆弱，具有我国西部民族地区的典型特征。鄂托克旗所面临的生态环境问题在我国西部民族地区具有较强的代表性，其形成原因及解决方法对于我国西部大开发中的西部民族地区具有普遍意义。     

Linux进程调度的数据结构

进程调度是Linux操作系统的核心,它对整个操作系统的执行效率至关重要.进程调度控制着进程对CPU的访问,Linux 内核利用一个数据结构(task_struct)代表一个进程,task_struct容纳了一个进程的所有信息,是系统对进程进行控制的唯一手段;代表进程的数据结构指针形成了一个task数组,数组的大小代表着系统中允许并发的最大进程数;调度程序一直维护着一个current指针,它指向当前正在运行的进程.     

连杆机构稳健性优化设计

将设计变量作为随机变量,建立了连杆机构稳健性优化设计的数学模型,并以一个四杆机构为例进行了说明,将传统的确定性优化设计的结果与稳健性优化设计的结果进行了对比.     

超声空化场中的球旋转

根据P.Langevin对声辐射力的推算和C.Eckart的声流理论,实现了超声喷泉中一个球体的旋转和两个球体按相反方向的旋转,同时观察到这些球体的旋转随超声功率的增大而加速.这种由频率1.7 MHz和电功率45W的超声所产生的超声喷泉,可以看作是一种向上喷射的超声空化场,它拥有一种单方向的辐射力和对称的回旋声流,正是这种空化场所具有的这类典型的声学非线性特性才为球体的旋转提供了稳定的旋转力矩.     

腹腔镜鞘膜内子宫切除术48例临床研究报告

目的探讨腹腔镜鞘膜内子宫切除术的可行性.方法回顾分析腹腔镜鞘膜内子宫切除术48例的临床资料.结果48例腹腔镜鞘膜内子宫切除术均在镜下完成,手术时间(110.20±28.35min),术中出血(100.38±25.13ml).无中转开腹,无严重并发症.结论腹腔镜鞘膜内子宫切除术具有安全、微创、出血少、恢复快等优点.     

柔嫩艾美尔球虫厦门株(Eimeria tenella)生物学研究

采用单卵囊分离方法从厦门地区饲养的鸡盲肠中获得艾美尔球虫,经显微观察、测量和感染实验,从寄生部位、卵囊形态、孢子化时间和潜伏期等指标测定,实验结果:采用琼脂板方法分离和挑选单卵囊方法进行感染效果理想,单卵囊感染小鸡成功率为60%.该球虫寄生在鸡盲肠部位,其余部位未发现,卵囊形态长卵圆形,长25.80(23.5～28.5),宽20.86(18.5～23.5),长/宽:1.23(1.21～1.27),27℃条件下孢子化时间为20 h.,潜伏期为146 h.与国内一些株进行比较存在差别,确定该艾美尔球虫为柔嫩艾美尔球虫(Eimeriatenella),并定名为柔嫩艾美尔球虫厦门株.