电力系统中时滞微分方程的概周期解

研究电力系统中时滞微分方程的概周期解,得到保证系统存在唯一概周期振动的一组充分条件。     

The design of the robot assisted magnetic resonance imaging guidance for minimally invasive surgery system

assisted Minimally lnvasive Surgery (MIS) is one of the rapidest developing directiorls in the current surgical reahn. Magnetic Resonance Imaging (MRI) is an optimal imaging modality which was applied in MIS in recent years. By combination of precise positioning to the target by intra-operative MRI guided surgery and dexterous motion by the robot, safe and smooth operation is expected to be peffurmed.An overview of the MR I-guided robotic system for MIS is offered. The design of the intra-operative MR scalmer system is described. The MR-compatible robotic system is carefully desigaled for safety and sterilization issues. This system unifies image information from open MRI, an optical endoscope and conventional vital-sign detectors. It helps and guides the surgeon and other medical staffs so they can make the right decisions. The high-performance manipulator can mimic the movement of the surgeon‘ s hand precisely. And the analysis for active and passive interventional surgical instrument tracking is provided.     

A novel 5-DOF exoskeletal rehabilitation robot system for upper limbs

A novel 5-DOF exoskeletal rehabilitation robot for upper limbs of hemiplegic patients caused bystroke is proposed in this paper.Its hardware structure is introduced and the control methods are ana-lyzed.To implement intelligent and interactive rehabilitation exercises,motion intention of patients' up-per limb is introduced into control methods of rehabilitation exercises.In passive motions,according tothe character of unilateral impaired,multi-channels surface electromyogram(sEMG)signals of patients'hea...     

带喷射器的跨临界CO_2热泵热水器系统的实验研究

设计了一套带喷射器的跨临界CO_2热泵热水器系统实验平台,开发了相应的计算机测控系统.进行了改变冷却水体积流量和进口温度对系统性能影响的实验研究,分析了制热系数、制热量、压比、喷射系数、升压比、喷射器效率等参数的变化趋势.实验结果表明:随着冷却水体积流量减小或进口温度增加,喷射系数增加的同时,升压比也增加,而喷射器效率却降低;在测试工况范围内喷射器效率最高达到34%,升压比最高达到1.165;在蒸发温度为-5℃时,制热系数达到3左右.带喷射器的跨临界CO_2热泵热水器循环的压缩机压比与传统循环相比减少了12%～14%,喷射器的引入有效地提高了跨临界CO_2热泵热水器循环的效率.     

An effective algorithm for needle tip displacement compensation in robot-assisted percutaneous surgery

This paper presents an automatic compensation algorithm for needle tip displacement in order to keep the needle tip always fixed at the skin entry point in the process of needle orientation in robot-assisted percutaneous surgery.The algorithm, based on a two-degree-of-freedom (2-DOF) robot wrist (not the mechanically constrained remote center of motion (RCM) mechanism) and a 3-DOF robot arm, firstly calculates the needle tip displacement caused by rotational motion of robot wrist in the arm coordinate frame using the robotic forward kinematics, and then inversely compensates for the needle tip displace-ment by real-time Cartesian motion of robot arm.The algorithm achieves the function of the RCM and eliminates many mechanical and virtual constraints caused by the RCM mechanism.Experimental result demonstrates that the needle tip displacement is within 1 mm in the process of needle orientation.     

开发煤系高岭土产品的盈亏平衡分析

结合煤系高岭土的开发特点，探讨煤系高岭土产品开发的盈亏平衡问题     

一维有限元的校正方法

对两点边值问题提出了一次有限元的校正算法,能同时计算高精度的函数值■n及导数值Dh■h,并严格证明了■-u=0(h~4) 及Dh■-u'=0(h~4)。数例表明此校正算法简单,容易计算,且提高精度显著。     

井壁漂浮下沉期应变分析

对河北省唐山市某竖井工程施工中井壁漂浮下沉过程中任意断面的环向应变进行了弹性力学分析与有限元数值分析,通过将计算结果与实测数据进行对比,二者均与实测数据吻合较好,弹性力学解答、有限元数值分析结果与实测数据均表明环向应变与下沉深度几乎呈线性关系.有限元数值分析结果和实测数据表明,在此施工阶段中环向应变大于竖向应变.     

天然气制氢的园区综合能源系统氢储能优化配置

在我国致力于实现碳达峰、碳中和的要求下,氢能因具有零碳排高热值的特点,氢能产业发展成为我国未来发展的重要目标。针对电解水制氢储能的工业园区综合能源系统能量转换效率不高、制氢量少、经济效益低的特点以及国家对氢能发展大规模低成本制氢的需要,提出了一种以天然气制氢模式代替电解槽制氢的氢储能园区综合能源系统架构。在分析天然气水蒸气重整制氢单元的能耗与能量回收利用以及氢储能单元电、热、气多种能量特性的基础上,建立了天然气制氢储能的氢储能模型;进一步考虑设备投资成本、运行成本、碳排放价格以及制氢效益,以年化投资成本最小与年运行收益最大为目标建立目标函数,利用快速非支配排序遗传算法（NSGA-Ⅱ）进行求解,提出了以天然气制氢储能的园区综合能源系统氢储能优化配置模型。最后以新疆某园区为实际算例分析了园区配置氢储能后电源、电负荷、热负荷特性,运行经济效益以及天然气价格与碳排放价格对配置的影响,验证了通过配置天然气制氢的氢储能提升园区综合能源系统制氢量与运行收益的可行性,并指出了适用场景。