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。     

WC—Co硬质合金刀片热丝法金刚石薄膜涂层附着力

用热丝法研究了ＷＣ－６％Ｃｏ硬质合金刀片金刚石薄膜涂层附着力。结果表明：采用温度为８０℃,（ＨＣｌ：ＨＮＯ３：Ｈ２Ｏ）（体积比）为１∶１∶１溶液对硬质合金刀片表面去Ｃｏ１５ｍｉｎ后,经４０ｕｍ金刚石粉及１．５ｕｍ金刚石加２０ｕｍＴａＣ混合粉进行超声预处理,结果表明,沉积的金刚石薄膜与硬质合金刀片基底具有良好的附着力,而经４０ｕｍ金刚石粉处理的薄膜涂层组织与附着力要好一些。     

一种神经网络实现GPS导航定位算法

目的 研究ＧＰＳ接收机状态解算的估计方法。方法 利用Ｈｏｐｆｉｅｌｄ神经网络对ＧＰＳ接收机数据进行处理,结果 以统计自述平均误差和均方根误差作为衡量性能的指标,神经网络方法与迭代量小均方误差算法相比较定位误差减小,结论利用神经网络实现ＧＰＳ接收机状态解算是可行的,且与迭代最小均方误差算法比较,可提高定位精度。     

爆破地震峰值的神经网络预报模型

对爆破地震值进行预报,方法,采用神经网络模型,对秦山核电站某爆破工程监测得到的２０组震动峰值数据进行学习,然后对另１０组数据进行预报。结果,实测值与预报所在分类区域完全一致。     

BP神经网络用于函数逼近的最佳隐层结构

研究采用反向传播算法的人工神经网络用于函数逼近时的支结构。方法,以典型的ｎ输入、单输出的多层ＢＰ网为例,在几种不同的网络隐层结构下对典的连续函数进行逼近训练。,分析各网络输出的全局误差。     

高斯光束的反向传输变换

用高斯光束的复数表示和ＡＢＣＤ定律,讨论了高斯光束的反向传输变换,并求出了表述高斯光束的几个重要参量。     

C60溶液,孤立分子及薄膜形态电子态结构分析

系统地给出了Ｃ６０在固态薄膜及不同有机溶液形态下的常规吸收光谱和三同商吸收光谱,确定了各相关光学跃迁能量,并通过对可见区电子－－振动光谱结构的指认分析,给出了有机溶液形态下Ｃ６０的能隙,基于Ｍａｘｗｅｌｌ－Ｇａｒｎｅｔｔ有效介质模型理论,由不同有机溶剂形态下Ｃ６０电子态能级结构参数外推获得了Ｃ６０孤立分子的本征电子态能级结构参数,从而为详细了解和研究Ｃ６０分子不同形态下电子态结构的变化提供了较完整     

Leakage of mantle helium from the Liaodong Peninsula, China

The isotopic cumpositions of helium have been investigated in hot spring gases sampled from the Liaodong Peninsula. China. The³He/⁴He ratios range from 0.14 Ra (0.14 times the atmospheric³He/⁴He ratio of 1.40 × 10^-6 to 0.72 Ra.³He/⁴He versus⁴He/²⁰Ne ratios and He contents suggest that a small amount of mantle-derived helium reaches the earth’s surface. Helium iwtope ratios of the hot spring gases show a distribution pattern similar to the regional heat flow values, indicating that the positive thermal anomaly occurring in the rtrea is closely associated with the presence of mantle-derived helium. The observations described above provide some significant evidence that the molten magma originating from partial melting of the upper mantle may have intruded into the continental crust along the activity fault. The coupling of the presence of mantle He and heat flow anomalies to seismic activity in studied region seem to imply that there is an internal relationship between mantle degassing and seismic activity.     

SrGa2S4:Ce blue TFEL in new structure

SrGa₂S₄: Ce blue TFEL device with a novel structure was prepared by electron beam evaporation. The dielectric constant of insulator layer in this structure is far less than that in the conventional structure, so the hot-electrons can be accelerated in SiO₂ layers. The stable TFEL with good chromaticity was achieved and the basic characteristics were investigated.     

Photoconductivity of fullerene derivatives

Two fullerene derivatives (compounds 1 and 2) have been synthesized. Their redox properties have been measured by cyclic voltammetry. The photoconductivities of poly(N_vinylcarbazo_le) (PVK) doped with fullerene and with their derivatives have been studied to explore the possible relationship between the reductibility of fullerenes and the photoconductivity of fullerenes_doped PVK. The charge generation efficiencies of PVK doped with fullerene and with its derivatives have changed remarkably: the diversity of charge generation efficiency is obvious in different doping systems. The result indicates that there is charge transfer between fullerenes and PVK.