机器人通过奇异位形的运动学分析及仿真

研究了一种分析机器人奇异位形的新型控制方法。该方法使用线几何理论分析机器人线性相关的关节轴线矢量,从而识别机器人奇异方向和奇异关节轴,并将线性相关矢量对应的Jacobian矩阵进行列删除;使用反螺旋理论区分工作空间的可行运动和不可行运动,将不可行运动对应的Jacobian矩阵的行进行删除。当机器人失去一个自由度时,相应满秩Jacobian矩阵由66简化为55,使机器人在奇异位形处仍能获得精确解。通过对PUMA机器人仿真研究,结果表明了该方法的有效行。     

校园网设计与建设初探

从确立建设校园网的目标、校园网的技术方案设计、信息资源建设、网络管理等4个方面，探讨了校园网的设计与建设问题。     

A multichannel neural signal detecting module:Its design and test in animal experiments

A four-channel neural signal detecting module with an implantable 12-contact cuff electrode was designed for real-time neural signal recording on peripheral and central nerves. The mathematic coupling model between nerve and electronic system was analyzed. Electrode connection configurations were considered. The detecting circuit included an input coupling network, a pre-amplifier, and some filtering and notching stages. Shield guarding and the right-leg-driven circuit were developed for further elimination of common mode interference. By electrode switches, the module could cooperate with a nerve functional electrical stimulation circuit, building a neural channel bridge-connection system. It was tested by recording experiments on rat’s sciatic and spine nerves. The signals in spontaneous and evoked conditions have been captured successfully. In addition, an implantable neural signal detecting CMOS IC has been introduced.     

确定负反馈组态的一种简单方法

介绍了一种确定负反馈组态的简单方法,并对其合理性进行了验证。     

小卫星柔性测试床设计与实现

分析了小卫星地面综合测试系统的特点和功能,通过对几种型号小卫星系统的研究,给出了柔性测试床的软硬件体系结构,阐述了柔性测试床星上和地面两部分的设计思想,主要介绍了通信参数的动态配置、TM数据信号的定义与解析的实现方法。小卫星柔性测试床已成功应用于三颗小卫星系统的研制,并取得了明显的应用效果。     

二螺[5.1.5.3]化合物立体结构的研究

２，１０－二（β乙氧羰基）－３，１１－二羟基－二螺［５．１．５．３］十六－２，１０－二烯－７－酮不同熔点的光学异构体的构型一直未确定，本文利用化学方法、核磁共振法和Ｘ－射线晶体衍射法，确定了这两个不同熔点的异构体的相对构型及其在溶液和晶体中的构象。为了研究二螺［５．１．５．３．］类化合物的结构问题，首先合成了一系列的二螺［５．１．５．３］化合物，对它们的化学性质进行研究，其中６个是未见文献报道的新化合物。然后用二维核磁共振方法研究２，１０－二（β－乙氧羰基）－３，１１－二羟基－二螺［５．１．５．３］十六－２，１０－二分７－酮的异构体，确定了它们的相对构型，具有 １４Ｄ～１４１℃熔点的为内消旅（Ｒ， Ｓ）构型。而具８２～３８℃熔点的为由（Ｒ，Ｒ）和（Ｓ，Ｓ）构型组成的外消旋体；通过对二维核磁共振谱的分析，讨论了这两个二螺环化合物在溶液中的构象。同时培养得到了其中具有８２～８３℃熔点的２，１０－二（β－乙氧羰基）－３，１１－二羟基－二螺［５．１．５．３］十六－２，１０－二烯－７－二的片状单晶，用Ｘ－衍射线射法测定了它的晶体结构，空间群为Ｐｎｃａ，发现其晶体在一维具有很大晶胞参数，在有机小分子晶体中比较少见。     

若干图类的常返构型

研究图上Abelian沙堆模型的常返构型问题,证明了图的常返构型与子图的常返构型的关系.进一步地,将其应用到具体图类,得到单圈图、lollypop图、dumbbell图的常返构型.     

基于商空间理论的可重构机床粒计算方法研究

为提高制造系统的快速结构配置规划响应速度,提出了基于商空间理论的可重构机床粒计算方法,实现了体系结构组元模型在系统配置规划中的快速粒度分解、组合,建立了功能分解与结构匹配的商空间模型,全面表达了可重构机床在配置规划中粒度分解的相关特征和目标任务的相关变化,实现了可重构机床的模块快速优化分解.     

一个双金子塔中心构型的存在性

对于N体问题,本文研究了它的一个双金子塔中心构型的存在性,根据对动力学运动方程的分析,得出否定的结论.本文还对其中的原因进行了分析.     

Aerodynamic optimization and evaluation for the three-dimensional afterbody/nozzle integrated configuration of hypersonic vehicles

The optimization of 2D expansion lines and key parameters of three-dimensional configurations was carried out under simulated conditions of Mach 6.5 and a flight altitude of 25 km for an integrated configuration of the afterbody/nozzle of a hypersonic vehicle.First,the cubic B-spline method was applied to parameterize the expansion lines of the upper expansion ramp.The optimization procedure was established based on computational fluid dynamics and the sequential quadratic programming method.The local mesh reconstruction technique was applied to improve computational efficiency.A three-dimensional integrated configuration afterbody/nozzle was designed based on the two-dimensional optimized expansion lines.The influence rules incorporated certain key design parameters affecting the lift and thrust performance of the configuration,such as the ratio of the lengths of the lower expansion ramp to the afterbody (l/L),the dip angle of the lower expansion ramp ω,and the ratio of exit height to the length of afterbody (H/L).Under these conditions,we found that the integrated configuration has optimal performance when l/L=1/6,H/L=0.35 and =10°.We also showed that the presence of a side-board promotes lift and thrust performance,and effectively prevents the leakage of high pressure gas.