Numerical simulation of tides and tidal currents in Liaodong Bay with POM

A three-dimensional ocean circulation model, called Princeton Ocean Model (POM), is employed to simulate tides and tidal currents in Liaodong Bay. The nested grid technique is adopted to improve the computation precision. Computed harmonic constants of M-1, M-2 tides at five tidal gauge stations and surface elevations at two oil platforms are compared with those observed, and show good agreements with them. Based on the calculated results, the co-amplitude and co-phase tag lines of nil and M-2 tidal constituents, the residual current field of M-2 constituent, tidal form, tidal Current ellipse and the moving style of tidal current are given. It is found that diurnal tidal constituents have no amphidromic point whereas semi-diurnal constituents have one in the region of interest. Meanwhile, some meaningful results are concluded and presented, which are conducive to a thorough knowledge of the characteristics of tides and tidal currents in the Liaodong Bay.

Impact of astaxanthin-enriched algal powder of Haematococcus pluvialis on memory improvement in BALB/c mice

The impact of astaxanthin-enriched algal powder on auxiliary memory improvement was assessed in BALB/c mice pre-supplemented with different dosages of cracked green algal (Haematococcus pluvialis) powder daily for 30 days. The supplemented mice were first tested over 8 days to find a hidden platform by swimming in a Morris water maze. Then, for 5 days, the mice were used to search for a visible platform in a Morris water maze. After that, the mice practised finding a safe place-an insulated platform in a chamber-for 2 days. During these animal experimental periods, similar algal meals containing astaxanthin at 0, 0.26, 1.3 and 6.4 mg/kg body weight were continuously fed to each group of tested mice. Profiles of latency, distance, speed and the direction angle to the platforms as well as the diving frequency in each group were measured and analyzed. The process of mice jumping up onto the insulated platform and diving down to the copper-shuttered bottom with a 36 V electrical charge were also monitored by automatic video recording. The results of the Morris maze experiment showed that middle dosage of H. pluvialis meals (1.3 mg astaxanthin/kg body weight) significantly shortened the latency and distance required for mice to find a hidden platform. However, there was no obvious change in swim velocity in any of the supplemented groups. In contrast, the visible platform test showed a significant increase in latency and swim distance, and a significant decrease in swim speed for all groups of mice orally supplemented with H. pluvialis powder compared to the placebo group (P < 0.05 or P < 0.01). Mice supplemented with the algal meal hesitantly turned around the original hidden platform, in contract to mice supplemented with placebo, who easily forgot the original location and accepted the visible platform as a new safe place. These results illustrate that astaxanthin-enriched H. pluvialis powder has the auxiliary property of memory improvement. The results from the platform diving test showed that the low and middle dosage of H. pluvialis powder, rather that the high dosage, increased the latency and reduced the frequency of diving from the safe insulated platform to the electrically stimulated copper shutter, especially in the low treatment group (P < 0.05). These results indicate that H. pluvialis powder is associated with dose-dependent memory improvement and that a low dosage of algal powder (<= middle treatment group) is really good for improving the memory.

基于MontaVista Linux的开放式机器人控制器研究与实现

本文提出了一种基于MontaVista Linux操作系统的开放式机器人控制器,该系统采用CAN总线作为控制器的系统总线。由于MontaVista Linux操作系统的开放性和良好的移植性,使得系统可以方便扩展、定制不同的应用软件模块和操作系统模块,并且在各种硬件平台间具有良好的移植性。同时由于采用CAN总线作为系统总线,使得系统可灵活配置且可以通过现场总线与其它设备共享数据。

基于并联机器人的船载炮半物理仿真试验系统研究

20世纪90年代以来，并联机器人被广为注意，成了机器人技术新的热点。并联机器人技术被广泛地应用在工业、航天、航海等领域，尤其是并联机床，佩一出现就引起了广泛的关注，被称为是“21世纪的机床”，“20世纪机床首次革命性改型”。为了提高船载炮射击训练效益，解决船载炮兵训练的保障问题，同时也为船载炮兵训练的保障工作探索新的路子，提出研制基于并联机器人的船载炮半物理仿真试验系统，使训练可以不受天气、场地的限制。本系统采用模拟船、操瞄炮等设备与计算机图形虚拟技术相结合的方式组成船载炮半物理仿真试验系统。系统既要虚拟船载炮的作战环境，又要实现船在海浪中的6维运动。采用3自由度并联机器人平台构建模拟船，实现船的3维转动；采用计算机仿真虚拟作战环境，并实现船的3维移动。本文介绍了整个系统的软硬件构成，硬件从三自由度并联机构的运动学到控制系统的结构，软件从形成虚拟视景的图形驱动原理到主程序界面，最后展示了系统的硬件实物和软件界面的照片。基于并联机器人的船载炮半物理仿真试验系统具有以下特点：1．采用变频调速技术，研制了三自由度并联机构模拟系统，实现了船炮平台的运动模拟，使系统具有负载能力强、成本低、性能可靠等特点。2.整个系统由计算机图形分系统、动态数据采集与处理分系统、船的运动模拟分系统等组成，实现了船载炮兵射击指挥和火炮操作的模拟训练。 3．应用了多传感器信息融合技术，实现了多信息实时处理，达到了实时仿真的要求。系统能够实时检测船姿态和火炮操作状态等信息，评价射击效果。4.采用三自由度的旋转模拟与图像三自由度的平移运动相结合的方法，实现了六自由度的炮目相对运动模拟效果。该系统可用于模拟炮兵部队实施渡海登陆作战，对岸防目标、海上目标射击和指挥训练。完成船载炮兵的火炮操瞄和射击指挥的教学、训练及考核任务。

制造系统的可重构性

可重构制造模式是一种指导管理和控制制造系统重构过程的制造哲理 ,它使制造系统有效地响应不断变化的环境。制造系统具有可重构能力是其生存和发展的基本手段 ,具有较高可重构性的公司在风云突变的环境中将远远超过其竞争对手。本文探讨了可重构制造模式的基本定义和内涵 ,并从组织、过程、产品、加工系统和信息平台等五个方面研究了制造系统的可重构性。

一种并联机床运动平台位姿测量方法

提出一种采用附加测量机构直接测量并联机床运动平台位姿精度的方法。其基本思想是根据运动平台的运动特性在固定平台和运动平台之间增设附加测量机构，当运动平台运动时带动测量机构运动，通过安装在测量机构上的传感器测得广义坐标参量， 经运动学建模即可得到运动平台的位姿。当测量机构位姿正解求解速度满足实时控制要求时，利用该反馈信息对机床进行实时精度补偿和控制。基于上述思想建立的并联机床位姿测量系统可部分排除机床切削力变形和运动副间隙等误差， 从而提高机床的位姿测量精度。以一种五坐标并联机床为例，介绍采用附加测量机构直接测量运动平台位姿精度的建模方法。其中， 测量机构的综合十分重要。测量机构的组成决定了运动学模型的复杂程度， 即决定了运动学模型的计算效率。

藏北可可西里碰撞后钾质火山作用和岩石成因

Post-collisional, potassic igneous rocks are widely distributed in the Hoh Xil area of the northern Tibetan Plateau. Based on the field work, petrography, mineral chemistry, K-Ar geochronology, element and Sr-Nd-Pb isotope geochemistry, this thesis systematically studied the spatial and temporal distribution of the volcanic rocks, chemical characteristics, formation mechanism and partial melting mechanism of the magma source region, geodynamic setting of magmatism, as well as crustal assimilation and fractional crystallization (AFC). The results show that: 1. The Miocene (7.77-17.82 Ma) volcanic products dominantly are trachandesite and trachy, and subordinate rhyolites, associated with stike-slip faults and thrust faults, formed morphology of small lava platforms and cinder cones. 2. Phenocrysts in the lavas are augite, andesine, sanidine, calcic amphibole and subordinate orthopyroxene, biotite and Ti-Fe oxides, displaying typical quench texture. Equilibrium temperatures and pressures of clinopyroxene phenocrysts indicate the magma chamber is located in upper-middle crust. 3. Rhyolites are the products of crustal melting and fractionation of shoshonitic magmas. The source region of intermediate magmas is enriched continental lithospheric mantle, which contains residual minerals such as phlogopite, rutile and spinel, and enriched by subducted sediments during earlier multi-episodes of subduction. 4. Upwelling of asthenosphere provides heat for source region melting, and faults provide channels for magma eruption. 5. Northward underthrusting of Indian continental lithosphere and southward of backstop of Asian continental lithosphere resulted in upwelling of hot asthenosphere. Geochemical characteristics of the potassic magmatism in North Tibet are dominantly controlled by source region composition, partial melting, and crustal assimilation and fractional crystallization (AFC).