Theoretical and experimental research on time-optimal trajectory planning and control of industrial robots

提出了一种用于工业机器人时间最优轨迹规划及轨迹控制的新方法，它可以确保在关节位移、速度、加速度以及二阶加速度边界值的约束下，机器人手部沿笛卡尔空间中规定路径运动的时间阳短。在这种方法中，所规划的关节轨迹都采用二次多项式加余弦函数的形式，不仅可以保证各关节运动的位移、速度 、加速度连续而且还可以保证各关节运动的二阶加速度连续。采用这种方法，既可以提高机器人的工作效率又可以延长机器人的工作寿命以PUMA560机器人为对象进行了计算机仿真和机器人实验，结果表明这种方法是正确的有效的。它为工业机器人在非线性运动学约束条件下的时间最优轨迹规划及控制问题提供了一种较好的解决方案。

环境变迁在中国文明形成中的作用

The formation of civilization, one of great marks in the history of human's society development, has been remained one of the hottest topics in the world. Many theories have been put ford to explain its causes and mechanisms. Although more attentions have been paid to its development, the role of environmental change should not be ignored. In this paper, the level of ancient farming productivity was analyzed, the mechanisms and the process of Chinese ancient civilization formation was explored, and some causes why Chinese ancient civilization shows many different features from other 5 ancient civilizations of the world was analyzed. The main results and conclusions are presented as followed. 1. Compared with the productivity level of other five ancient civilizations, the productivity of ancient China characterized by a feature of extensive not intensive cultivation was lower than that of other five ancient civilizations whose agriculture were based on irrigation. 2. The 5 5000 a B.P. cold event may have facilitated the formation of Egypt and Mesopotamian ancient civilizations and also have had an influence on the development of Neolithic culture in China. 3. The 4 000 a B.P. cold event, which may be the coldest period since the Younger Dryas cold event and signifies the changes from the early Holocene Climate Optimum to late Holocene in many regions of the world, resulted in the great migration of the Indo-European peoples from north Europe to other part of the World and the collapses of ancient civilizations in Egypt, Indus and the Mesopotamian and the collapse of five Neolithic cultures around central China. More important than that is the emergence of Chinese civilization during the same period. Many theories have been put ford to explain why it was in Zhongyuan area not other places whose Neolithic cultures seem more advanced that gave rise to civilization. For now no theory could explain it satisfiedly. Archaeological evidence clearly demonstrate that war was prevailed the whole China especially during the late Longshan culture period, so it seemed war has played a very important role in the emergence of China ancient civilization. Carneiro sees two conditions as essential to the formation of complex societies in concert with warfare, i.e. population growth and environmental circumscription. It was generally through that China couldn't evolved into the environmental circumscription and population pressure because China has extensive areas to live, but that depends on situations. The environmental circumscription area was formed due to the 4000a B.P. cold event and companied flooding disasters, while the population pressure is formed due to three factors; 1) population grow rapidly because of the suitable environment provided by the Holocene Optimum and thus laid its foundations for the ancient human population; 2) population pressure is also related to the primitive agricultural level characterized by extensive not intensive cultivation; 3) population pressure was mainly related to the great migrations of people to the same areas; 4) population pressure was also related to productivity decrease due to the 4 000a B.P. cold event. 4. When population pressure is formed, war is the most possible way to solve the intensions between population and the limited cultivated land and then resulted in the formation of civilization. In this way the climate change during the 4 000a B.P. cold event may have facilitated the emergence of Chinese ancient civilization. Their detailed relations could also be further understood in this way: The first birth places of China ancient civilization could be in Changjiang areas or (and) Daihai area, Shandong province rather than in central China and the emergence time of ancient civilization formed in central China should be delayed if the 4 000a B.P. cold event and companied flooding disasters didn't occurred.

DAS24-3B数据采集系统控制系统软件的研制与开发

Under the auspices of the 'knowledge-Innovation Program' of CAS, Institute of Geology and Geophysics has established the Broadband Seismic Laboratory. A new kind of 24-bit high-resolution seismograph DAS24-3B has been designed and manufactured in an effort of developing China's own technology of seismic array. Since these instruments will primarily be used in field operation, there is a need to optimize the system software of data acquisition system (DAS) to enhance its stability, compatibility and maintenance. The design ideas of the system software of DAS24-3B are partly learned from the advanced DAS 72A-08. In this system there are two exclusive communication programs DNAPI-COM1 and DNAPI-LPT1, which are suitable for all standard industrial computers with ECP parallel port and serial port. By these exclusive parallel and serial communication interface the system software is split into three parts, acquisition program, user's control program and graphical display program, which can function well in separate units and can run correctly in whole. The three parts of DAS24-3B's system software possess different functions and advantages. The function of acquisition program is to control the process of seismic data acquisition. DAS24-3B system reduced its power and harddisk read-write disturbance by using the extended memory attached to its CPU, which functions as enlarging the data buffer of system and lessening the times of harddisk read-write operations. Since GPS receiver of DAS is strongly sensitive to the around environment and has the possibility of signal loss the acquisition program has been designed with the ability to automatically trail the GPS locked time. The function of user's controlling program is to configure the system's work environment, to inform the user's commands to DAS, to trail the status of DAS in real-time. The function of graphical display program is to illustrate data in figures, to convert data file into some common formatted file, to split data file in parts and combine data files into one. Both user's control program and graphical display program are API (Application Programming Interface) in window 95/98 system. Both possess the features of clearness and friendship by use of all kind of window controls, which are composed by menu, toolbar, statusbar, dialogue box, message box, edit box, scrollbar, time control, button and so on. Two programs of systemic exception handles are provided to treat the trouble in field. The DAS24-3B DAS has been designed to be easier to use-better ability, more stable and simpler. It has been tested in field and base station and has been proved more suitable for field operation of seismic array than other native instruments.

An industrial scale dehydration process for natural gas involving membranes

An industrial scale dehydration process based on hollow fiber membranes for lowering the dew point of natural gas is described in this paper. A pilot test with the feed flux scale of 12x10(4) Nm(3)/d was carried out. Dew points of -8 degreesC-13 degreesC at a gas transport pressure in the pipeline of 4.6M Pa and methane recovery of more than 98% were attained. The water vapor content of the product gas could be maintained around 0.01 vol% during a continuous run of about 700 hours. The effects of feed flux and operation pressure on methane recovery and water vapor content were also investigated. Additionally, some auxiliary technologies, such as a full-time engine using natural gas as fuel and the utilization of vent gas in the process, are also discussed. A small amount of the vent gas from the system was used as a fuel for an engine to drive vacuum pumps, and the heat expelled from the engine was used to warm up the natural gas feed. The whole system can be operated in a self-sustainable manner from an energy point of view, and has a relatively high efficiency in the utilization of natural gas.