基于NN的人形机器人自适应H_∞位置跟踪控制

研究一种正交轮式移动车为载体的类人形机器人的建模与控制问题．首先基于分体建模的思想,采用机理建模和神经网络技术相结合的方法建立了动力学模型;然后依据该模型,提出一种新的基于 NN 的自适应 H_∞位置跟踪控制器,使鲁棒非线性 H_∞控制方法自然地与模型的直接自适应神经网络技术集成为一体,并证明了其鲁棒稳定性．最后,仿真研究验证了该方法的正确性和有效性．

基于波扩散方法的工业机器人路径规划

为避免繁琐的机器人示教过程,提出一种离线的基于波扩散方法的工业机器人路径规划算法．首先对机器人的工作空间离散化,针对工作空间中的障碍点和自由点进行二值标记;然后用波扩散方法对自由点进一步标记,并进行了路径搜索;最后,对波扩散法与深度优先算法路径搜索进行了比较．将该算法用于6-自由度工业机器人的仿真实验,得到了满意的效果．

自由曲面透明体的非接触厚度测量

针对自由曲面透明体厚度测量,提出一种基于结构光机理的3D 视觉测量方法和系统结构,介绍了该方法的基本原理和测量系统实现技术,并给出了部分实验,证实了该方法的有效性。

卡林型金矿不可见金与超压流体（Overpressured fluid）关系探讨——以贵州贞丰水银洞金矿为例

贵州水银洞(岩上)微细浸染型金矿产于贵州省贞丰县境内，是目前我国第一个成功地从原生硫化物矿石中商业性生产出金的微细浸染型金矿矿山。该矿床的矿体产于灰家堡背斜东段核部的上二叠统龙潭组地层中及其与中二叠统茅口组灰岩的接触带，呈几层基本平行排布的似层状和透镜状产出。金矿化主要赋存于硅化白云石化生物碎屑灰岩和泥灰岩(85％)和强硅化角砾状粘土岩(14％)中。

Chiral separation of enantiomers of amino acid derivatives by high-performance liquid chromatography on a norvancomycin-bonded chiral stationary phase

A novel norvancomycin-bonded chiral stationary phase (NVC-CSP) was synthesized by using the chiral selector of norvancomycin. The chiral separation of enantiomers of several dansyl-amino acids by high-performance liquid chromatography (HPLC) in the reversed-phase mode is described. The effects of some parameters, such as organic modifier concentration, column temperature, pH and flow rate of the mobile phase, on the retention and enantioselectivity were investigated. The study showed that ionic, as well as hydrophobic interactions were engaged between the analyte and macrocycle in this chromatographic system. Increasing pH of buffers usually improved the chiral resolution for dansyl-alpha-amino-n-butyric acid (Dns-But), dansyl-methionine (Dns-Met) and dansyl-threonine (Dns-Thr), but not for dansyl-glutamic acid (Dns-Glu) which contains two carboxylic groups in its molecular structure. The natural logarithms of selectivity factors (In alpha) of all the investigated compounds depended linearly on the reciprocal of temperature (1/T), most processes of enantioseparation were controlled enthalpically. Interestingly, the process of enantioseparation for dansyl-threonine was enthalpy-controlled at pH of 3.5, while at pH of 7.0, it was entropy-controlled according to thermodynamic parameters Delta(R,S)DeltaHdegrees and Delta(R,S)DeltaSdegrees afforded by Van't Hoff plots. In order to get baseline separation for all the solutes researched, norvancomycin was also used as a chiral mobile phase additive. In combination with the NVC-CSP remarkable increases in enanselectivity were observed for all the compounds, as the result of a "synergistic" effect. (C) 2003 Elsevier B.V. All rights reserved.