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。

对癌症生存者应对资源的研究

A survey study of cancer survivors was conducted to explore the coping resources, which buffers the life of cancer survivors against stressful situation. Participants reported coping strategies, positive affect and negative affect, personality, perceived social support, fighting spirit and helpless/hopeless as well as quality of life through a set of self-assessment questionnaire. The results indicated that the frequency of coping strategies used by cancer survivors from high to low were: growing, problem solving, seeking support,self-controlling, wishful thinking, and distancing. The correlational analysis indicated that among the six sets of coping strategies, growing was positively correlated most strongly with most of the dimensions in quality of life as well as positive affect. Among the five personality, Neuroticism was positively correlated most strongly with helpless/hopeless and negative affect; and was negatively correlated most strongly with fighting spirit and positive affect. Extraversion was positively correlated most strongly with positive affect and negatively correlated most strongly with helpless/hopeless; Agreeableness was negatively correlated most strongly with negative affect; Conscientiousness was positively correlated most strongly with fighting spirit. Subjects with higher score in quality of life reported higher frequency of coping strategies in growing and problem solving and less in wishful thinking. They also reported higher scores in Extraversion, Agreeableness, Conscientiousness as well as lower scores in Neuroticism. The regression analysis displayed that not negative affect but positive affect entered the regression model when all the psychological and social variables in the study were accounted for. Taken together, these data suggested that, growing was the most effective coping strategy among the six sets of strategies for cancer survivors to improve quality of life, to maintain positive affect and to enhance fighting spirit. Neuroticism was vulnerable to resist stressors; Extraversion, Agreeableness, and Conscientiousness were stress-resisted factors. Positive affect may has more adaptational significance than negative affect during chronic stress. These data also implicated that positive affect should be paid more attention to in coping research.