正品和伪品大黄的RAPD指纹图谱鉴定研究

目的 用RAPD方法对正品和伪品大黄进行指纹图谱的研究，为正品和伪品大黄的基原鉴定提供分子依据。方法 对RAPD反应的实验体系进行了优化，并采用个体筛选的方法筛选121个引物，采用BSA的方法筛选了64个引物。结果 分析得到了2个具有正品大黄的特征性条带的引物。结论 该方法可靠、准确、快速、重现性好，达到了在分子水平上鉴定正品和伪品大黄基原的目的。此外，该实验亦表明BSA的方法筛选种的特征性条带的引物的效率比个体筛选引物的效率高。

挖掘机器人自动控制系统设计

本文介绍了挖掘机器人轨迹控制和工作循环的自动／半自动作业的一种实现方案,对实现该方案的硬件配置,软件功能进行了详细的描述。实验结果表明,用该方案设计的挖掘机器人具有实用、省力和操作方便等优点。

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。

装配机器人系统快速碰撞检测算法

提出一种面向操作手装配系统的快速碰撞检测算法。该算法以机器人运动学和空间解析几何为基础 ,将判断机械手手臂与障碍物是否发生碰撞问题转化为直线段与有界平面是否存在公共点的简单解析几何问题 ,并以 PU MA5 6 0操作手为例对算法加以说明。该算法不仅适用于静态的障碍物已知的环境 ,而且适用于障碍物运动规律已知的动态环境 ,减少了碰撞检测占用的时间 ,提高了路径规划的效率

机器人机械手的鲁棒性稳定跟踪控制

为工业机器人机械手提出了一种稳定跟踪控制法．这种控制方法由前馈控制器、反馈控制器组成．前馈控制根据期望轨线用计算力矩法得到；反馈控制由线性ＰＩＤ控制项和非线性ＰＤ控制项组成，这种控制方法能使跟踪误差逐渐趋近于零．最后，给出了ＰＵＭＡ５６０机器人的计算机仿真实验验证此控制方法的有效性

不同基板预热温度对激光金属沉积成形过程温度场的影响

为降低成形过程的热应力,抑制成形过程裂缝的产生,减小成形过程试样和基板的翘曲变形,激光金属沉积成形往往需要进行基板预热,因此研究不同基板预热温度对激光金属沉积成形过程温度场的影响具有非常重要的意义.根据有限元分析中的"单元生死"技术,利用APDL编程建立了基板预热对激光金属沉积成形过程温度场影响的三维多道多层数值模拟模型,详细分析了基板未预热和分别预热到200,300,400,500,600℃时对沉积成形过程温度场和温度梯度的影响.通过中国科学院沈阳自动化研究所自行研制的激光金属沉积成形系统和基板预热系统,在与模拟过程相同的参数下,利用镍基合金粉末在基板未预热和分别预热到300,400,500,560℃时进行了成形试验,试验结果跟数值模拟结果吻合较好.

面向香烟包装质量检测的图像采集卡开发

烟草企业在香烟的生产过程中，从烟叶制丝到卷、接、包装都已经实现了自动化，生产速度越来越快。由于包装机电气和机械控制复杂，生产中会产生各种外包装不合格香烟。然而在现代生产过程中，企业对产品的质量要求越来越高，香烟包装的外观质量还可以从一个侧面影响到企业的形象和信誉等问题，为此开发一套香烟外包装质量检测系统，实时检测和剔除包装不合格的烟包具有较强的实用价值和现实意义。 随着计算机软件、硬件技术的飞速发展，以及机器视觉理论的逐步完善，采用机器视觉的方法来检测香烟包装的外观质量被人们所重视。机器视觉在检测方面具有检测速度快、分辨能力高等优势。机器视觉的工作流程可分为：图像采集、图像处理和图像显示。而在香烟包装检测中，由于包装机的速度达到每分钟400-500包以上，为此能否成功检测香烟包装质量的关键就在于图像处理的速度一定要满足包装机的生产速度要求。 目前烟厂普遍使用的是智能相机和颜色传感器等方法检测包装不合格的香烟，使用这些方法可以检测出大部分的残次品，但最后仍然需要人工的抽检。针对现有检测方法存在的问题，本文设计一个基于数字信号处理器的嵌入式图像采集卡。数字信号处理具有运算速度快，控制能力强等其他微处理器不可比拟的优点，尤其是其强大乘法运算能力，使其在数据量很大，处理速度要求很高的图形、图像处理中得到了广泛应用。 首先，采集卡接收工业相机传输进来的视频信号经过模拟视频到数字视频的转换和视频解码后完成图像采集，然后利用图像处理和信号处理方面的知识完成图像处理工作判断产品质量，并将处理后的图像输出给显示器，最后根据需要还可以将图像信息通过以太网传输到工控机中保存起来，供以后的统计和分析。由于使用嵌入式的图像采集卡，系统的扩展性和灵活性要好于目前烟厂使用的智能相机。 由于卷烟厂现场环境复杂，而本采集卡又属于典型的高速数字电路，为了使采集卡在包装机流水线上能正常的工作，必须采取有效的措施。在电路板的设计中要考虑板层的结构，敏感元件布局，关键信号的布线，模拟区和数字区的分割，信号完整性等问题，并采取适当的措施提高板卡的电磁兼容性。 为了使系统高效的运行，编写了板卡的板级支持库，并在实时操作系统DSP/BIOS上，编写了视频采集和回放的驱动，配置和运行网络开发包NDK，实现以太网通信的软件接口。 最后通过一些实验，验证系统的功能。结果表明，图像采集卡具有视频采集和显示，图像处理和传输的功能。当采集卡工作在系统平台上时，可以有效的检测出存在包装问题烟包。

基于三重震相波形模拟研究亚洲东北部上地幔过渡带速度结构

Both the global and regional P wave tomographic studies have revealed significant deep structural heterogeneities in subduction zone regions. In particular, low-velocity anomalies have been observed beneath the descending high-velocity slabs in a number of subduction zones. The limited resolution at large depths and possible trade-off between the high and low velocities, however, make it difficult to substantiate this feature and evaluate the vertical extent of the low-velocity structure. From broadband waveform modeling of triplicated phases near the 660-km discontinuity for three deep events, we constrained both the P and SH wave velocity structures around the base of the upper mantle in northeast Asia. For the two events beneath the southern Kurile, the rays traveled through the lowermost transition zone and uppermost lower mantle under the descending Pacific slab. Our preferred models consistently suggest normal-to-lower P and significantly low SH velocities above and below the 660-km discontinuity extending to about 760-km depth compared with the global IASP91 model, corroborating previous observations for a slow structure underneath the slab. In contrast, both high P and SH velocity anomalies are shown in our preferred models for the Japan subduction zone region, likely reflecting the structural feature of a slab stagnant above the 660-km discontinuity. The velocity jumps across the 660-km discontinuity were found to be on average 4.5% and 7% for P and S waves under the south Kurile, and 3% and 6% under the Japan subduction zone. The respective velocity contrasts in the two regions are consistent with mineralogical models for colder slab interior and hotter under-slab areas. Based on mineral physics data, the depth-averaged ~1.5% P and ~2.5% SH velocity differences in the depth range of 560-760 km between the two regions could be primarily explained by a 350~450K temperature variation, although the presence of about 0.5wt%~1wt% water might also contribute to the subtle velocity variations near the base of the transition zone in the southern Kurile. From our modeling results, we speculate that the slow structure in the southern Kurile may be correlated to the low velocity zone observed previously around the 410-km discontinuity under Northern Honshu. Both are probably associated with a thermal anomaly rooted in the lower mantle beneath the subduction zone in northeast Asia.

白垩纪超静磁带地球磁场古强度测定

The long-term variations in the strength of the geomagnetic field provide important constraints on the chemical-physical processes of the Earth’s interior. Especially, the intensity of the geomagnetic field during the Cretaceous normal superchron (CNS) is crucial to understand the geodynamo. But a paucity of paleointensity further limits to obtain essential knowledge interior process in the deep earth. In order to improve the experimental efficiency, this study tried to apply two new rock magnetic methods (FORC diagram and low-temperature demagnetization technique) to determine the paleointensity. First, some problems in the theory and technique in paleointensity experiments were introduced. A combined palaeomagnetic and geochronologic study was further conducted on a basaltic lava sequence at Jianchang in Liaoning Province, northeastern China. Radiometric 40Ar/39Ar dating indicates that the volcanism occurred at about 119 Ma within the marine anomaly C34n in Cretaceous normal superchron (CNS). Rock magnetic investigations show that pseudo-single domain (PSD) titanium-poor titanomagnetite is dominant in the studied lava flows. Both stepwise thermal and alternating field demagnetizations isolate the well-defined normal characteristic remanent magnetization (ChRM) in three independent lava flows with a mean direction of D/I = 6.0/51.9 degree(a95 = 12.3degree). Palaeointensity was determined using the modified Thellier method with systematic partial thermoremanent magnetization (pTRM) checks on total 72 samples, but only 10 samples exhibit ideal linear behavior on the Arai-plot in the temperature interval of 300-560 C and yield an average paleointensity of (25.8+/-1.4)uT. In addition, slopes of the line defined by the initial and the final points on the Arai-plot for the other 18 samples with characteristic PSD features give an average paleointensity estimation value of (24.8+/-1.9)uT. The consistency of these two approaches confidently demonstrates the fidelity of our results. The overall mean field strength determined using both approaches are thus estimated to be (25.2+/-0.7 )uT. This value corresponds to the virtual dipole magnetic moments (VDM) of (4.5+/-0.1)E22 Am^2, which is about half of the value of present field. This finding suggests that palaeointensity just at the onset of the CNS is characterized by a weak magnetic field.

五台山区义兴寨岩体、车厂－北台岩体地球化学和变质作用及其大地构造意义

There are many Archean TTG grey suites in the Wutaishan area, northern Shanxi Province, China. In the past one hundred years, many geologists have done excellent research work in the Wutaishan and its adjacent regions. However, the TTG suites were almost neglected. Located in the northern slope of Mt. Hengshan-namely the Archean Hengshan Island Arc, intruded the Zhujiafang supercrustal rocks at almost 2.5Ga, the Yixingzhai TTG Suite is originated from partial melting of the ancient lower crust upper mantle by REE and trace elements, and the emplacement occurred in an Archean island arc. The rocks are mainly of tonalitic, I type, and calc-alkaline trends are found in the magmatic evolution. At almost 1.8 Ga, the suite was transformed to be dome-like schists in an arc-arc collision event, and the rocks were metamorphosed to an extent of amphibolitic to granulitic facies. The peak metamorphic condition is of 710-760 ℃/0.68-0.72GPa, and the subsequent cooling history is recorded as 560-620 ℃/0.46-0.60GPa. In the center of the Mt. Wutaishan-known as the Archean Wutaishan Island Arc, intruded the Archean Chechang-Beitai TTG Suite, which is of 2.5Ga old and of trondhjemitic and tonalitic, with coexisting I- and S-types and a trondhjemitic magmatic evolution trend. Through REE and trace elements, the suite is believed to be from the partial melting of the ancient lower crust or upper mantle. The 1.8 Ga collision event also made the suite gneissic and the it was metamorphosed to be amphibolitic facies, whose peak condition is approximately of 680 (±50) ℃/0.7Gpa, and the subsequent cooling process is recorded as 680 (±50) ℃、550(±50) ℃、420(±10) ℃. Crustal growth is fulfilled through magmatic intrusion as well as eruption at about 2.5Ga, arc-arc collision at about 1.8 Ga in the Wutaishan area and its environs. Additionally, the biotite-muscovite and muscovite-plagioclase geothermometers are refined, and the biotite-hornblende geothermometer is developed in this dissertation.

藏东及滇东南新生代钾质岩浆作用及其深部制约

The dissertation focuses on the petrology, geochemistry of the volcanic rocks in east Tibet and southeast Yunnan. It lucubrates the Magmatic process, forming mechanism and the possible tectonic settings of the volcanic rocks. The volcanic rocks of Nangqen basin in east Tibet, Qinghai province are mainly Cenozoic intermediate-acid shoshonites. The rocks are LREE enriched and the LREE/HREE = 3～34; (La/Yb)_N = 18.17-53.59, and ΣREE 222～1260μg/g. There are no Eu anomaly, and Nb, Ta, Zr, Hf, Ti are markedly depleted. The isotopic composition is ~(87)Sr/~(86)Sr = 0.70497～0.70614, ~(206)Pb/~(204)Pb = 18.622～18.974, ~(208)Pb/~(204)Pb = 38.431～38.996, ~(207)Pb/~(204)Pb = 15.511～15.613, respectively. K-Ar age of the whole rocks and the single mineral are between 32.0-36.5Ma. Based on the trace elements and isotopic elements, we get the conclusion that the partial melting is one of the dominated forming mechanisms for the volcanic rocks in Naneqen basin. The magma did not experience the crustal contamination en route to the surface; however, the complex mixture took place in the upper mantle before the melt was formed. There are at least two kinds of mixed sources that can be identified. The basalt in southeast Yunnan province is studied. They are distributed in Maguan, Tongguan, and Pingbian County, which is located on the both sides of the Red River belt, and the ultrabasic xenolith are cursory introduced. The volcanic rocks belongs to the alkali series, which can be subdivided into trachybasalt and basanite(Ol normal molecule >5). The volcanic rocks are characteristics by high Ti and low Mg#. According to the magma calculation model, the original rocks of the basalt in southeast Yunnan province are Spinel Lherzolite in Tongguan, Garnet Lherzolite in Pingbian and Maguan, while Togguan undergoes 2-5 percent and percent of partial melting, whereas volcanism in Maguan and Pingbian was so complex to calculate. The fractional crystallization took place during the magma evoltion in southeast Yunnan. The basalt is enriched in LREE with LREE/HREE=9.23-20.19. All of the trace elements display weak Nb, Ta peak, and the depletion of Zr, Hf and Ti in Maguan and pingbian represent the presence of Garnet in the source. The composition of the isotope ratio are ~(87)Sr/~(86)Sr = 0.70333-0.70427, ~(143)Nd/~(144)Nd = 0.512769-0.512940, ~(206)Pb/~(204)Pb = 18.104-18.424, ~(207)Pb/~(204)Pb = 15.483 -15.527; ~(208)Pb/~(204)Pb = 37.938-38.560, respectively, which shows the characteristics of the HIMU type OIB. The volcanic rocks of the southwest Yunnan are derived from the enriched, OIB type mantle sources by synthesizing all the data from trace and isotope elements. It is similar to that of the volcanic rocks in Hawaii, a typical kind of the mixtures of the recycled oceanic crust plume and depleted asthenosphere. To sum up, the volcanic rocks in southeast Yunnan are formed by the intraplate hotpot volcanism.

贵州石灰岩和砂岩地区C4和C3植物营养元素的化学计量对N／P比值波动的影响

陆地生态系统植物的生长受到营养元素氮（N）和磷（P）的可利用性的限制。已有的证据表明营养元素的相对丰度将控制生态系统的营养元素循环和能量流动的速度。文章提出如下假设：为了适应环境的变化，植物具有可伸缩性地调整营养元素含量的能力，也就是营养元素化学计量比值变化的能力，植物N／P比值波动的影响不仅来源于N对P的相对可利用性的变化，也来源于其他营养元素化学计量的变化，尤其是与Ca的化学计量的变化。为了验证上述假设，本研究利用3种C4植物和11种C3植物，研究了植物N／P化学计量比值的波动随N与Ca和P与Ca化学计量的变化模式：对C4植物来说，N／P比值的波动主要受生物量P与Ca化学计量变化的影响；而对C3植物来说，则同时受N与Ca和P与Ca化学计量变化的控制，它们之间的相对控制能力的大小将决定植物N／P比值波动的变化梯度，C4植物和C3植物的N／P比值的波动都要受土壤pH值的影响。本研究对了解物种丰度和N对P的相对可利用性、N与Ca，以及P与Ca的化学计量之间关系具有重要意义.

国外铁氧化物铜—金矿床的特征及其研究现状

铁氧化物铜—金矿床是一类具许多共同特征但成因联系不太密切的矿床类型，近来已成为国外铜—金勘探的主要矿床类型之一。该类矿床以矿石中含有大量的铁氧化物(磁铁矿或赤铁矿)且伴有很强的区域性钠(—钙)质蚀变为特征，可以产于元古代克拉通内或新生代大陆边缘岛弧环境，其周围具火成岩或含蒸发盐层，时空上与之有关的侵入岩为磁铁矿系列花岗岩，矿化主要产于近区域主断裂的羽状次级断裂中。部分该类矿床的形成与一定的主岩类型有关，而多数矿床可能由高盐度H2O——CO2——盐混合流体的不混溶作用形成，且矿化通常与钾化有关。对成矿流体是主要来自岩浆还是受围岩控制尚有争论，成矿模式有蒸发盐来源模式、外来流体加热模式和岩浆——热液流体模式。但对部分该类矿床详细的流体包裹体和稳定同位素研究表明成矿流体主要源于岩浆。对该类矿床进行地球物理勘探需要考虑磁铁矿、硫化物和Cu—Au矿化之间的相互关系。在我国开展对该类矿床的研究将有益于发现新的铜资源基地。

苏州高岭石的热变过程研究

运用X射线衍射、红外光谱及固体高分辨核磁共振等手段，研究了苏州高岭石560～1600℃热变产物，结果显示：①高岭石．偏高岭石．莫来石的转变系列存在结构上的连续性，其转变经历了脱羟阶段（约400～600℃），偏高岭石阶段（600～800℃），相分离阶段（800～1100℃），莫来石阶段（1100～1600℃）；②莫来石形成过程没有出现AlO3的大量分凝，但存在SiO2分凝；③偏高岭石．莫来石转变过程的中间相为Al-Si尖晶石和准莫来石；④引起1000℃放热反应的主要因素是SiO2的大量分凝，其次是准莫来石等过渡相的形成。

高岭石热转变产物^29Si、^27Al魔角旋转核磁共振研究

运用魔角旋转核磁共振结合红外光谱及X射线衍射等手段，研究了苏州高岭石的560－1600℃热转变产物，主要获得以下结论：（1）高岭石－偏高岭石－莫来石的转变系列的确存在结构上的连续性。其转变经历了几个阶段；脱羟阶段（400－600℃），偏高岭石阶段（600－800℃），相分离阶段（800－1100℃），莫来石阶段（1100－1600℃）。（2）莫来石形成过程没有出现Al2O3的大量分凝，但存在SiO2的分凝。（3）偏高岭石－莫来石转变过程的中间相为Al-Si尖晶石和准莫来石。（4）引起1000℃放热反应的主要因素是准莫来石的形成。