3自由度并联柔索驱动变刚度操作臂的刚度控制

利用柔索的弹性及驱动冗余性构造了一种3自由度并联柔索驱动变刚度操作臂,在静力学与刚度分析的基础上,进行刚度控制研究。首先,将柔索驱动力映射到关节空间,并分析等效关节力与柔索张力和外力的关系, 提出该操作臂的三维力矢量闭合原理。根据微分变换原理进行刚度分析,得到关节刚度矩阵及操作手刚度矩阵, 并进行数值算例分析,结果表明:刚度与柔索的张力有关,调节柔索张力可以改变系统刚度。最后,采用位置与张力混合控制的策略,对该变刚度操作臂进行了刚度控制,并进行了仿真验证。

基于实时障碍物预测的机器人运动规划

本文给出了移动机器人的虚力导航和运动规划系统．这种方法结合最小方差估计算法（ＬＭ ＳＥ）能有效地对机器人进行实时导航和避撞．在预测过程中，根据导航的不同阶段和预测误差的变化情况，采用Ｆｕｚｚｙ 规则动态地调整误差函数中的权重，使预测过程尽可能准确．导航算法的基本思想是首先通过预测算法来获得移动机器人的运动信息，然后虚力系统根据预测信息决定机器人的未来运动，仿真结果表明该方法实时性好，能准确躲避障碍物并且到达目标点

巴丹吉林沙漠近40a风沙活动规律浅析

Based on the data of wind from 11 meteorological observation stations in recent 40 years, the paper analyzed the temporal and spatial distribution characteristics of resultant drift potential in the Badain Jaran Desert. The 84 sand samples were collected and analysed from three compound crescentic dunes developped on southeast part of The Badain Jaran Desert. Through the statistics and computation of wind data and the analysis of Grain Size over compound crescentic dunes in The Badain Jaran Desert, this paper analyzed the characteristics of the blown sand activities in in this area. The following viewpoints were obtained: 1　Most parts of The Badain Jaran Desert are dominated by northwest wind and sub－dominated by west wind, while prevailing wind in southeast part of The Badain Jaran Desert is southeast, different froms other places. 2 The Badain Jaran Desert is strongly zoned from its surounding meteorological observation stations. It has impressively high DP and RDP value. Except for Ding Xin Station in medium wind power environment, the left stations are all belongs to high wind－power districts. 3 From the seventies till now, the value of DP and RDP in The Badain Jaran Desert shows a decending trend except for the RDP value of Guai Zihu Station in the north. This trend indicates that the wind power for the moment of The Badain Jaran Desert is far lower than it in the seventies. 4 Adopting sand rose map for classification of wind environments in defferent parts of The Badain Jaran Desert, Ejinaqi is Narrow unimodal wind regimes, Ding xin, Bayinmaodao and Ayouqi districts obtuse bimodal and Guaizihu complex. 5 Resultant drift directions in most parts of the Badain Jaran desert are southeast, which indicates annual net sand in these areas drifted from the northwest to the southeast of the desert, which consists with the analysis results of grain size of predecessors. RDD in Ayouqi staion shows the net sand drifted from the southeast to the northwest in the recent 40 years, which may attribute to the reason that, the Badain Jaran desert lies in the zone influenced by both northwest and southeast wind, the southeast monsoon was strengthened and northwest wind became weaker than a former time. So, if sand mareria is sufficient, there are two different drift directions, namely two sorts of sand source, existed in Badain Jaran desert at least. 6 Based on analysis results of meteorologic data and grain size, blown sand activities is that, in most parts of Badain Jaran desert in the past 40 years, northwest wind transported net sand from the northwest part to the southeast part of The Badain Jaran Desert.And besides this, analysis of collected sand samples also shows that, in the southeast part of Badain Jaran desert, grain size do fined from southeast to northwest. Combining results of meteorologic data in the southeast part, it can infered that southeast monsoon took blown sand to the inner desert from its southeast part.

利用宽频带台阵资料研究华北地区地壳及上地幔间断面结构

Intense tectonic renovation has occurred in the eastern continent of china since Mesozoic, as evidenced by the high heat flow, widespread magma extrusion and volcanic activities, and development of large sedimentary basins. To explain the cause and mechanism for the tectonic process in this period, some researchers have put forward various models, such as mantle plume, subduction of the Pacific slab, Yangtze Block-North China Block collision, etc. Their seismological evidence, however, is still scarce..During the period from 2000 to 2003, large temporary seismic arrays were established in North China by the Institute of the Geology and Geophysics, Chinese Academy of Sciences. Total 129 portable seismic stations were linearly emplaced across the western and eastern boundaries of the Bohai Bay Basin, and accumulated a large amount of high-quality data. Moreover, abundant data were also collected at the capital digital seismic network established in the ninth five-year period of national economic and social development. These provide an unprecedented opportunity for us to study the deep structure and associated geodynamic mechanism of lithospheric processes in North China using seismological techniques.Seismology is a kind of observation-based science. The development of seismic observations greatly promotes the improvement of seismologic theory and methodology. At the beginning of this thesis, I review the history of seismic observation progress, and present some routine processing techniques used in the array seismology. I also introduce two popular seismic imaging methods (receiver function method and seismic tomography).Receiver function method has been widely used to study the crustal and upper mantle structures, and many relevant research results have been published. In this thesis I elaborate the theory of this method, including the basic concept of receiver functions and the methodology for data pre-processing, stacking and migration. I also address some problems often encountered in practical applications of receiver function imaging.By using the teleseismic data collected at the temporary seismic arrays in North China, in particular, the traveltime information of P-to-S conversion and multiple reverberations of the Moho discontinuity, I obtain the distributions of the crustal thickness and the poisson ratio at the northwest boundary area of the Bohai Bay Basin and discuss the geological implications of the results.Through detailed intestigations on the crustal structural feature around the middle part of the Tanlu fault, considerable disparity in poisson ratios is found in the western and eastern sides of the Tanlu fault. Moreover, an obvious Moho offset is coincidently observed at the same surface location. A reasonable density model for the Tanlu fault area is also derived by simulating the observed gravity variations. Both receiver function study and gravity anomaly modeling suggest that the crustal difference between the western and eastern sides of the Tanlu fault is mainly resulted from their different compositions.With common conversion point imaging of receiver functions, I estimate the depths of the upper and lower boundaries of the mantle transition zone, i.e., the 410 and 660 km discontinuities, beneath most part of the North China continent The thickness of the transition zone (TTZ) in the study area is calculated by subtracting the depth of .410 km discontinuity from that of the 660km discontinuity. The resultant TTZ is 10-15 km larger in the east than in the west of the study area. Phase transitions at the 410 km and the 660 km discontinuities are known to have different Clapeyron slopes. Therefore, the TTZ is sensitive to the temperature changes in the transition zone. Previous studies have shown that the TTZ would be smaller in the mantle plume areas and become larger when the remnants of subducted slabs are present The hypothesis of mantle plume cannot give a reasonable interpretation to the observed TTZ beneath North China, Instead, the receiver function imaging results favor a dynamic model that correlates the thermal structure of the mantle transition zone and associated upper mantle dynamics of North China to the Pacific plate subduction process.

基于可复制性的独立成分分析——应用于功能磁共振成像数据

This dissertation systematically depicted and improved the application of Independent Component Analysis (ICA) to Functional Magnetic Resonance Imaging (fMRI), following the logic of verification, improvement, extension, and application. The concept of “reproducibility” was the philosophy throughout its four concluded studies. In the “verification” study, ICA was applied to the resting-state fMRI data, verified the resultant components with reproducibility, and examined the consistency of the results from ICA and traditional “seed voxel” method. At the meantime, the limitation of ICA application on fMRI data analysis was presented. In the “improvement” study, an improved ICA algorithm based on reproducibility, RAICAR, was developed to aid some of the limitations of ICA application. RAICAR was able to rank ICA components by reproducibility, determine the number of reliable components, and obtain more stable results. RAICAR provided useful tools for validation and interpretation of ICA results. In the “extension” study, RAICAR as well as the concept of “reproducibility” was extended to multi-subject ICA analysis, and gRAICAR algorithm was developed. gRAICAR allows some variation across subjects, examining common components among subjects. gRAICAR is also capable to detect potential subject grouping on some components. It is a new way for exploratory group analysis on fMRI. In the “application” study, two newly developed methods, RAICAR and gRAICAR, were used to investigate the effect of early music training on the brain mechanism of memory and learning. The results showed brain mechanism difference in memory retrieval and learning process between two groups of subjects. This study also verified the usefulness and importance of the new methods.

XRD and XPS studies on the ultra-uniform Raney-Ni catalyst prepared from the melt-quenching alloy

We present a novel method for preparing an ultra-uniform Raney-Ni catalyst, which includes melt-quenching, hydrogen treatment and leaching in an alkali solution. The resultant catalyst shows superior activity in the reaction of cyclohexanone hydrogenation. X-ray diffraction (XRD) and XPS have been employed to characterize the catalysts. As demonstrated, the pretreatment with hydrogen caused a distinct phase transfer of the Ni-Al alloys, forming more of the Ni2Al3 component. In the subsequent leaching process, the Ni2Al3 component shows high activity and the resultant catalyst exhibits high surface areas and small pores. Moreover, metallic Al in the hydrogen-pretreated alloy appeared to be leached more easily and thus the aluminium species remaining on the catalyst surface is aluminium oxide predominantly, which serves as a matrix to stabilize active Ni species on the surface. Copyright (C) 2001 John Wiley & Sons, Ltd.

Acid catalyzed synthesis of ordered bifunctionalized mesoporous organosilicas with large pore

Thiol-functionalized mesoporous ethane-silicas with large pore were synthesized by co-condensation of 1,2-bis(trimethoxy-sily)ethane (BTME) with 3-mercaptopropyltrimethoxysilane (MPTMS) using nonionic oligomeric polymer C1H (OCH(2)-CH(2))(10)OH (Brij-76) or poly(alkylene oxide) block copolymer (P123) as surfactant in acidic medium. The results of powder X-ray diffraction (XRD), nitrogen gas adsorption, and transmission electron microscopy (TEM) show that the resultant materials have well-ordered hexagonal mesoscopic structure with uniform pore size distributions. (29)Si MAS NNR, (13)C CP-MAS NMR. FT-IR, and UV Raman spectroscopies confirm the attachment of thiol functionalities in the mesoporous ethane-sificas. The maximum content of the attached thiol group (-SH) in the mesoporous framework is 2.48mmol/g. The ordered mesoporous materials are efficient Hg(2+) adsorbents with almost every -SH site accessible to Hg(2+). In the presence of various kinds of heavy metal ions such as Hg(2+), Cd(2+), Zn(2+), Cu(2+) and Cr(3+), the materials synthesized using poly(alkylene oxide) block cooollxmier (Pluronic 123) g(2+), as surfactant show almost similar affinity to Hg(2+), Cd(2+), and Cr(3+), while the materials synthesized using ofigomeric polymer C(18)H(37)(OCH(2)CH(2))(10)OH (Brij-76) as surfactant exhibit high selectivity to Hg(2+). (C) 2004 Elsevier Inc. All rights reserved.

Direct synthesis of highly ordered Fe-SBA-15 mesoporous materials under weak acidic conditions

Iron-substituted SBA-15 (Fe-SBA-15) materials have been synthesized via a simple direct hydrothermal method under weak acidic conditions. The powder X-ray diffraction (XRD), NZ sorption and transmission electron microscopy (TEM) characterizations show that the resultant materials have well-ordered hexagonal meso-structures. The diffused reflectance UV-vis and UV resonance Raman spectroscopy characterizations show that most of the iron ions exist as isolated framework species for calcined materials when the Fe/Si molar ratios are below 0.01 in the gel. The presence of iron species also has significant salt effects that can greatly improve the ordering of the mesoporous structure. Different iron species including isolated framework iron species, extraframework iron clusters and iron oxides are formed selectively by adjusting the pH values of the synthesis solutions and Fe/Si molar ratios. (c) 2005 Elsevier Inc. All rights reserved.

Structural relation properties of hydrothermally stable functionalized mesoporous organosilicas and catalysis

The surfactant assistant syntheses of sulfonic acid functionalized periodic mesoporous organosilicas with large pores are reported. A one-step condensation of tetramethoxysilane (TMOS) with 1,2-bis(trimethoxysilyi)ethane (BTME) and 3-mercaptopropyltrimethoxysilane (MPTMS) in highly acidic medium was performed in the presence of triblock copolymer Pluronic P123 and inorganic salt as additive. During the condensation process, thiol (-SH) group was in situ oxidized to sulfonic acid (-SO3H) by hydrogen peroxide (30 wt % H2O2). X-ray diffraction studies along with nitrogen and water sorption analyses reveal the formation of stable, highly hydrophobic, and well-ordered hexagonal mesoscopic structures in a wide range of -CH2CH2-concentrations in the mesoporous framework. The resultant materials were also investigated by Si-29 MAS and C-13 CP MAS NMR, thermogravimetric analyses, UV-Raman spectroscopy, and FT-IR spectroscopy. The role of the bridged organic group on the hydrothermal stability of the mesoporous materials was established, which revealed an enhancement in hydrothermal stability of the materials with incorporation of the bridged organic groups in the network. The catalytic performance of -SO3H functionalized mesoporous materials was investigated in the esterification of ethanol with acetic acid, and the results demonstrate that the ethane groups incorporated in the mesoporous framework have a positive influence on the catalytic behavior of the materials.

The Rawls-Tawney theorem and the digital divide in postindustrial society.

The digital divide continues to challenge political and academic circles worldwide. A range of policy solutions is briefly evaluated, from laissez-faire on the right to “arithmetic” egalitarianism on the left. The article recasts the digital divide as a problem for the social distribution of presumptively important information (e.g., electoral data, news, science) within postindustrial society. Endorsing in general terms the left-liberal approach of differential or “geometric” egalitarianism, it seeks to invest this with greater precision, and therefore utility, by means of a possibly original synthesis of the ideas of John Rawls and R. H. Tawney. It is argued that, once certain categories of information are accorded the status of “primary goods,” their distribution must then comply with principles of justice as articulated by those major 20th century exponents of ethical social democracy. The resultant Rawls-Tawney theorem, if valid, might augment the portfolio of options for interventionist information policy in the 21st century

Understanding Iconography: a method to allow rich picture interpretation to improve.

Information Systems for complex situations often fail to adequately deliver quality and suitability. One reason for this failure is an inability to identify comprehensive user requirements. Seldom do all stakeholders, especially those "invisible‟ or "back room‟ system users, have a voice when systems are designed. If this is a global problem then it may impact on both the public and private sectors in terms of their ability to perform, produce and stay competitive. To improve upon this, system designers use rich pictures as a diagrammatic means of identifying differing world views with the aim of creating shared understanding of the organisation. Rich pictures have predominantly been used as freeform, unstructured tools with no commonly agreed syntax. This research has collated, analysed and documented a substantial collection of rich pictures into a single dataset. Attention has been focussed on three main research areas; how the rich picture is facilitated, how the rich picture is constructed and how to interpret the resultant pictures. This research highlights the importance of the rich picture tool and argues the value of adding levels of structure, in certain cases. It is shown that there are considerable benefits for both the interpreter and the creator by providing a pre-drawing session, a common key of symbols and a framework for icon understanding. In conclusion, it is suggested that there is some evidence that a framework which aims to support the process of the rich picture and aid interpretation is valuable.

Adaptive denoising in spectral analysis by genetic programming

Rowland, J.J. and Taylor, J. (2002). Adaptive denoising in spectral analysis by genetic programming. Proc. IEEE Congress on Evolutionary Computation (part of WCCI), May 2002. pp 133-138. ISBN 0-7803-7281-6

Space saving calculation of symbolic resultants

Lloyd, Noel G., and Pearson, Jane M., 'Space saving calculation of symbolic resultants', Mathematics in Computer Science, 1 (2007), 267-290.

The effects of ageing and exercise on skeletal muscle structure and function

Musculoskeletal ageing is associated with profound morphological and functional changes that increase fall risk and disease incidence and is characterised by age-related reductions in motor unit number and atrophy of muscle fibres, particularly type II fibres. Decrements in functional strength and power are relatively modest until the 6th decade, after which the rate of loss exponentially accelerates, particularly beyond the 8th decade of life. Physical activity is a therapeutic modality that can significantly attenuate age-related decline. The underlying signature of ageing, as manifested by perturbed redox homeostasis, leads to a blunting of acute and chronic redox regulated exercise adaptations. Impaired redox regulated exercise adaptations are mechanistically related to altered exercise-induced reactive oxygen and nitrogen species generation and a resultant failure to properly activate redox regulated signaling cascades. Despite the aforementioned specific impairment in redox signaling, exercise induces a plethora of beneficial effects, irrespective of age. There is, therefore, strong evidence for promoting regular physical exercise, especially progressive resistance training as a lifelong habitual practice.

O comportamento do consumidor de software de gestão e contabilidade das PMEs em Portugal, França e Espanha

Dissertação de Mestrado apresentada à Universidade Fernando Pessoa como parte dos requisitos para obtenção do grau de Mestre em Ciências Empresariais.