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。

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.

金融工作者的抑郁症状的影响因素及其形成机制研究

Ill-health prevails in the workplace. A key problem encountered in the area of stress management is a lack of research into the way job burnout turns into mental problems, especially depressive symptoms, the most prevalent and costly psychiatric condition in the workplace. This research belongs to a cross-discipline area of industrial psychiatry and organizational behavior, which has seldom been investigated before. This research will contribute to the theoretical development of organizational behavior, especially to stress management and industrial psychiatry. This study aims to explore etiological factors and mechanisms of depressive symptoms of workers in the financial industry. By using literature review, semi-structured interviews and surveys as the major research methods, this Ph.D. study systematically investigated the risk factors of workers’ depressive symptoms within and outside of the work area. These risk factors are worker-work environment fits, work family conflicts, and workers’ psychological vulnerabilities to depression. A thorough literature review and 20 semi-structured interviews of brokers in different kinds of financial markets show the feasibility and necessity of this Ph.D. study when it comes to the issue of financial workers’ depressive symptoms. Two surveys of workplace-etiological factors of depressive symptoms were conducted among 244 financial workers and 1024 financial workers. This cross-sample verification showed that worker-work environment fit was a good framework to study risk factors of workers’ depressive symptoms. Results revealed that job demands-abilities misfit could lead to job burnout which in turn contributed to worker’s depressive symptoms; besides this, work effort-reward imbalance could directly cause workers’ depressive symptoms. Emotional labor enhanced the positive effect of job burnout on workers’ depressive symptoms. In the third study, a prominent risk factor outside of the work area, namely work family conflict, and workers’ psychological vulnerabilities of depression were included with workplace etiological factors to investigate the overall predictive model of depressive symptoms of financial workers. The survey was conducted among the same 1024 financial workers. Results indicated that work effort-reward imbalance, job burnout and work interfering in family life were three external etiological factors of workers’ depressive symptoms. Neuroticism, autonomy and low emotional intelligence were three individual etiological factors which had a positive effect on workers’ depressive symptoms. Moreover, neuroticism enhanced the relationship between job burnout and depressive symptoms as well as between work interfering in family life and depressive symptoms. Autonomy aggravated the relationship between job burnout and depressive symptoms. However, emotional intelligence attenuated the relationship between job burnout and depressive symptoms as well as between work effort-reward imbalance and depressive symptoms. Besides, workers’ dysfunctional attitudes played a partial mediating role in the relationships between above etiological factors and depressive symptoms. In the same sample, research evidence of impairments of workers’ depressive symptoms to their work-life quality was also obtained. Specifically, depressive symptoms could predict workers’ presenteeism, absenteeism and turnover intention. Their subjective well-being was also lowered when suffering more severe depressive symptoms. This research provides a theoretical basis to management practices targeted to set up the Employee Assistance Program or even more specilised rehabilitation programs for workers with depressive symptoms so as to improve their work-life quality and and establish a harmonious enterprise.

Tomateiro para processamento industrial: irrigação e fertirrigação por gotejamento.

Sistema por gotejamento. Qualidade e tratamento da água. Necessidade de águas das plantas. Manejo da água de irrigação. Fertilizante para fertirrigação. Manejo da fertirrigação. Estado nutricional das plantas. Síntese das recomendações.

Avaliação de produtos alternativos para o controle da mancha-bacteriana em tomateiro para processamento industrial.

O pôrometro de pós-colheita é um instrumento para medir transpiração, resistência difusiva e déficit de pressão de vapor por manometria a volume constante e por volumetria a pressão constante. É constituído de uma câmara de transpiração com fechamento hermético contendo um suporte de amostras sobre um ventilador e externamente um manômetro de coluna de água com pipeta graduada móvel. Sob temperatura constante, o déficit de pressão de vapor (.P), e o volume de vapor de água (.V) foram proporcionais aos volumes de água vaporizados. Com o uso de um excesso de água este aumento da pressão de vapor iguala-se, em módulo, ao déficit de pressão de vapor do ar na câmara de transpiração. Para amostras do ar atmosférico no laboratório, o déficit de pressão de vapor foi calculado a partir das temperaturas de bulbo seco e úmido em um psicrômetro ventilado e por manometria. A correlação entre estes dois métodos foi de 0,976. A acurácia das medidas de transpiração é tal que o produto do volume morto da câmara (V) pela declividade (.P/ .V) determinada pelo vapor de água liberado no processo iguala-se à pressão barométrica, com erro inferior a 1%. Um exemplo experimental do uso do porômetro de pós-colheita em cenoura é apresentado juntamente e os detalhes para obter a resistência difusiva e espessura da camada laminar. O porômetro de pós-colheita é um porômetro de difusão simples, robusto, que poderá ser usado em estudos de efeito de cêras, na seleção de cultivares e em variados outros estudos de fisiologia de pós-colheita.

Reprodução de Meloidogyne incognita raça 1 e Meloidogyne javanica em linhagens avançadas de tomateiro industrial.

2009

Análise de perigos e pontos críticos de controle (APPCC) manual específico para a produção integrada de tomate industrial.

2009

Guia para levantamento de custos ao iniciar uma unidade industrial.

2003

Cultivares de trigo do Parana: rendimento, caracteristicas agronomicas e qualidade industrial.

Base experimental e metodologia utilizada; Resultados; Rendimento de graos; Rendimento x epoca de semeadura; Peso do hectolitro(PH); Peso de mil semeadura(PMS); de doencas; Ciclo; Altura e acamamento; Doencas; Controle de doencas; Qualidade industrial.

Processamento industrial de carnes caprina e ovina: cortes padronizados.

2007

Manejo integrado de pragas do tomateiro para processamento industrial.

Esta publicação tem por finalidade apresentar uma descrição das principais espécies de insetos e ácaros praga da cultura do tomateiro industrial e das injúrias decorrentes de seu ataque, bem como das técnicas utilizadas no monitoramento e das medidas de controle, visando à redução de perdas econômicas e a sustentabilidade do setor.

Industrial relations in the privatised coal industry: continuity, change and contradictions.

This study seeks both to describe and account for the patterns of industrial relations which have emerged in the UK coal industry since privatisation in 1994. In doing so, it also aims to address some of the wider questions concerning the relationship between ownership and industrial relations. A series of hypotheses are advanced concerning how changes in ownership might affect industrial relations within the industry, and whether such changes would have positive or negative implications for organised labour. A case study approach is utilised to analyse labour relations developments at a number of collieries, and it is shown that the industrial relations strategies adopted by management within the new coal enterprises have had a determining effect upon the patterns of labour relations within the privati sed industry. This study also demonstrates that the emergent pattern of labour relations in the privatised industry is characterised by both continuity and change. However, whilst continuity with the patterns of labour relations established during the final decade of public ownership is shown to have had negative implications for organised labour within the industry, the changes associated with privatisation are demonstrated to have been a more ambivalent force. Change has, in different contexts, had some positive implications for organised labour, but in the majority of cases, the implications for labour have been negative. Overall, therefore, this study concludes that privatisation has had a significant influence upon industrial relations within the coal industry, and that organised labour has been detrimentally affected by these developments.