一种3自由度并联柔索驱动机器人的精度研究

研究了一种3自由度并联柔索驱动机器人精度分析和精度综合的问题.分析了影响机器人位姿精度的主要因素,推导建立了关节误差及柔索误差模型.提出了一种精度综合算法,并基于给定的机器人关节允差,综合分析出装配误差及柔索误差的最大取值.通过仿真验证了误差模型的正确性.样机试验表明,利用柔索误差模型可以提高机器人的运动精度.

俯冲带深部流体特征——以西南天山变质俯冲杂岩为例

The subduction zone is an important site of the fluid activity and recycling of chemical elements. The fluid characteristic of deep subduction zones is a top scientific problem attracting the petrologists, geochemists and tectonists. In this dissertation, the characteristics of fluid activity within a deep subduction zone have been explored on the basis of the studies on the petrography, mineral chemistry, fluid inclusions, geochemistry and metamorphic P–T conditions of the omphacite-bearing high-pressure veins and related hosts from the low-temperature/high-pressure metamorphic belt in southwestern Tianshan, China. Multiple high-pressure veins are exposed in host eclogites and blueschists. The veins are composed predominantly of omphacite, garnet, quartz, and other minerals. Some veins contain cm-sized rutiles. In general, the vein can be divided into three types, the ‘in situ dehydration’ vein, the ‘external transport’ vein and the ‘composite’ vein. The omphacites within the veins and related host rocks contain lots of two-phase or three-phase primary fluid inclusions. The final melting temperature (Tfm) of fluid inclusions varies mainly from -0.6 to -4.3 °C, the homogeneous temperature (Th) varies from 185 to 251 °C, the salinity varies from 1.1 to 6.9 wt.% NaCl equivalent and the density varies from 0.81 to 0.9 g/cm3. The fluids were released under the conditions of T = 520–580°C and P = 15–19 kbar at blueschist facies to eclogite facies transition. The fluids include not only Li, Be, LILE, La, Pb-enriched and HFSE- and HREE-depleted aqueous fluids but also HFSE (Ti-Nb-Ta)-rich aqueous fluids. The complex composed of aluminosilicate polymers and F was the catalyst which had caused the Ti-Nb-Ta to be dissolved into the fluids. During the transport of the LILE-rich and HFSE- and HREE-poor fluids, they can exchange some chemical elements with country rocks and leach some trace elements in some extent. The rutile could be precipitated from the HFSE (Ti-Nb-Ta)-rich aqueous fluids when CO2 was added into the fluids. The host rocks could obtain some elements, such as Ca, Cs, Rb, Ba and Th, from the external fluids. The fluids with complex composition had been released within the deep subduction zone (>50 km) in Early Carboniferous during the subduction of the South Tianshan Ocean under the Yili–Central Tianshan Plate. The results obtained in this dissertation have made new progress compared with the published data (e.g. Tatsumi, 1989; Becker et al., 1999; Scambelluri and Philippot, 2001; Manning, 2004; Hermann et al., 2006; Spandler and Hermann, 2006).

内蒙古白云鄂博超大型REE-Nb-Fe矿床脉状矿化时代与成矿流体特征

Bayan Obo REE-Nb-Fe ore deposit is the largest REE deposit in the world. Owing to its unique type and tremendous economic value, this deposit has widely attracted interests from geological researchers and vast amount of scientific data have been accumulated. However, its genesis, especially ore-forming age and REE sources, have been under dispute for a long time. On the basis of previous research works, this paper mainly conducts studies on the Early Paleozoic ore-forming event in the Bayan Obo deposit. The following results and conclusions can be suggested: Sm-Nd isotopic analytical results of bastnaesite, beloeilite, albite and fluorite samples from a coarse-crystalline ore lode present an isochron age of 436±35Ma. Besides, Rb-Sr isotope dating of the coarse-crystalline biotite lode that intruded into banded ores gives an isochron age of 459±39Ma. The two ages verify the exist of Early Paleozoic ore-forming event at Bayan Obo, which characterized by extensive netted mineralization of REE fluorocarbonates, aeschynite and monazite, accompanied by widely fluorite-riebeckite-aegirine-apatite alteration. Sr-Nd isotope composition of vein minerals is located between EMI and ancient lower crust component in the ISr(t)-εNd(t) correlation diagram, indicating that there is a crustal contamination during veined mineralization. A large area late Paleozoic granitoids are distributed in the southeast region of east open pit of the mine. The granitoids intruded directly into the ore-bearing dolomite, and produced intense skarnization. Moreover, at 650-660m of the drill core on 22 line and 1598m level flat in the south of East Open Pit, we firstly found skarnization rocks. Single grain and low background Rb-Sr isochrone dating on phlogopite in skarn gives 309±12Ma. Considering the intruded contacting relationship, the late Paleozoic granitoids, already extended to the under part of REE ore bodies, must be posterior to the latest intense REE mineralization, and is only a destructive tectonic and magmatic activity. Fluid inclusion types of fluorite in the Bayan Obo deposit consist of multiphase daughter mineral-bearing inclusion, two or three phase CO2-bearing inclusion and two phase aqueous inclusion. Petrography, laser Raman analysis and microthermometry study indicate that the fluids involving in REE-Nb-Fe mineralization at Bayan Obo might be mainly of H2O-CO2-NaCl-(F-REE) system. The presence of REE-carbonate as a daughter mineral in fluid inclusions shows that the original ore-forming fluids are rich in REE elements.

内蒙古乌拉特中旗北部宝音图群研究

The Baoyintu Group, lies in Wulate-zhongqi, Inner Mongolia, is a set of medium-grade metamorphic rock series which undergoes complex deformations. It consists of pelite schist, greenschist, plagioclase amphibolite quartzite and marble. The pelite schist is the main rock type and contains the classic medium pressure metamorphic minerals. The author divided Baoyintu group into five assemblages, investigated the rock association and plotted geological section of each assemblage in this area. Based on the systemically study of structural geology, petrology, geochemistry and mineralogy, the author reconstructs the protolith, sedimentary environment and tectonic evolution, discusses the mesoscopic and microscopic structure, metamorphism, geochemistry characters and the correlation between porphyroblast growth and deformation-metamorphism. There are three phase deformations in the research area: the earliest one occurred as the Baoyintu group deformed and metamorphosed and the main structure pattern is tight fold within layers during the Dl, large scale reversed fold and two phase faults (Fl fault and F2 fault) during the D2, and superimposed fold and F3 fault during D3. The F3 trancate the Wenduermian group of Silurian. The second and third phase deformation are relate to the orogenic event of late period of early Paleozoic. According to the rock association ,characteristics of the rocks and research of geochemistry, we get some information of the sedimentary environment and tectonic evolution of Baoyintu group. The source rocks are a set of terrigenous deposits-volcanic formation which reflect the history of the tectonic setting: stable- active-restable. And there are two sedimentary cycle from first assemblage to fifth assemblage: from first assemblage to fourth assemblage is a course of progression and the fifth assemblage is a start of regression. We also get the information of the P-T-t path by studying petrographies and calculating temperature and pressure. The path is not similiat to any classic type. And the interpretation is different from the traditional opinion. The P-T-t path reflects the dynamic course of convergence and uplift, magma underplating, back-arc extension and convergence of continental margin. Applying the theory of deformation partitioning to this area, the author discuss the relationship between deformation and porphyroblast growth, and get the conclusion of the sequence of deformation and metamorphism. At the first time we measure the distribution of chemical composition within the porphyroblast by XRF, confirm the theory of deformation partitioning quantitative and get new understanding about growth phase of porphyroblast and growth mode of porphyroblast: porphyroblast grow in the manner as "rose flower", the growth is controlled by the deformation. The elements distribution in porphyroblast reflects the growth manner and indicate history of metamorphism and deformation. So, we can deduce the metmorphism and deformation from the elements distribution in porphyroblast.

Heat capacity and thermochemical study of trifluoroacetamide (C2H2F3NO)

The low-temperature heat capacities of trifluoroacetamide were precisely determined with a small sample precision automated adiabatic calorimeter over the temperature range from 78 to 404 K. A solid-to-solid phase transition, a fusion and a phase transition from a liquid crystalline phase to fully liquid phase have been observed at the temperatures of 336.911+/-0.102, 347.622+/-0.094 and 388.896+/-0.160 K, respectively. The molar enthalpies of these phase transitions as well as the chemical purity of the substance were determined to be 5.576+/-0.004, 11.496+/-0.007, 1.340+/-0.005 kJ mol(-1) and 99.30 mol%, respectively, on the basis of the heat capacity measurements. The molar entropies of the three phase transitions were calculated to be 16.550+/-0.012, 33.071+/-0.029 and 3.447+/-0.027 J mol(-1) K-1, respectively. Further researches of the thermochemical properties for this compound have been carried out by means of TG and DSC techniques. (C) 2000 Elsevier Science B.V. All rights reserved.

中国版一般能力倾向测验的信度和效度的初步检验

General aptitude tests have been playing an important role in vocational guidance and preliminary personnel selection. The present research aimed at the estimation of the reliability and validity of the preliminarily constructed Chinese version of the General Aptitude Test Battery (GATB). A Chinese version of GATB was developed on the basis of the Japanese version of GATB at first. It was then administered to a sample of nearly 500 secondary school students in Beijing City. And its reliability and validity were studied through a series of univariate and multivariate statistical techniques. The results showed that the reliability of the test battery and the criteria-related validities of some subtests were acceptable. Concerning construct validity, three or four common factors were identified by exploratory factor analysis, and a simpler reasonable four-factor-solution was approached by confirmatory factor analysis; desirable group differences were also discovered by analyses of variance and multivariate analysis of variance. Generally, it has been demonstrated that the reliability and validity of the Chinese version of GATB constructed in the present research are satisfactory.

Quantitative and qualitative analysis of flavonoids in leaves of Adinandra nitida by high performance liquid chromatography with UV and electrospray ionization tandem mass spectrometry detection

The extract of Adinandra nitida leaves, named as Shiyacha in China, was studied by high performance liquid chromatography (HPLC)-ultraviolet detection-electrospray ionisation (ESI) tandem mass spectrometry (MS). Under the optimized condition, the analysis could be finished in 45 min on a Hypersil C18 column combined with negative ion detection using information-dependent acquisition (IDA) mode of a Q TRAP (TM) instrument. Six flavonoids were identified as epicatechin, rhoifolin, apigenin, quercitrin, camellianin A, and camellianin B among which rhoifolin was for the first time found in Shiyacha. And the fragment pathways of these flavonoids were elucidated. Furthermore, with epicatechin, rhoifolin, and apigenin as markers, the quality control method for Shiyacha and its relevant product was firstly established. Calibration linearity was good (R-2 > 0.9992) over a three to four orders of magnitude concentration range with an S/N = 3 detection limit of 2.5 ng. (c) 2004 Elsevier B.V. All rights reserved.

Qualitative evaluation of KA24 (Knowledge Access 24)

Durbin, J. & Urquhart, C. (2003). Qualitative evaluation of KA24 (Knowledge Access 24). Aberystwyth: Department of Information Studies, University of Wales Aberystwyth. Sponsorship: Knowledge Access 24 (NHS)

What children learn from adults’ utterances: an ephemeral lexical boost and persistent syntactic priming in adult–child dialogue

We show that children’s syntactic production is immediately affected by individual experiences of structures and verb–structure pairings within a dialogue, but that these effects have different timecourses. In a picture-matching game, three- to four-year-olds were more likely to describe a transitive action using a passive immediately after hearing the experimenter produce a passive than an active (abstract priming), and this tendency was stronger when the verb was repeated (lexical boost). The lexical boost disappeared after two intervening utterances, but the abstract priming effect persisted. This pattern did not differ significantly from control adults. Children also showed a cumulative priming effect. Our results suggest that whereas the same mechanism may underlie children’s immediate syntactic priming and long-term syntactic learning, different mechanisms underlie the lexical boost versus long-term learning of verb–structure links. They also suggest broad continuity of syntactic processing in production between this age group and adults.

Tectonics Inversions & Emerald Deposits

In spite of the great amount of emerald deposits throughout the world, the priorities in quality and volume of extracted rough material are the sites of Colombia (Muzo and Chivor emerald belts). This sites are know even before the Spanish conquistadores. Emeralds were extracted from Somondoco mine (today Chivor) since 1537 and from Muzo in 1567. Contrariwise to the majority of the emerald deposits of the world, which are associated with granitic rocks, the Colombian emerald deposits are associated with hydrofracturing (the main factor controlling emerald mineralization) and hydrothermal fluids, rich in beryl, chrome and vanadium, induced by a tectonic inversion of the deep Mesozoic backarc basin, which is also responsible of the majority of the petroleum systems of the foredeep and foldbelt areas (maturation of the source-rocks andcreation of structural traps). The host rocks of the emeralds are carbonaceous calsiltites (calcareous schists) rich in organic matter of Lower Cretaceous age, which are cut by calcite veins, which, often, contain emeralds, particularly when they are folded. Indeed, since long time (Cheilletz, A. and Giulliani, G., 1996) suggested a two-stage model for the formation of the Colombian emeralds : (i) Stage I is characterized by décollement planes (early compressional tectonic regime) within the carbonaceous calsiltites, hydrothermal fluid infiltration and wall-rock metasomatic alteration ; (ii) Stage II (late tectonic regime) deforms the previous veins by thrust-related folds (development of stratiform and hydraulic breccia), which are synchronous of the emerald mineralization. The resulting tectonic structures are complex fold patterns characterized by propagation anticlines with emerald veins and emerald hydraulic breccia in the apexes, as in Quipama, Tendenquema and Chivor mines. Otherwise stated, since all emerald exploitations are, presently underground, exhaustive geological and particularly structural studies are required to reduce the probability of disappointments. The color of emeralds is from light green to thick green with obvious pleochroism. They appears with different colors when observed at different angles, especially with polarized light. The emeralds from Coscuez deposits have a homogeneous intensive color and bluish tone. At Muzo deposit, the emeralds have middle or dark green color with yellowish tone. At the Chivor deposits, the emeralds have less intensive green color with slight bluish tone. The typical inclusions are albite and pyrite, as well as long bubbles with three phase-inclusions according the zones of growth and along the crystal shapes.

Explorations in a meaning making system: Kerry as an entrepreneurial platform and the equine sector as a cluster

This Portfolio is about the changes that can be supported and achieved through transformational education that impacts on personal, professional and organisational levels. Having lived through an era of tremendous change over the second half of the twentieth century and into the twenty-first the author has a great drawing board to contemplate in the context of professional career experience as an engineer. The ability to engage in ‘subject-object’ separation is the means by which Kegan (1994, 2009) explains that transformation takes place and the Essays in this Portfolio aim to support and bring about such change. Exploration of aspects of ‘Kerry’ is the material selected to both challenge support change in the way of knowing from being subject to certain information and knowledge that to being able to consider it more objectively. The task of being able to distance judgement about the economy and economic development of Kerry was facilitated by various readings around of a number of key thinkers including Kegan, Drucker, Porter and Penrose. The central themes of Kerry or the potential for economic development are built into each Essay. Essay One focuses on reflections of Kerry life - on Kerry people within and without Kerry - and events as they affected understandings of how people related to and worked with one another. These reflections formed the basis for transformational goals identified which required a shift from an engineering mindset to encompass an economics-based view. In Essay Two knowledge of economic concepts is developed by exploring the writings of Drucker, Penrose, and Porter with pertinence to considering economic development generally, and for Kerry in particular in the form of an ‘entrepreneurial platform’. The concepts and theories were the basis of explorations presented in Essays Three and Four. Essay Three focuses on Kerry’s potential for economic development give its current economic profile and includes results from interviews with selected businesses. Essay Four is an exercise in the application of Porter’s ‘Cluster’ concept to the equine sector.

An Irish apostle: articulating and actualising apostolicity in the early Irish church

This thesis examines the earliest extant Latin Lives of Brigit and Patrick; Cogitosus’s Vita Brigidae and Muirchú’s Vita Patricii as evidence for a seventh-century debate on Irish apostolicity. While often dismissed as mere propaganda, this thesis shows they are highly sophisticated demonstrations of the continuing connection that Kildare and Armagh had to their patron saints and their authority. It examines the importance of this connection for concepts of ecclesiastical organisation, teaching authority and episcopal succession against the backdrop of the seventh-century Easter question in the Insular Church. This will show that apostolicity was considered to be intrinsically linked with orthodoxy and universality. A textual focus brings forth general patristic themes and ideas that Irish hagiographers evoked through specific words and phrases. The thesis contextualises hagiographical material using evidence from Hiberno-Latin and early Insular exegetical commentaries, referring to major patristic exegetes such as Origen, Jerome, Augustine, and Gregory the Great as support. The introduction discusses the importance of apostolic ideology for the seventh-century Irish Church, and outlines a methodology for examining such abstract themes. The first chapter looks at how developments in apostolic ideology led to ideas of apostolic primacy seen in the Insular material. Chapters two, three, and four examine metaphors of food and feeding, the fountain and the stream, and the head and the body, as significant articulations of apostolicity. Chapter five examines how corporeal relics were understood as the visible proof of this continuity and preserved a saint’s authority for their episcopal heirs. Chapter six looks at how Muirchú engaged with Patrick’s connection to the universal Church and his self-professed lack of disciplina to reconcile his apostolicity with seventh-century norms. Chapter seven places the issues considered thus far in a thoroughly Insular context by examining how the earliest English sources present the Irish legacy in Northumbria after the synod of Whitby. Chapter eight looks at how the text of Patrick’s Confessio in the Book of Armagh relates to a wider seventh-century campaign by Armagh to rehabilitate Patrick’s apostolicity. The conclusion briefly summarizes the thesis, and suggests further avenues for researching this topic in the Insular material

An analysis of the efficacy of low-scale concentrated photovoltaics

Gemstone Team LEAF (Light Energy Acquisition of the Future)

MUSICAL THEATER AND THE CLASSICAL VOICE: CROSSOVER SINGING IN THE TWENTIETH CENTURY

This dissertation explores the transformation of opera comique (as represented by the opera Carmen) and the impact of verismo style (as represented by the opera La Boheme) upon the development of operetta, American musical theater and the resultant change in vocal style. Late nineteenth-century operetta called for a classically trained soprano voice with a clear vibrato. High tessitura and legato were expected although the quality of the voice was usually lighter in timbre. The dissertation comprises four programs that explore the transformation of vocal and compositional style into the current vocal performance practice of American musical theater. The first two programs are operatic roles and the last two are recital presentations of nineteenth- and twentieth- century operetta and musical theater repertoire. Program one, Carmen, was presented on July 26, 2007 at the Marshall Performing Arts Center in Duluth, MN where I sang the role of Micaela. Program two, La Boheme, was presented on May 24,2008 at Randolph Road Theater in Silver Spring, MD where I sang the role of Musetta. Program three, presented on December 2, 2008 and program four, presented on May 10, 2009 were two recitals featuring operetta and musical theater repertoire. These programs were heard in the Gildenhorn Recital Hall at the Clarice Smith Performing Arts Center in College Park, MD. Programs one and two are documented in a digital video format available on digital video disc. Programs three and four are documented in a digital audio format available on compact disc. All programs are accompanied by program notes also available in digital format.

Evaporation-induced evolution of the capillary force between two grains

© 2014, Springer-Verlag Berlin Heidelberg.The evolution of capillary forces during evaporation and the corresponding changes in the geometrical characteristics of liquid (water) bridges between two glass spheres with constant separation are examined experimentally. For comparison, the liquid bridges were also tested for mechanical extension (at constant volume). The obtained results reveal substantial differences between the evolution of capillary force due to evaporation and the evolution due to extension of the liquid bridges. During both evaporation and extension, the change of interparticle capillary forces consists in a force decrease to zero either gradually or via rupture of the bridge. At small separations between the grains (short & wide bridges) during evaporation and at large volumes during extension, there is a slight initial increase of force. During evaporation, the capillary force decreases slowly at the beginning of the process and quickly at the end of the process; during extension, the capillary force decreases quickly at the beginning and slowly at the end of the process. Rupture during evaporation of the bridges occurs most abruptly for bridges with wider separations (tall and thin), sometimes occurring after only 25% of the water volume was evaporated. The evolution (pinning/depinning) of two geometrical characteristics of the bridge, the diameter of the three-phase contact line and the “apparent” contact angle at the solid/liquid/gas interface, seem to control the capillary force evolution. The findings are of relevance to the mechanics of unsaturated granular media in the final phase of drying.