柔索驱动三自由度球面并联机构运动学与静力学研究

柔索驱动并联机器人采用柔索代替连杆作为机器人的驱动元件 ,它结合了并联结构和柔索驱动的优点 .文章提出了一种新型带有约束机构的并联柔索驱动机器人 ,采用四根柔索驱动 .由于约束机构的引入 ,机器人可实现在空间的三维转动 .介绍柔索驱动并联机器人的机构构型 ,给出了位姿逆解 ,建立了静力平衡方程和运动学方程 ,讨论了柔索拉力的确定方法 .研究结果证明在加入了约束机构后 ,柔索机器人可以实现更多的运动形式 ,这就为更广泛的应用柔索驱动成为可能

一种新型柔索驱动并联机器人的模型样机

提出一种新型并联机器人机构 ,利用张紧柔索驱动该并联机器人·通过运动学和动力学分析、工作空间分析、轨迹规划、误差分析 ,设计并制作了模型样机本体、驱动与控制模块 ,开发了机器人语言 ,控制模型样机完成指定动作·实验结果表明 ,这种新型并联机器人是可行的 ,适用于轻型机床等设备·该机器人在某一速度范围内工作时 ,会产生较明显的振动 ,并伴有噪声 ,因此要提高机器人的性能还必须设法抑制其振动

钢丝绳结构及工艺集成设计系统

针对钢丝绳实际生产需要,提出基于钢丝绳结构理论设计基础的结构与工艺集成设计系统框架,建立钢丝绳结构设计、性能分析及间隙计算的理论模型,并利用相关数据进行理论值与实际值分析,完成钢丝绳性能参数的敏感性分析模型和理论修正模型,为钢丝绳结构设计与工艺设计的并行处理提供了理论上的指导,最终实现钢丝绳的智能设计与制造

基于数据仓库的EIS在CIMS中的研究与实现

随着信息系统在企业应用的不断发展，越来越多的企业高层领导已不满足从ＭＩＳ、ＭＲＰＩＩ中获取的信息．本文结合在企业实际中应用的ＪＳＣＩＭＳ领导信息系统，首先介绍了ＣＩＭＳ环境下企业领导对信息系统的需求，然后给出了ＥＩＳ的概念和ＥＩＳ的ＣＳＦｓ，并在通用数据仓库模型基础上，提出了ＪＳＣＩＭＳ中ＥＩＳ数据仓库的模型及建立过程．

预应力结构抗滑桩设计计算方法及其在滑坡治理中的应用研究

Landslide is a kind of serious geological hazards and its damage is very great. In recent years, landslides become more and more frequent along with increase of scale of engineering constructions and cause greater loss. Consequently, how to protect landslides has become important research subject in the engineering field. This paper improves the method how to compute landslide thrust and solves the irrational problem in the design of piles because of the irrational landslide thrust according to the theory and technology of existed anti-slide piles and pre-stressed cable anti-slide piles. Modern pre-stressing technology has been introduced and load balancing method has been used to improve the stressing behavior of anti-slide piles. Anchor cables, anti-slide piles and modern pre-stressing technology have been used to prevention complicated landslide. It is an important base to select values for the landslide thrust. An improved method to calculate design thrust of anti-slide piles has been presented in this paper on the base of residual thrust method by comparing existing methods to select values of landslide thrust in the design of anti-slide piles. In the method, residual landslide thrust behind the anti-slide piles and residual skid resistance before the piles has been analyzed, equitable distribution of residual landslide thrust behind the piles has been realized, and the method to select value of design thrust becomes more reasonable. The pre-stressed cable anti-slide piles are developed from the common anti-slide piles and are common method to prevent landslide. Their principle is that internal force of anti-slide piles is adjusted and size of section is diminished by changing constraint conditions of anti-slide piles. For landslides with deep slip surface and large scale of slopes, limitation of the method appears. Such landslides are in need of long piles and anchor cables which are not only non-economic but also can generate larger deformation and leave potential danger after prevention. For solving the problem, a new kind of anti-slide piles, inner pre-stressing force anti-slide piles, is presented in this paper, and its principle is that an additional force, which is generated in the inner anti-slide piles by arranging pre-stressed reinforcement or tight wire in a certain form in interior of anti-slide piles and stretching the steel reinforcement or tight wire, may balance out the internal force induced by landslide thrust whole or partly (load balancing method). The method will change bending moment which anti-slide piles are not good at bearing into compressive stress which piles are good at bearing, improve stressing performance of anti-slide piles greatly, diminish size of section, and make anti-slide piles not fissured in the natural service or postpone appearance of the fissures, and improve viability of anti-slide piles. Pre-stressed cable anti-slide piles and inner pre-stressing force anti-slide piles go by the general name of pre-stressed structure anti-slide piles in the paper, and their design and calculation method is also analyzed. A new calculation method is provided in the paper for design of anti-slide piles. For pre-stressed structure anti-slide piles, a new computation mode is firstly presented in the paper on the foundation of cantilever piles. In the mode, constraint form of load-bearing section of the anti-slide piles should be confirmed according to reservoir conditions in order to figure out amount of pre-stress of the anchor cables, and internal force should be analyzed for the load-bearing section of pre-stressed structure anti-slide piles so as to confirm anchorage section of anti-slide piles. Pre-stressed cables of the pre-stressed cable anti-slide piles can be arranged as required. This paper analyzes the load-bearing section of single-row and double-row pre-stressed cable anti-slide piles and provides a calculation method for design of the pre-stressed cable anti-slide piles. Inner pre-stressing force anti-slide piles are a new kind of structural style. Their load-bearing section is divided into four computation modes according to whether pre-stressed cables are applied for exterior of the anti-slide piles, and whether single-row or double-row exterior pre-stressed cables are applied. The load balancing method is used to analyze the computation modes for providing a method to design the inner pre-stressing force anti-slide piles rationally. Pre-stressed cable anti-slide piles and inner pre-stressing force anti-slide piles are applied to research on Mahe landfall in Yalong Lenggu hydropower station by the improved method to select value of design thrust of anti-slide piles. A good effect is obtained in the analysis.

海绵钛生产中铜丝除钒废物回收过程的矿物学研究

海绵钛是钛工业的基础原材料。近年来国内海绵钛产业发展迅速，到2007年其产量已达到两万多吨。海绵钛生产产生大量的废渣、废气、废液等污染物质，对环境造成严重污染，是制约海绵钛产业发展的瓶颈。虽然国家早就将海绵钛生产的环境污染治理问题列为国家重大攻关课题，但长期以来却未从根本上得到很好的解决。本论文以海绵钛生产中铜丝除钒工艺产生的废物为对象，对其中的物质组成及其来源进行了分析，探索对该废物处置与综合回收技术。 除钒杂质是四氯化钛精制作业中极为重要的环节，铜丝除钒是国内采用的主要工艺技术，其产生的废物中含有铜、钒等有用资源。本文首先对海绵钛生产中四氯化钛精制环节铜丝除钒工艺产生的废物的物质组成进行研究，在确定其主要成分是含铜、钒的化合物基础上，设计了综合回收铜、钒等有用资源的技术方案——采用氢氧化钠进行碱处理形成铜钛沉淀物和含钒碱溶液；铜钛沉淀物用硫酸浸出得到硫酸铜溶液和钛沉淀物；硫酸铜溶液进一步电解得到电解铜；含钒碱溶液采用盐酸处理沉淀钒，再经焙烧得到五氧化二钒。在研究过程中主要采用环境矿物学的研究方法，利用化学分析、X射线衍射分析、扫描电镜观察等手段，查明该废物及回收过程产物的特点。 本文通过实验研究，得到以下主要结论： 1.海绵钛生产中铜丝除钒工艺产生的废物主要是水洗池废液，约占90%以上；水洗池废液中铜、钒的浓度很高，分别是5.4g/L、3.6g/L。水洗池沉淀物中的铜、钒主要是以(Cu0.95V2O5)CuO，Ni2V2O7的结晶态形式存在。 2.在废物的化学分析结果和X射线衍射分析结果的基础上，设计了对废物综合回收电解铜、五氧化二钒等资源的技术方案。该回收技术路线下电解铜的初步回收率可达97%，钒的一次回收率约为78%。 3.对回收过程中的各阶段产物进行了化学分析、物相分析和微观形貌观察，研究结果表明铜、钒、钛等资源得到了较好有分离和回收。

Recovery of Three-Dimensional Objects from Single Perspective Images

Any three-dimensional wire-frame object constructed out of parallelograms can be recovered from a single perspective two-dimensional image. A procedure for performing the recovery is given.

Colliding and Moving Bose-Einstein Condensates: Studies of superfluidity and optical tweezers for condensate transport

In this thesis, two different sets of experiments are described. The first is an exploration of the microscopic superfluidity of dilute gaseous Bose- Einstein condensates. The second set of experiments were performed using transported condensates in a new BEC apparatus. Superfluidity was probed by moving impurities through a trapped condensate. The impurities were created using an optical Raman transition, which transferred a small fraction of the atoms into an untrapped hyperfine state. A dramatic reduction in the collisions between the moving impurities and the condensate was observed when the velocity of the impurities was close to the speed of sound of the condensate. This reduction was attributed to the superfluid properties of a BEC. In addition, we observed an increase in the collisional density as the number of impurity atoms increased. This enhancement is an indication of bosonic stimulation by the occupied final states. This stimulation was observed both at small and large velocities relative to the speed of sound. A theoretical calculation of the effect of finite temperature indicated that collision rate should be enhanced at small velocities due to thermal excitations. However, in the current experiments we were insensitive to this effect. Finally, the factor of two between the collisional rate between indistinguishable and distinguishable atoms was confirmed. A new BEC apparatus that can transport condensates using optical tweezers was constructed. Condensates containing 10-15 million sodium atoms were produced in 20 s using conventional BEC production techniques. These condensates were then transferred into an optical trap that was translated from the ‘production chamber’ into a separate vacuum chamber: the ‘science chamber’. Typically, we transferred 2-3 million condensed atoms in less than 2 s. This transport technique avoids optical and mechanical constrainsts of conventional condensate experiments and allows for the possibility of novel experiments. In the first experiments using transported BEC, we loaded condensed atoms from the optical tweezers into both macroscopic and miniaturized magnetic traps. Using microfabricated wires on a silicon chip, we observed excitation-less propagation of a BEC in a magnetic waveguide. The condensates fragmented when brought very close to the wire surface indicating that imperfections in the fabrication process might limit future experiments. Finally, we generated a continuous BEC source by periodically replenishing a condensate held in an optical reservoir trap using fresh condensates delivered using optical tweezers. More than a million condensed atoms were always present in the continuous source, raising the possibility of realizing a truly continuous atom lase.

Strategies for surgically assisted rapid maxillary expansion according to the region of transverse maxillary deficiency

This study evaluated different techniques for surgically assisted rapid maxillary expansion (SARME) according to the type of transverse maxillary deficiency using computed tomography (CT). Six adult patients with bilateral transverse maxillary deficiencies underwent SARME. the patients were equally divided into three groups: Group I, maxillary atresia in both the anterior and posterior regions; Group II, greater maxillary atresia in the anterior region; and Group ill, increased maxillary atresia in the posterior region. in Group I, a subtotal Le Fort I osteotomy was used. in Group II, a subtotal Le Fort I osteotomy was used without pterygomaxillary suture disjunction. in Group III, a subtotal Le Fort I osteotomy was used with pterygomaxillary suture disjunction and fixation of the anterior nasal spine with steel wire. the midpalatal suture opening was evaluated preoperatively and immediately after the activation period using CT. for Group I, the opening occurred parallel to midpalatal suture; for Group II, the opening comprised a V-shape with a vertex on the posterior nasal spine; and for Group III, the opening comprised a V-shape with a vertex at the anterior nasal spine. the conclusion was that the SARME technique should be individualized according to the type of transverse maxillary deficiency.

Pre-empting Plateau: the nature of topological transitions in foam

Hutzler, S., Weaire, D., Cox, S.J., Van der Net, A. and Janiaud, E. (2007) Pre-empting Plateau: the nature of topological transitions in foam. Europhys. Lett. 77: 28002 Sponsorship: EPSRC / ESA / ESTEC / Science Foundation Ireland/ Gulbenkian Foundation

The dynamics of a topological change in a system of soap films

Hutzler, S., Saadatfar, M., van der Net, A., Weaire, D. and Cox, S.J. (2007) The dynamics of a topological change in a system of soap films. Coll. Surf. A, 323:123-131. Sponsorship: This research was supported by the European Space Agency (contracts 14914/02/NL/SH and 14308/00/NL/SH), Science Foundation Ireland. (RFP 05/REP/PHY00/6), and the EU program COST P21 (The Physics of droplets). SJC acknowledges support from EPSRC (EP/D071127/1). MS is supported by the Irish Higher Education Authority (PRTLI-IITAC).

A dor no período pós-cirúrgico abdominal em doentes geriátricos

A dor é uma das principais causas do sofrimento humano, comprometendo a qualidade de vida dos indivíduos, em especial o idoso que, devido aos problemas cognitivos e à elevada medicação os torna mais suscetíveis aos efeitos adversos dos medicamentos utilizados para o alívio da dor. Neste contexto, o objetivo deste estudo é avaliar a dor na pós-cirurgia abdominal em doentes geriátricos; identificar a localização e a intensidade dolorosa utilizando a Escala Numérica; analisar a dor nas dimensões sensorial, afetiva e cognitiva, utilizando o Questionário para Dor de McGill; relacionar o processo álgico com a idade, sexo, religião e tipo de abordagem cirúrgica; saber se as intervenções autónomas de enfermagem contribuem para o alívio da dor pós-operatória. Trata-se de um estudo descritivo correlacional longitudinal, com abordagem quantitativa, desenvolvido entre 14 de fevereiro e 30 de março de 2012 num Hospital no Serviço de Cirurgia Geral. A amostra constou de 30 pacientes submetidos a cirurgias abdominais. Os dados que serviram de base a este estudo foram recolhidos através da aplicação da Escala Numérica e do Questionário de Dor de McGill. Os resultados mostraram que 60% eram homens, 50% dos doentes tinham 65 e 69 anos e todos (100%), eram católicos romanos. Na primeira avaliação, 60% apresentaram dor pós-operatória moderada, 30% severa e 10% leve. Os descritores escolhidos com maior frequência foram: fisgada (90%); fina, agulhada e pontada (70%); beliscão (60%); sensível (50%); cansativa (60%) e que incomoda (50%). Nas três avaliações seguintes houve diminuição da dor severa e moderada que, aos 180 minutos era de 0% e 3% respetivamente, aumentando a percentagem de pacientes com dor leve (7%). Não encontramos relação significativa entre a variável dor pós-operatória e o sexo mas, pelo contrário, a intensidade da dor pós-operatória e a idade. O índice de dor total e sensitiva é influenciado pelo sexo. A localização da dor é influenciada pelo tipo de cirurgia, pela idade e pelo sexo. A dor pós-operatória era, principalmente, de intensidade moderada. Mesmo nos doentes a quem não foi administrado fármaco (50%), a dor foi aliviada ao longo das quatro avaliações. Desta forma, podemos inferir que as que as intervenções autónomas de enfermagem contribuem para o alívio da dor. A informação/atualização permanente dos profissionais de saúde é indispensável para que seja possível evitar ou minimizar a ocorrência de dor.

EXPERIMENTAL INVESTIGATION OF LINEAR BUBBLE DYNAMICS IN A VISCOELASTIC XANTHAN GEL

Oceanic bubble plumes caused by ship wakes or breaking waves disrupt sonar communi- cation because of the dramatic change in sound speed and attenuation in the bubbly fluid. Experiments in bubbly fluids have suffered from the inability to quantitatively characterize the fluid because of continuous air bubble motion. Conversely, single bubble experiments, where the bubble is trapped by a pressure field or stabilizing object, are limited in usable frequency range, apparatus complexity, or the invasive nature of the stabilizing object (wire, plate, etc.). Suspension of a bubble in a viscoelastic Xanthan gel allows acoustically forced oscilla- tions with negligible translation over a broad frequency band. Assuming only linear, radial motion, laser scattering from a bubble oscillating below, through, and above its resonance is measured. As the bubble dissolves in the gel, different bubble sizes are measured in the range 240 – 470 μm radius, corresponding to the frequency range 6 – 14 kHz. Equalization of the cell response in the raw data isolates the frequency response of the bubble. Compari- son to theory for a bubble in water shows good agreement between the predicted resonance frequency and damping, such that the bubble behaves as if it were oscillating in water.

Overlay Network Creation and Maintenance with Selfish Users

Overlay networks have been used for adding and enhancing functionality to the end-users without requiring modifications in the Internet core mechanisms. Overlay networks have been used for a variety of popular applications including routing, file sharing, content distribution, and server deployment. Previous work has focused on devising practical neighbor selection heuristics under the assumption that users conform to a specific wiring protocol. This is not a valid assumption in highly decentralized systems like overlay networks. Overlay users may act selfishly and deviate from the default wiring protocols by utilizing knowledge they have about the network when selecting neighbors to improve the performance they receive from the overlay. This thesis goes against the conventional thinking that overlay users conform to a specific protocol. The contributions of this thesis are threefold. It provides a systematic evaluation of the design space of selfish neighbor selection strategies in real overlays, evaluates the performance of overlay networks that consist of users that select their neighbors selfishly, and examines the implications of selfish neighbor and server selection to overlay protocol design and service provisioning respectively. This thesis develops a game-theoretic framework that provides a unified approach to modeling Selfish Neighbor Selection (SNS) wiring procedures on behalf of selfish users. The model is general, and takes into consideration costs reflecting network latency and user preference profiles, the inherent directionality in overlay maintenance protocols, and connectivity constraints imposed on the system designer. Within this framework the notion of user’s "best response" wiring strategy is formalized as a k-median problem on asymmetric distance and is used to obtain overlay structures in which no node can re-wire to improve the performance it receives from the overlay. Evaluation results presented in this thesis indicate that selfish users can reap substantial performance benefits when connecting to overlay networks composed of non-selfish users. In addition, in overlays that are dominated by selfish users, the resulting stable wirings are optimized to such great extent that even non-selfish newcomers can extract near-optimal performance through naïve wiring strategies. To capitalize on the performance advantages of optimal neighbor selection strategies and the emergent global wirings that result, this thesis presents EGOIST: an SNS-inspired overlay network creation and maintenance routing system. Through an extensive measurement study on the deployed prototype, results presented in this thesis show that EGOIST’s neighbor selection primitives outperform existing heuristics on a variety of performance metrics, including delay, available bandwidth, and node utilization. Moreover, these results demonstrate that EGOIST is competitive with an optimal but unscalable full-mesh approach, remains highly effective under significant churn, is robust to cheating, and incurs minimal overheads. This thesis also studies selfish neighbor selection strategies for swarming applications. The main focus is on n-way broadcast applications where each of n overlay user wants to push its own distinct file to all other destinations as well as download their respective data files. Results presented in this thesis demonstrate that the performance of our swarming protocol for n-way broadcast on top of overlays of selfish users is far superior than the performance on top of existing overlays. In the context of service provisioning, this thesis examines the use of distributed approaches that enable a provider to determine the number and location of servers for optimal delivery of content or services to its selfish end-users. To leverage recent advances in virtualization technologies, this thesis develops and evaluates a distributed protocol to migrate servers based on end-users demand and only on local topological knowledge. Results under a range of network topologies and workloads suggest that the performance of the distributed deployment is comparable to that of the optimal but unscalable centralized deployment.

Developing wireless measurement system for building deployed capacitive sensors with optimized RF front end circuit

In this paper, a prototype of miniaturized, low power, bi-directional wireless sensor node for wireless sensor networks (WSN) was designed for doors and windows building monitoring. The capacitive pressure sensors have been developed particularly for such application, where packaging size and minimization of the power requirements of the sensors are the major drivers. The capacitive pressure sensors have been fabricated using a 2.4 mum thick strain compensated heavily boron doped SiGeB diaphragm is presented. In order to integrate the sensors with the wireless module, the sensor dice was wire bonded onto TO package using chip on board (COB) technology. The telemetric link and its capabilities to send information for longer range have been significantly improved using a new design and optimization process. The simulation tool employed for this work was the Designerreg tool from Ansoft Corporation.