水下机器人多功能作业工具包

本文首先阐述了水下机器人作业工具包的重要性 ,重点研究了水下机械手的原理、功能及两种主要结构 .并以沈阳自动化所研制的缆控水下机器人为背景 ,讨论了水下作业工具包的一些专用工具的原理及其结构

一种新型四自由度并联机器人运动学正问题的求解

对一种新型四自由度并联机器人运动学正问题进行了研究，利用３个变量构造 出求解正问题的３个约束方程，然后运用符号计算和析配消元法推导出了只含有一 个变元的３２次多项式方程，并且应用计算机软件系统Ｍａｔｈｅｍａｔｉｃａ进行了求正问 题实解的数值验证。

建立在小型计算机上的GPSS-F/1000通用仿真软件包

本文阐述了在小型计算机上建立的 GPSS-F/1000通用仿真软件包。该软件包不仅具有原 GPSS-F仿真软件的全部功能,并且使公用数组、系统参数的适配全部活化,通过子程序的形式参量传送赋给,从而,仿真时不必修改子程序的源程序。此外,增加了统计参数估计子程序集和图形绘制子程序集。

绘图专用字符库的建立与使用

本文概述了用专门的造字符软件 SYGEN 交互式地建立“绘图专用字符库”(包括汉字)的方法。文中着重论述了如何对国外引进的软件 SYGEN,在建库的设计思想,提高字符的存取速度,减少内、外存空间的占有等方面进行的改造,从而,用此方法能够简单而快速地建立使用方便、易于更新的绘图专用字符库。

扩展CSS仿真程序及其应用

本文介绍了一个连续-离散复合仿真程序。该程序的连续部分基本取自美国的 CSS 程序。经作者扩充后成为复合仿真程序。扩充的模块包括采样系统仿真模块、两点边值问题求解以及参量最优化等。作者提出的单纯形搜索法改进策略可以显著加快参量最优化过程的收敛速度。

基于小波与小波包的变速器故障特征提取

本文结合自适应小波变换滤波去噪方法与小波阈值去噪方法,提出了一种可用于变速器故障振动信号去噪的双层滤波去噪算法。该算法的滤波过程分为两层,第一层滤波采用自适应小波变换滤波算法;第二层滤波采用经典的小波阈值去噪算法对信号进行二次去噪。最后,将去噪后的故障信号采用小波包进行了分解,并提取了小波包频带能量作为故障特征向量。

图像采集与处理系统的USB通信接口设计

本文介绍了一种利用DSP处理DM642、CPLD及USB芯片等器件构造的带有USB接口的图像采集和处理系统。设计了USB通信接口的硬件电路,在DSP/BIOS架构上编写了USB的固件程序和主机端的设备驱动程序。该系统可用于香烟包装流水线上的条包检测等对生产速度要求较高的工业流程领域。

用于香烟包装质量检测的图像匹配算法研究

在香烟包装过程中会出现不合格现象,通过对缺陷的分析,设计了一种用于香烟包装质量检测的改进快速图像匹配算法。文中通过优化相关系数的计算、引入自适应遗传算法、对感兴趣区域匹配检测来提高算法性能,并将算法在MATLAB中编程实现。仿真实验结果表明该图像匹配算法计算速度快、检测精度高,满足香烟包装质量检测的需要。

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。

地幔压力下CaSiO3 Perovskite状态方程和弹性常数的第一性原理研究

In the past decade density functional theory (DFT) has made its way from a peripheral position in quantum chemistry to center. Of course the often excellent accuracy of the DFT based methods has provided the primary driving force of this development. This dissertation is devoted to the study of physical and chemical properties of planetary materials by first-principle calculation. The concerned properties include the geometry, elastic constants and anisotropy. In the first chapter, we give a systematic introduction to theoretical background and review its progress. Development of quantum chemistry promotes the establishment of DFT. Theorem of Hohenberg-Kohn is the fundament of DFT and is developed to Kohn-Sham equation, which can be used to perform real calculations. Now, new corrections and extensions, together with developed exchange-correlation, have made DFT more accurate and suitable for larger systems. In the second chapter, we focus on the calculational methods and technical aspects of DFT. Although it is important to develop methods and program, external package are still often used. At the end of this chapter, we briefly some widely used simulation package and the application of DFT. In the third chapter, we begin to focus on properties of real materials by first principles calculation. We study a kind of minerals named Ca perovskite, investigate its possible structure and anisotropy at Earth’s mental condition. By understanding and predicting geo-physically important materials properties at extreme conditions, we can get the most accurate information to interpret seismic data in the context of likely geophysical processes.

膨胀土化学改性实验研究

Expansive soil is a kind of typical unsaturated soil with characteristics of high swelling-shrinking deformation, cracks and over consolidation. It is very harmful to civil engineering, As a new processing method deal with expansive soil, Chemistry treatment has widespread applied in developed countries such as Europe and America, and also gained remarkable result. Based on the embankment filling soil improving testing projects in Meng-Xin freeway, this paper proposed a new processing method to expansive soil embankment wrapped with PAS-treated soil, experimental study of expansive soil chemical improved by PAS is been carried out. The water content change is the external factor which causes expansive soil to have swelling-shrinkage deformation. this reflected that the soil body swelling-shrinkage characteristic mainly depends on its mineral ingredient and the soil-water mutual function. This paper takes expansive soil as one kind of ordinary high plastic clay from angle of clay-water mutual function explained the expansive soil swelling-shrinkage deformation mechanism on microscopic. And take this swelling-shrinkage mechanism as the master line, Cooperates with the China Academy of Chemistry, we developed the new method PAS treatment, trough ionic exchange, joint, package and flocculation, the stronger static electricity function weakened the level through adsorption and the stronger static electricity function, PAS can weakened the negative charge repulsion between levels, causes the electric potential to reduce, diffusion layer thickness to be thinner, and improves the water affinity performance of expansive soil effectively. Moreover the space network architecture compromised with PAS and soil enhanced the joint strength between the clay particles , enable the soil body to have comparatively high strength and the distortion rate. pointed proposed the PAS modified principle. Combine with the construction of experimented road, this paper sums up and presents the construction craft and technology requirement of PAS treatment to expansive soil embankment. Through many experimental studied the basic physical property, the intensity characteristic and water stability changes of expansive soil and PAS-treated soil. The results of study indicate that adding lime into the expansive soil can reduce the content of clay gain obviously, reduce the plasticity notably, increase the strength greatly, control the property of swelling and shrinking effectively, and can meliorate the stability of sucking water clearly. Simultaneity PAS don’t change the cultivate capacity of the soil, the modified slope of the embankment can adopt plant fixed slope method as ecology protection. Finally the processing effect of use different treatment has analyzed through numerical simulation, summarized the PAS chemical wrapping treatment process in the actual project application, and appraised its processing effect and the project efficiency. The research indicated that PAS chemical treatment is one effective method to improve expansive soil. Compare with long-distance replacement, especially in the high plastic expansive soil massive distribution area, PAS treatment has the very greatly economical superiority to be promoted. The study in the paper not only afforded technique method to Meng-Xin expressway construction but also important for improvement of the expressway construction theory in swelling soil areas. Key words: PAS; expansive soil; swelling-shrinkage deformation mechanism; wrapping embankment; chemical modified treatment.

井间地震速度层析成像方法与软件系统

Crosshole Seismic tomography has been broadly studied and applied in the fields of resource exploration and engineering exploration because of its special observing manner and better resolution than normal seismic exploration. This thesis will state the theory and method of Crosshole Seismic tomography. Basing on the previous studies，the thesis studied the initial velocity model，ray-tracing method, and developed the three-dimension tomography software. All the cells that a ray passes through are of the same velocities if the paths from transmitters to receivers are straight. The cells that the each ray passes through are recorded, and rays that pass through each cell are calculated. The ray average velocity which passes through a cell is set as the cell velocity. Analogously we can make a initial node velocity model because the velocity sum is calculated on the all cells which own to a certain node, and the cell number is summed about each nodes，the ratio of the velocity sum to the all cells number is set as the node velocity. The inversion result from the initial node velocity model is better than that of the average velocity model. Ray-bending and Shortest Path for Rays (SPR) have shortcomings and limitations respectively. Using crooked rays obtained from SPR rather than straight lines as the starting point can not only avoid ray bending converging to the local minimum travel time path, but also settle the no smooth ray problem obtained by SPR. The hybrid method costs much computation time, which is roughly equal to the time that SPR expends. The Delphi development tool based on the Object Pascal language standard has an advantage of object-oriented. TDTOM (Three Dimensions Tomography) was developed by using Delphi from the DOS version. Improvement on the part of inversion was made, which bring faster convergence velocity. TDTOM can be used to do velocity tomography from the first arrival travel time of the seismic wave, and it has the good qualities of friendly user interface and convenient operation. TDTOM is used to reconstruct the velocity image for a set of crosshole data from Karamay Oil Field. The geological explanation is then given by comparing the inversion effects of different ray-tracing methods. High velocity zones mean the cover of oil reservoir, and low velocity zones correspond to the reservoir or the steam flooding layer.

泥岩裂缝储层地震识别的理论和方法

During the exploration of fractured reservoirs, worldwide difficult problems will be encountered: how to locate the fractured zones, how to quantitatively determine the azimuth, density, and distribution of the fractures, and how to compute the permeability and porosity of the fractures. In an endeavor to solve these problems, the fractured shale reservoir in SiKou area of ShengLi oil field was chosen as a study area. A study of seismic predictive theory and methods for solving problems encountered in fractured reservoir exploration are examined herein. Building on widely used current fractured reservoir exploration techniques, new seismic theories and methods focusing on wave propagation principles in anisotropic medium are proposed. Additionally, integrated new seismic data acquisition and processing methods are proposed. Based on research and application of RVA and WA methods from earlier research, a new method of acoustic impedance varying with azimuth (IPVA) creatively is put forth. Lastly combining drilling data, well log data, and geologic data, an integrated seismic predictive method for cracked reservoir bed was formed. A summary of the six parts of research work of this paper is outlined below. In part one, conventional geologic and geophysical prediction methods etc. for cracked reservoir exploration are examined, and the weaknesses of these approaches discussed. In part two, seismic wave propagation principles in cracked reservoirs are studied. The wave equation of seismic velocity and attenuation factor in three kinds of fracture mediums is induced, and the azimuth anisotropy of velocity and attenuation in fracture mediums is determined. In part three, building on the research and application of AVA and WA methods by a former researcher, a new method of acoustic impedance creatively varying with azimuth (IPVA) is introduced. A practical software package utilizing this technique is also introduced. In part four, Base on previously discussed theory, first a large full azimuth 3d seismic data (70km~2) was designed and acquired. Next, the volume was processed with conventional processing sequence. Then AVA, WA, and IPVA processing was applied, and finally the azimuth and density of the fractures were quantitatively determined by an integrated method. Predictions were supported by well data that indicate the approach is highly reliable. in part five, geological conditions contributing to cracked reservoir bed formation are analyzed in the LuoJia area resulting in the discovery that the main fractured zones are related to fault distribution in the basin, that also control the accumulation of the oil and gas, the generation mechanisms and types of fractured shale reservoirs are studied. Lastly, by using full 3D seismic attributes, azimuth and density of cracked reservoir zones are successfully quantitative predicted. Using an integrated approach that incorporates seismic, geologic and well log data, the best two fractured oil prospects in LouJia area are proposed. These results herein represent a break through in seismic technology, integrated seismic predictive theory, and production technology for fractured reservoirs. The approach fills a void that can be applied both inside China, and internationally. Importantly, this technique opens a new exploration play in the ShengLi oil field that while difficult has substantial potential. Properly applied, this approach could play an important role toward stabilizing the oil field' production. In addition, this technique could be extended fracture exploration in other oil fields producing substantial economic reward.

本科实习男护生压力源、应对方式与心理健康关系的研究

Objectives:To investigate stressor and stress level,coping styles and mental health of male nursing undergraduates in clinical practice;To find out the factors that influence mental health of male nursing undergraduates in clinical practice and to put forward some suggestions to improve the mental health status of male nursing undergraduates. Methods: After doing many literaturere search both at home and abroad,I gather further consulting many nursing undergraduates in clinical practice,Finally I formulate the “Nursing Student's Clinical Stressor Scale”.80 male nursing ungraduates from Bengbu Medical Colledge were recruited. While 140 female nursing ungraduates who were in clinical practice in the same period of time were taken as a comparative group.The following questionnaire package including a background questionnair,Nursing Student's Clinical Stressor Scale NSCSS,Simplified Coping Style Questionnaire SCSQ,The Symptom Checklist 90 SCL-90 were distributed and collected together in the 14th week during the clinical practice.Of the 220 questionnaires were distributed and 198 were found to valid,the valid callback rate was 92%.The endudeed 77 were male and 121 were female .Statistices analysis was performed by SPSS13.0 and AMOS5.0 software. Results： 1.25% of male nursing undergraduates had a higher level of stress, mainly from employment,major,working nature,working contents and so on.Compared with female nursing undergraduates,male nursing undergraduates underwent a higher pressure in the employment and the profession aspect,but lower in their insufficient knowledge and ability.There was a significant negative correlation between the male undergraduates’ stress level and their satisfaction degree to clinical nursing teaching and the professional title of the clinical teachers,but it was positively correlated with their family monthly income. Stress level of female nursing undergraduates positively related with the number of children in their families,but negatively correlated with their family monthly income; 2.Male nursing undergraduates' coping style both positive and negative coping styles were adopted by male nursing undergraduates but mean at while positive coping styles.The positive coping styles adopted by male nursing undergraduates were significantly lower than that adopted by female nursing undergraduates; 3.The scores of depression,interpersonal sensitivity and anxiety in male nursing undergraduates were significantly higher than those of the nationwide youths norm.Alist all subscales scores of male nursing group were more than those of female nursing undergraduates except for fear subscale. Mental health of male nursing undergraduates was inversly correlated with the professional title of the clinical teachers and satisfaction of their majors; 4.Among male nursing undergraduates,the total score of stress and most subscale(except working nature and working contents,employment)scores of stress were positively correlated with the negative coping styles.The scores of stress level was positively correlated with the scores of SCL-90,Negative coping styles was positively correlated with the scores of SCL-90 among male nursing undergraduates,while positive coping styles were inversly correlated with most subscales(except phobic,paranoia,psychoticism)scores of SCL-90. Conclusions： 1.25% male nursing undergraduates have a higher level of stress,which is from employment, profession,working nature and working contents,financial difficulties and so on.The coping styles adopted by male nursing undergraduates were mainly positive coping styles.The mental health of male nursing undergraduates were lower; 2.Different genders have significant differences between stressors, coping style and mental health; 3.Stress,coping style,satisfaction degree to clinical nursing teaching and the professional title of the clinical teachers are predietors of mental health among male nursing undergraduates.

服务质量要素体系的探讨

The study explored consumers' evaluation factor system and the zone of tolerance in the service quality, and the impact on consumer behavior in two branches of trade: the shopping center and the architectural material corporation, with the method of questionnaire survey. The main conclusions are as following: 1) The basic factors on service quality of shopping center are five, such as assurance、tangibles、the services of the post-selling、convenience and reliability. 2) There are also five factors on service quality of the architectural material corporation, such as the supplying of the products, the abilities of the salesmen, courtesy, package and the information. 3) The zones of tolerance of the factors in service quality are difference. In some way, they reflect the importance of the factors. 4) the service quality and its factors have positive impacts on the consumer behaviors. 5) In the branch of glass producing in our country, the service quality of a corporation is significant below the ideal level, even if it is a good one which the consumers expressed positive purchase intention on the corporate. The service quality of the coporate on which the consumers expressed uncertain purchase intention, is in nearby of the minimum acceptable level.