那保胶囊质量标准研究

目的：建立那保胶囊（黄芪、当归、延胡索、白花蛇舌草、铁棒锤等）的质量标准。方法：采用TLC对处方中当归、延胡索及白花蛇舌草进行鉴别,对毒性药材铁棒锤进行限量检查,采用高效液相色谱-蒸发光散射检测器（HPLC-ELSD）法测定黄芪甲苷的含量。结果：TLC鉴别分离度好,专属性强;铁棒锤中乌头碱含量不超过规定;黄芪甲苷在1～10μg的范围内线性关系良好（r=0.9990）,平均回收率为99.05（RSD=2.48,n=6）。结论：所建立的质量标准方法可靠、准确、专属性强,可有效控制那保胶囊的质量。

高寒草甸生态系统陆地生物圈模式研究及应用

改进了适合于高寒草甸生态系统的陆地生态圈模式，分析了模式中温度变化与水分运动分层的物理原因，说明了气候状况对地表面能量交换的影响，给出了净辐射和蒸散量新的计算方法，提出了有很差分计算中具有二阶精度的Euler隐式格式，介绍了中国科学院海北高寒草甸生态站的气候概况和野外观测情况。最后利用本模式对高寒草甸生态站地区的土壤-植被-大气间水热交换过程进行了数值模拟，模拟值与实测值吻合较好。

轮式仿人机器人的ZMP建模及动态稳定判据

介绍了ZMP的概念,比较常见的几种ZMP建模方法,提出将高效牛顿-欧拉算法(RENA)与ZMP的概念相结合的迭代ZMP建模方法,并利用该方法完成轮式仿人机器人的ZMP建模.通过模型分析,得出该轮式仿人机器人的ZMP简化计算公式.最后得出此类轮式仿人机器人的稳定性判据及稳定度的定义.

Elliptic Object Detection Based on Shape Preserving and Active Contour

本文通过形状约束方程(组)与一般主动轮廓模型结合,将目标形状与主动轮廓模型融合到统一能量泛函模型中,提出了一种形状保持主动轮廓模型即曲线在演化过程中保持为某一类特定形状。模型通过参数化水平集函数的零水平集控制演化曲线形状,不仅达到了分割即目标的目的,而且能够给出特定目标的定量描述。根据形状保持主动轮廓模型,建立了一个用于椭圆状目标检测的统一能量泛函模型,导出了相应的Euler-Lagrange常微分方程并用水平集方法实现了椭圆状目标检测。此模型可以应用于眼底乳头分割,虹膜检测及相机标定。实验结果表明,此模型不仅能够准确的检测出给定图像中的椭圆状目标,而且有很强的抗噪、抗变形及遮挡性能。

仿人机器人腰部机构的动力学建模、控制与仿真

本文介绍的仿人机器人具有差动腰部机构,它除了受自身的动力学影响以外,还受到手臂和车体运动以及外力、外力矩等对腰部机构关节力矩的影响。笔者利用高效牛顿-欧拉算法完成了仿人机器人的整体建模;在不考虑各关节间耦合运动的情况下,对整体动力学模型进行适当简化,得到了腰部机构的动力学模型。简化后的动力学模型既反映了机器人车体、腰部及双臂的动力学关系,又大大地减小了计算量,易于实现基于动力学的控制算法。基于动力学模型,给出了腰部机构PD伺服轨迹跟踪控制算法,并结合计算力矩方法用于补偿腰部机构两关节受到的力矩扰动。仿真分析表明,该控制方法可以明显提高腰部机构的位置跟踪精度,并提高仿人机器人的整体作业精度。

轮式移动仿人机器人的动力学建模与分析

利用高效迭代牛顿-欧拉方法对一个21自由度的轮式移动仿人机器人进行了整体动力学建模,该模型虽然维数较高,但消除了分块建模中需要对模块之间相互作用力进行建模的难点问题,并且由于机器人双臂的对称结构,当合理规划双臂运动时,动力学模型将得到部分简化。本文还对某关节运动时在各个关节所产生的力或力矩进行了仿真分析。解析及仿真结果表明,合理规划上臂各关节的协调运动,将极大地削弱车体及腰部各关节所受的力或力矩扰动,为基于动力学的机器人运动控制以及稳定性分析提供理论依据。

基于形状保持主动轮廓模型长直条的检测

通过形状约束方程(组)与一般主动轮廓模型结合,将目标形状与主动轮廓模型融合到统一能量泛函模型中,提出一种形状保持主动轮廓模型。模型通过参数化水平集函数的零水平集表示某一类特定形状,不仅达到了分割即目标的目的,而且能够给出特定目标的定量描述。根据形状保持主动轮廓模型,建立一个用于长直条状目标检测的统一能量泛函模型,导出相应的Euler-Lagrange常微分方程并用水平集方法实现了长直条状区域的检测。此形状保持模型的一种特殊情况可以用于直线状地平(海天)线提取。实验结果表明,该模型不仅能够准确地检测出给定图像中的长直条状区域而且有很强的抗噪、抗变形及遮挡性能。

便携式移动机器人姿态解算方法

本文根据便携式移动机器人的特点,采用四元数法解算机器人导航系统的姿态,避免了在机器人运动角度较大时出现奇异点的问题。文中应用改进的四阶龙格-库塔算法解算四元数微分方程,经仿真实验,精度完全能够达到要求。给出了合理的变换公式,在机器人运动范围内,满足了四元数与欧拉角之间转换的一一对应。

一种6自由度柔索并联机器人的动力学研究

采用串联约束 /并联驱动的原理 ,通过加入约束机构 ,设计一种新型柔索驱动并联机器人。然而由于约束机构的引入 ,机器人的动力学分析变得更为复杂。在对机器人进行运动学分析的基础上 ,利用牛顿 欧拉法建立机器人动力学方程。仿真结果证明了该方法的有效性

海洋平台节点阴极保护状态智能探测仪的研制

描述了带有数据采集、存储处理、逻辑判断及打印输出功能的海洋平台节点阴极保护状态探测仪的设计、结构与性能。

移动机器人环境建模的结构基自由网格法

本文给出的结构基自由网格法综合了正规栅格法和自由空间法的基本思想,依环境的结构信息确定地解决自由空间分割过程中构造想象边界的任意性问题,由此消除了路径的不确定性;此外,结构基自由网格模型可以在一定程度上消除规划路径“绕大弯”的现象。

二氧化碳在孔隙咸水层中多相流动数值模拟研究

There has been a growing concern about the use of fossil fuels and its adverse effects on the atmospheric greenhouse and ecological environment. A reduction in the release rate of CO2 into the atmosphere poses a major challenge to the land ecology of China. The most promising way of achieving CO2 reduction is to dispose of CO2 in deep saline aquifers. Deep aquifers have a large potential for CO2 sequestration in geological medium in terms of volume and duration. Through the numerical simulation of multiphase flow in a porous media, the transformation and motion of CO2 in saline aquifers has been implemented under various temperature and hydrostatic pressure conditions, which plays an important role to the assessment of the reliability and safety of CO2 geological storage. As expected, the calculated results can provide meaningful and scientific information for management purposes. The key problem to the numerical simulation of multiphase flow in a porous media is to accurately capture the mass interface and to deal with the geological heterogeneity. In this study, the updated CE/SE (Space and time conservation element and solution element) method has been proposed, and the Hybrid Particle Level Set method (HPLS) has extended for multiphase flows in porous medium, which can accurately trace the transformation of the mass interface. The benchmark problems have been applied to evaluate and validate the proposed method. In this study, the reliability of CO2 storage in saline aquifers in Daqingzi oil field in Sunlong basin has been discussed. The simulation code developed in this study takes into account the state for CO2 covering the triple point temperature and pressure to the supercritical region. The geological heterogeneity has been implemented, using the well known geostatistical model (GSLIB) on the base of the hard data. The 2D and 3D model have been set up to simulate the CO2 multiphase flow in the porous saline aquifer, applying the CE/SE method and the HPLS method .The main contents and results are summarized as followings. (1) The 2D CE/SE method with first and second –order accuracy has been extended to simulate the multiphase flow in porous medium, which takes into account the contribution of source and sink in the momentum equation. The 3D CE/SE method with the first accuracy has been deduced. The accuracy and efficiency of the proposed CE/SE method have been investigated, using the benchmark problems. (2) The hybrid particle level set method has been made appropriate and extended for capturing the mass interface of multiphase flows in porous media, and the numerical method for level set function calculated has been formulated. (3) The closed equations for multiphase flow in porous medium has been developed, adept to both the Darcy flow and non-Darcy flow, getting over the limitation of Reynolds number to the calculation. It is found that Darcy number has a decisive influence on pressure as well as velocity given the Darcy number. (4) The new Euler scheme for numerical simulations of multiphase flows in porous medium has been proposed, which is efficient and can accurately capture the mass interface. The artificial compressibility method has been used to couple the velocities and pressure. It is found that the Darcy number has determinant effects on the numerical convergence and stability. In terms of the different Darcy numbers, the coefficient of artificial compressibility and the time step have been obtained. (5) The time scale of the critical instability for critical CO2 in the saline aquifer has been found, which is comparable with that of completely CO2 dissolved saline aquifer. (6) The concept model for CO2 multiphase flows in the saline aquifer has been configured, based on the temperature, pressure, porosity as well as permeability of the field site .Numerical simulation of CO2 hydrodynamic trapping in saline aquifers has been performed, applying the proposed CE/SE method. The state for CO2 has been employed to take into account realistic reservoir conditions for CO2 geological sequestration. The geological heterogeneity has been sufficiently treated , using the geostatistical model. (7) It is found that the Rayleigh-Taylor instability phenomenon, which is associated with the penetration of saline fluid into CO2 fluid in the direction of gravity, has been observed in CO2 multiphase flows in the saline aquifer. Development of a mushroom-type spike is a strong indication of the formation of Kelvin-Helmholtz instability due to the developed short wavelength perturbations present along the interface and parallel to the bulk flow. Additional key findings: the geological heterogeneity can distort the flow convection. The ascending of CO2 can induce the persistent flow cycling effects. The results show that boundary conditions of the field site have determinant effects on the transformation and motion of CO2 in saline aquifers. It is confirmed that the proposed method and numerical model has the reliability to simulate the process of the hydrodynamic trapping, which is the controlling mechanism for the initial period of CO2 storage at time scale of 100 years.

固溶体矿物的性质对计算河南西峡红柱石矿形成条件的影响

自然界的大多数造岩矿物是由两种或多种组分混合而成的固溶体。因此，在矿物、岩石和矿床等地质体的平衡热力学研究中不可避免地要涉及固溶体矿物热力学行为的问题。河南省西峡县杨乃沟红柱石矿泥质片岩中仅出现红柱石而没有蓝晶石和夕线石，红柱石矿物包裹体测温结果为+’! / (!!0。通过矿物共生平衡!"# 曲线所计算出的片岩形成温度和压力条件也应位于上述岩石学和岩相学等特征所限定的范围内。以此为基础，通过构筑矿物共生!"# 平衡曲线的方法，对片岩中若干固溶体矿物理想性1 非理想性问题进行了研究。其中斜长石必须以非理想固溶体处理，而石榴子石、黑云母和白云母视作理想固溶体的计算结果同片岩的岩石学和岩相学等特征相一致。

喀斯特高原湖泊生物地球化学过程中的锌同位素特征

采用多接收电感耦合等离子体质谱仪（MC-ICP-Ms）对喀斯特高原湖泊红枫湖、阿哈湖水体及其主要支流水体悬浮物和一些生物样品中的锌同位素进行了测定，测试精度小于0．11％。（2SD）。结果显示，红枫湖水体与其主要支流水体悬浮物中的δ^66Zn变化范围分别为-0.29‰～0.26‰和-0.04‰～0．48‰，阿哈湖水体与其主要支流水体悬浮物中的δ^66Zn变化范围分别为-0．18‰～0．27‰和-0．17‰～0.46‰，均表现出支流中的锌同位素组成较重的特点。两湖生物样品中的δ^66Zn变化范围较大，为-0．35‰～0．57‰，说明湖泊生态系统中各端员的锌同位素组成存在一定差异。根据同位素组成分析，湖泊主要入湖河流及所携带的陆源物质是阿哈湖？白水体中锌的主要来源，锌同位素是一种较好的物源示踪工具。红枫湖夏季δ^66Zn与Chla（叶绿素）呈显著的正相关（R=0. 97），主要是藻类对锌的有机吸附和吸收过程导致锌同位素组成发生变化。此外，湖泊水体悬浮物中的锌同位素组成均在夏季较轻，表明大气的干湿沉降可能是一个较负的锌同位素源。水体悬浮物中的δ^66Zn变化范围小于生物样品中的δ^66Zn变化范围，说明由于生物作用过程导致的锌同位素分馏大于非生物过程.