Semi-insulating GaAs grown in outer space

A semi-insulating GaAs single crystal ingot was grown in a recoverable satellite, within a specially designed pyrolytic boron nitride crucible, in a power-traveling furnace under microgravity. The characteristics of a compound semiconductor single crystal depends fundamentally on its stoichiometry, i.e. the ration of two types of atoms in the crystal. a practical technique for nondestructive and quantitative measuring stoichiometry in GaAs single crystal was used to analyze the space-grown GaAs single crystal. The distribution of stoichiometry in a GaAs wafer was measured for the first time. The electrical, optical and structural properties of the space-grown GaAs crystal were studied systematically, Device fabricating experiments prove that the quality of field effect transistors fabricated from direct ion-implantation in semi-insulating GaAs wafers has a close correlation with the crystal's stoichiometry. (C) 2000 Elsevier Science S.A. All rights reserved.

effect of staffing pattern on software project: an empirical analysis

Univ SE Calif, Ctr Syst & Software Engn, ABB, Microsoft Res, IEEE, ACMSIGSOFT, N Carolina State Univ Comp Sci

Novel morphology of polyethylene crystals created upon melt crystallization of spin-coated film

We demonstrate a strikingly novel morphology of high-density polyethylene (HDPE) crystal obtained upon melt crystallization of spin-coated thin film. This crystal gives windmill-like morphology which contains a number of petals. A detailed inspection on this morphology reveals that each petal is actually composed of terrace-stacked PE lamellae, in which the polymer chains within crystallographic a-c planes adopt similar to 45 degrees tilting around b-axis. The surrounding domains associated with a petal of the windmill composed of twisted lamellar overgrowths with an identical orientation of their long axis, which is the crystallographic b-axis shared by the petal and its corresponding twisted lamellar overgrowths.

Discrimination of herbal medicines by molecular spectroscopy and chemical pattern recognition

The molecular spectroscopy (including near infrared diffuse reflection spectroscopy, Raman spectroscopy and infrared spectroscopy) with OPUS/Ident software was applied to clustering ginsengs according to species and processing methods. The results demonstrate that molecular spectroscopic analysis could provide a rapid, nondestructive and reliable method for identification of Chinese traditional medicine. It's found that the result of Raman spectroscopic analysis was the best one among these three methods. Comparing with traditional methods, which are laborious and time consuming, the molecular spectroscopic analysis is more effective.

Isolation, characterization and electron microscopic single particle analysis of the NADH : ubiquinone oxidoreductase (complex I) from the hyperthermophilic eubacterium Aquifex aeolicus

The proton-translocating NADH:ubiquinone oxidoreductase (complex I) has been purified from Aquifex aeolicus, a hyperthermophilic eubacterium of known genome sequence. The purified detergent solubilized enzyme is highly active above 50 degreesC. The specific activity for electron transfer from NADH to decylubiquinone is 29 U/mg at 80 degreesC. The A. aeolicus complex I is completely sensitive to rotenone and 2-n-decyl-quinazoline-4-yl-amine. SDS polyacrylamide gel electrophoresis shows that it may contain up to 14 subunits. N-terminal amino acid sequencing of the bands indicates the presence of a stable subcomplex, which is composed of subunits E, F, and G. The isolated complex is highly stable and active in a temperature range from 50 to 90 degreesC, with a half-life of about 10 h at 80 degreesC. The activity shows a linear Arrhenius plot at 50-85 degreesC with an activation energy at 31.92 J/mol K. Single particle electron microscopy shows that the A. aeolicus complex I has the typical L-shape. However, visual inspection of averaged images reveals many more details in the external arm of the complex than has been observed for complex I from other sources. In addition, the angle (90degrees) between the cytoplasmic peripheral arm and the membrane intrinsic arm of the complex appears to be invariant.

Sensitive and Rapid Detection of Genetic Modified Soybean (Roundup Ready) by Loop-Mediated Isothermal Amplification

Using the LAMP method, a highly specific and sensitive detection system for genetically modified soybean (Roundup Ready) was designed. In this detection system, a set of four primers was designed by targeting the exogenous 35S epsps gene. Target DNA was amplified and visualized on agarose gel within 45 min under isothermal conditions at 65 degrees C. Without gel electrophoresis, the LAMP amplicon was visualized directly in the reaction tube by the addition of SYBR Green I for naked-eye inspection. The detection sensitivity of LAMP was 10-fold higher than the nested PCR established in our laboratory. Moreover, the LAMP method was much quicker, taking only 70 min, as compared with 300 min for nested PCR to complete the analysis of the GM soybean. Compared with traditional PCR approaches, the LAMP procedure is faster and more sensitive, and there is no need for a special PCR machine or electrophoresis equipment. Hence, this method can be a very useful tool for GMO detection and is particularly convenient for fast screening.

具有自适应能力管道机器人的设计与运动分析

提出并研制一种基于自适应移动机构的管内探查机器人。通过对机器人传动机构的设计,实现了在不增加驱动电动机数量的前提下,机器人具有适应不同管道直径的能力。机器人的传动机构能够在管道直径改变时,自动地改变行走部件的输出形式以克服障碍,完成越障任务。在没有应用链式多节构型的情况下,机器人配备一个驱动电动机就能够完成越障任务,改善了传统螺旋驱动式机器人越障能力不高的问题,同时也提高了对驱动电动机的使用效率。为了分析试验中发现的机器人保持架自转现象,对机器人进行运动分析,并由分析结果对相关部分进行改进。试验结果表明,该机器人能够在内径为190 mm和180 mm的管道中行进,并能够顺利通过两节管道间形成的同心台阶障碍,验证了自适应移动机构的行走能力。

输电线巡检机器人越障机理与试验

分析超高压输电线路架空地线上的障碍物类型以及跨越这些障碍的过程。可以发现,巡检机器人采用双臂交替跨越障碍,越障过程简单。但是由于受巡检机器人自身重力偏矩的影响和手臂长度尺寸的限制,当单臂悬架在架空地线上时,导致巡检机器人本体倾斜,另一手臂完成脱线和上线任务变得十分困难,有时甚至造成越障失败。为了解决上述问题,提出质量调节的控制方法。该方法通过调节巡检机器人的质心,使巡检机器人的本体保持水平状态。为了验证质量调节控制方法的正确性,采用Lagrange方法建立巡检机器人动力学模型,通过仿真试验、实验室模拟实际架空地线试验以及超高压实际现场试验说明了提出方法的可行性。

一种输电线路巡检机器人控制系统的设计与实现

介绍了一种超高压输电线路巡检机器人控制系统的设计与实现方法.根据巡检作业任务的要求,采用遥控与局部自主相结合的控制模式实现巡检机器人沿线行走及跨越障碍.设计了巡检机器人有限状态机模型,实现了机器人遥控与局部自主控制的有机结合.采用基于激光传感器定位的方法实现了巡检机器人的自主越障控制.实验结果表明,该机器人可实现沿线行走及自主跨越障碍,从而验证了控制系统设计的有效性与合理性.

基于视觉伺服的输电线巡检机器人抓线控制

巡检机器人在越障时,需要完成机器人手臂的准确抓线控制.结合输电线的几何特征和摄像机成像原理,提出了一种基于单摄像机的立体视觉方法来确定输电线的位置和姿态.基于该定位方法及视觉伺服理论,建立机械手抓线伺服控制模型.利用自行研制的巡检机器人进行了视觉伺服抓线实验;实验结果验证了该方法的有效性.

超高压输电线路巡检机器人两种越障定位方法比较

将两种基于传感器信息的导线定位方法的特点和差异进行了分析和对比,得出方法Ⅱ的解算能力强于方法Ⅰ的解算能力,但由于方法Ⅱ的定位精度低于方法Ⅰ的定位精度,因此,选用方法Ⅰ进行野外作业。

输电线路巡检机器人越障控制研究

介绍了超高压输电线路巡检机器人越障控制方法。根据巡检作业任务的要求,采用遥控与局部自主控制相结合的方法,实现了巡检机器人沿线行走及跨越障碍的功能。采用基于单目摄像头定位和视觉伺服的方法,实现了巡检机器人的自主越障控制。实验结果表明,该机器人可沿线行走并自主跨越障碍,从而验证了控制系统设计的有效性与合理性。

一种改进的超高压输电线路巡检机器人越障方法

介绍了一种新型的超高压输电线路巡检机器人,阐述了分阶段的控制策略.主要针对越障的工程实际问题,从理论上分析了越障阶段的难点:质心调节,输电线的辨识与定位问题.进行了仿真和试验,验证了控制策略和理论分析的正确性.

自主越障巡检机器人质心调节控制

巡检机器人在跨越障碍时,质量偏心产生的偏矩破坏了机器人车体的水平姿态.本文提出了一种质心调节方法,利用倾角传感器测量机器人车体与水平面之间的倾角,从而控制配重块移动电机的运动,将机器人的质心调节到悬挂于架空地线上的那只手臂上,因此能保证机器人车体保持水平姿态,确保需要脱线或上线的手臂完成相应的动作.最后,通过仿真试验验证了质心调节控制方法的可行性.

输电线巡检机器人行走动力特性与位姿分析

根据跨越超高压输电线路障碍物的类型,提出一种新的双臂自主越障巡检机器人机构。该机器人采用复合轮爪机构在架空地线上连续行走并跨越障碍。由于架空地线呈悬链线状,机器人在连续行走过程中会出现上坡和下坡,对行走动力特性的影响非常明显。在上坡时行走电动机提供驱动力矩,在下坡时行走电动机提供制动力矩,以保持匀速巡线。详细分析了机器人在架空地线上行走时所处的加速、匀速、减速和停止的各个状态,驱动机器人所需的驱动力矩以及它们与机构参数之间的关系,并应用优化方法给出各个状态电动机驱动力矩最小时,机器人机构参数对应的最优解,为巡检机器人的设计和控制系统方案的确定提供了理论依据。