机器人形状记忆合金(SMA)驱动器及其控制探讨

本文在一般地介绍了形状记忆合金(SMA)的工作原理、SMA驱动器类型、SMA驱动器控制的基础上.描述了我们自行研制的单自由度的SMA驱动机构和SMA比例控制器.该控制器不论对于指定路线的程序控制还是任意给定主从遥控都能很好地完成给定的作业任务.

三维非均匀各向异性介质中的纵波走时反演研究

Many observations show that seismic anisotropy is very common in the crust and upper mantle of the Earth. Seismic anisotropy can provide some clue about the changing and transporting process inside the earth. in recent years, abundant earthquake travel time data are accumulated, computers become more powerful, and these make the inversion of earthquake travel time data practical. In this thesis we studied the theory of elastic wave in anisotropic media, some formule for travel time inversion were derived. We present an iterative procedure to determine 21 elastic parameters from qP wave travel times. No a priori assumptions about heterogeneity and anisotropy of the model are made. The procedure is suitable for the case when we know nothing about the symmetry of anisotropy of the media, as well as for the case of earthquake travel time inversion which may contain various symmetry of anisotropy. The procedure is tested with a synthetic multiple-source offset VSP experiment. The results proved that the formulae are correct, and the procedure is practical. The results and the related theory indicate that the anisotropic inversion needs more rays than isotropic case. For a 2-D weak anisotropic (WA) medium, we need at least 5 rays in different directions to retrieve the elastic parameters on one grid point, and for a 3-D WA medium we need at least 15 rays in different directions to retrieve the elastic parameters on one grid point. The results also indicate that the starting background velocity has no influence on the final results, at least for the model we specified. Our results also show that insufficient illumination coverage will slow down the convergence rate, and make the results more sensitive to noise. We apply the procedure to a set of field travel time data. The data is from an artificial seismic observation. This observation is for locating micro-seismic events around a tunnel, its purpose is to find out if the digging process and the stress condition around the tunnel can generate micro-cracks. The size of this area is around 100m. The anisotropy derived from qP travel times is the same as the anisotropy showed by apparent velocities, and is also consistent with the anisotropy derived from S-wave splitting phenomena.

洞穴次生化学沉积物环境替代指标形成的地球化学动力学研究

洞穴化学沉积物气候-环境记录机理研究中,亟需了解各种环境替代指标形成的地球化学过程及其影响因子.我们以洞穴滴水为主线长期系统监测研究了气候-环境信号的传递过程和受控因素,判别了洞穴顶板土壤基本情况(自然和人为作用),分析了洞穴滴水的水动力特征,归纳了水文、水文地球化学过程及简单模型,考察了滴水的DOC、荧光强度及相关性,综合探讨了氢、氧、碳同位素信号传递过程及其受控因素,以及对不同生态系统的碳、氧同位素的对比.当前我们所获得的主要成果和认识是:发现滴水的溶解有机碳和荧光强度以每年4～6月最强,并与洞穴上覆植被条件成正相关;降雨对洞穴滴水氧同位素组成有明显的控制作用和一致的季节变化特征,蒸发作用对氧同位素信号的传递有不大于2‰的影响作用;植被条件对滴水碳同位素信号起主导控制作用,δ13C值在湿热条件下低于干冷条件,明显受降雨稀释效应、水动力过程、方解石溶解/沉积作用和CO2逃逸等因素的影响.

Cadastro vitícola georreferenciado da denominação de origem Vale dos Vinhedos.

Apresentação; Dados da IP de Vale dos Vinhedos;Georreferenciamento; relevo; imagens

Rough feature selection for intelligent classifiers

Q. Shen. Rough feature selection for intelligent classifiers. LNCS Transactions on Rough Sets, 7:244-255, 2007.

L'Ane promeneur, ou Critès promené par son ane : Chef-d'oeuvre pour servir d'Apologie au Goût, aux Moeurs, à l'Esprit, et aux Découvertes du siècle

Première edition revue, corrigée, et précédée d'une Préface à la Mosaïque, dans le plus nouveau goût.

Ilustracion apologetica al primero, y segundo tomo del Teatro critico : donde se notan mas de quatrocientos descuidos al Autor del Anti-Teatro ; y de los setenta, que éste imputa al Autor del Teatro Critico, se rebaxan los sesenta y nueve y medio

Signaturas: a-d4, A-Z4, 2A-2Z4, 3A-3H4.

Cartas eruditas, y curiosas : en que, por la mayor parte se continua el designio del Teatro Critico Universal, impugnando, ó reduciendo á dudosas varias opiniones comunes

Nueva impresion.

Piechota na wschodnim teatrze działań wojny secesyjnej

Wydział Historyczny

Conhecimento dos alunos do 4º ano da Licenciatura em Enfermagem sobre o Modelo de Desenvolvimento Profissional

Projecto de Graduação apresentado à Universidade Fernando Pessoa para obtenção do grau de Licenciado em Enfermagem

Cestería en esparto Cerinza - Boyacá 1989-1995.

76 hojas : ilustraciones.

The crown of Hinduism, by J. N. Farquhar ..

http://www.archive.org/details/thecrownofhindui00farquoft