Theoretical and experimental research on time-optimal trajectory planning and control of industrial robots

提出了一种用于工业机器人时间最优轨迹规划及轨迹控制的新方法，它可以确保在关节位移、速度、加速度以及二阶加速度边界值的约束下，机器人手部沿笛卡尔空间中规定路径运动的时间阳短。在这种方法中，所规划的关节轨迹都采用二次多项式加余弦函数的形式，不仅可以保证各关节运动的位移、速度 、加速度连续而且还可以保证各关节运动的二阶加速度连续。采用这种方法，既可以提高机器人的工作效率又可以延长机器人的工作寿命以PUMA560机器人为对象进行了计算机仿真和机器人实验，结果表明这种方法是正确的有效的。它为工业机器人在非线性运动学约束条件下的时间最优轨迹规划及控制问题提供了一种较好的解决方案。

城市发展与地质环境相互作用机制及数量分析—北海市可持续发展战略研究

Based on a viewpoint of an intricate system demanding high, this thesis advances a new concept that urban sustainable development stratagem is a high harmony and amalgamation among urban economy, geo-environment and tech-capital, and the optimum field of which lies in their mutual matching part, which quantitatively demarcates the optimum value field of urban sustainable development and establishes the academic foundation to describe and analyze sustainable development stratagem. And establishes a series of cause-effect model, a analysissitus model, flux model as well as its recognizing mode for urban system are established by the approach of System Dynamics, which can distinguish urban states by its polarity of entropy flows. At the same time, the matter flow, energy flow and information flow which exist in the course of urban development are analyzed based on the input/output (I/O) relationships of urban economy. And a new type of I/O relationships, namely new resources-environment account, are established, in which both resource and environment factors are considered. All above that settles a theoretic foundation for resource economy and environment economy as well as quantitative relationships of inter-function between urban development and geoenvironment, and gives a new approach to analyze natinal economy and urban sustainable development. Based on an analysis of the connection between resource-environmental construct of geoenvironment and urban economy development, the Geoenvironmental Carrying Capability (GeCC) is analyzed. Further more, a series of definitions and formula about the Gross Carrying Capability (GCC), Structure Carrying Capability (SCC) and Impulse Carrying Capability (ICC) is achieved, which can be applied to evaluate both the quality and capacity of geoenvironment and thereunder to determine the scale and velocity for urban development. A demonstrative study of the above is applied to Beihai city (Guangxi province, PRC), and the numerical value laws between the urban development and its geoenvironment is studied by the I/O relationship in the urban economy as following: · the relationships between the urban economic development and land use as well as consumption of underground water, metal mineral, mineral energy source, metalloid mineral and other geologic resources. · the relationships between urban economy and waste output such as industrial "3 waste", dust, rubbish and living polluted water as well as the restricting impact of both resource-environmental factors and tech-capital on the urban grow. · Optimization and control analysis on the reciprocity between urban economy and its geoenvironment are discussed, and sensitive factors and its order of the urban geoenvironmental resources, wastes and economic sections are fixed, which can be applied to determine the urban industrial structure, scale, grow rate matching with its geoenvironment and tech-capital. · a sustainable development stratagem for the city is suggested.

Heat capacity enhancement and thermodynamic properties of nanostructured amorphous SiO2

The heat capacity of nanostructured amorphous SiO2 (na-SiO2) has been measured by adiabatic calorimetric method over the temperature range 9-354 K. TG and differential scanning calorimeter (DSC) were also employed to determine the thermal stability. Glass transition temperature (T-g) for the two same grain sizes with different specific surface of naSiO(2) samples and one coarse-grained amorphous SiO2 (ca-SiO2) sample were determined to be 1377, 1397 and 1320 K, respectively. The low temperature experimental results show that there are significant heat capacity (C-P) enhancements among na-SiO2 samples and ca-SiO2. Entropy, enthalpy, Gibbs free energy and Debye temperature (theta (D)) were obtained based on the low temperature heat capacity measurement of na-SiO2. The Cp enhancements of na-SiO2 were discussed in terms of configurational and vibrational entropy. (C) 2001 Elsevier Science B.V. All rights reserved.

Enhancement of molar heat capacity of nanostructured Al2O3

The nanosized alumina prepared by the hydrolysis method with an average particle size of 20 nm was characterized by X-ray diffraction. The heat capacity measurements of the prepared sample were carried out using an adiabatic calorimeter in the temperature range from 78 to 370 K. Enhancement of heat capacity was observed in the nanostructured materials as the heat capacity data were compared with those of the corresponding coarse-grained materials. The enhanced heat capacity was discussed on the basis of experiments. Differential scanning calorimetry and thermogravimetry were used to determine the thermal stability of the nanostructured alumina.

An industrial scale dehydration process for natural gas involving membranes

An industrial scale dehydration process based on hollow fiber membranes for lowering the dew point of natural gas is described in this paper. A pilot test with the feed flux scale of 12x10(4) Nm(3)/d was carried out. Dew points of -8 degreesC-13 degreesC at a gas transport pressure in the pipeline of 4.6M Pa and methane recovery of more than 98% were attained. The water vapor content of the product gas could be maintained around 0.01 vol% during a continuous run of about 700 hours. The effects of feed flux and operation pressure on methane recovery and water vapor content were also investigated. Additionally, some auxiliary technologies, such as a full-time engine using natural gas as fuel and the utilization of vent gas in the process, are also discussed. A small amount of the vent gas from the system was used as a fuel for an engine to drive vacuum pumps, and the heat expelled from the engine was used to warm up the natural gas feed. The whole system can be operated in a self-sustainable manner from an energy point of view, and has a relatively high efficiency in the utilization of natural gas.

Heat capacity and thermochemical study of trifluoroacetamide (C2H2F3NO)

The low-temperature heat capacities of trifluoroacetamide were precisely determined with a small sample precision automated adiabatic calorimeter over the temperature range from 78 to 404 K. A solid-to-solid phase transition, a fusion and a phase transition from a liquid crystalline phase to fully liquid phase have been observed at the temperatures of 336.911+/-0.102, 347.622+/-0.094 and 388.896+/-0.160 K, respectively. The molar enthalpies of these phase transitions as well as the chemical purity of the substance were determined to be 5.576+/-0.004, 11.496+/-0.007, 1.340+/-0.005 kJ mol(-1) and 99.30 mol%, respectively, on the basis of the heat capacity measurements. The molar entropies of the three phase transitions were calculated to be 16.550+/-0.012, 33.071+/-0.029 and 3.447+/-0.027 J mol(-1) K-1, respectively. Further researches of the thermochemical properties for this compound have been carried out by means of TG and DSC techniques. (C) 2000 Elsevier Science B.V. All rights reserved.

Determination of total iron binding capacity of serum by capillary electrophoresis

A capillary electrophoresis (CE) technique for determining total iron binding capacity (TIBC) of serum has been developed. The optimum serum pretreatment involves the following major steps: at first, saturate serum transferrin with Fe+3; then, dissociate them completely after removing excess unbound Fe. Finally, complex the released iron with phenanthroline, a chromophore, to make suitable for the CE analysis. Ammonium acetate (pH = 5.0) was used as CE background electrolyte solution. In this system, a good linear correlation coefficient was maintained over the range 0.5 similar to 10 mu M (r = 0.9979, n =12). Seven adult serum samples were studied and the TIBC parameters measured. In the present system, 10 similar to 30 mu L serum is sufficient for determination. The study shows that the CE technique described is a powerful method for rapid, efficient, sensitive and reliable analysis and hence particularly suitable for clinical application.