COMAU-120机器人逆运动学分析及其求解

机器人逆运动学在机器人学中占有非常重要的地位。为此,建立了COMAU-120机器人的运动学模型,并利用奇次变换导出了逆运动学求解公式。机器人逆运动学分析方法在实际中得到了应用,为实现弧焊机器人系统路径规划和离线编程奠定了基础。     

Model calculations of water dynamics in lysimeters filled with granular industrial wastes

A three‐year long lysimeter experiment with a fine‐grained aluminum (Al) recycling by‐product and a mixture of this by‐product and a coal combustion waste was conducted. The wastes were proposed as possible soil substitutes in an engineered surface barrier covering a potash mining residue mount. To evaluate the suitability of the wastes as surface barrier material, their hydrological behavior under field conditions must be known. Lysimeter experiments provide one means to study the hydrological behavior of soils or soil‐like materials. However, it is difficult to estimate the long‐term hydrological behavior from short‐term lysimeter studies. The present study was conducted therefore to derive from short‐term lysimeter observations the long‐term hydrological behavior of the two waste materials. The lysimeter data were used to calibrate the one‐dimensional soil water flow model HYDRUS‐1D. With the calibrated model, hydrological simulations for the site of the residue mount were carried out for a period of 31 yr. Calculated long‐term annual seepage from the lysimeters was 237 mm for the pure Al waste and 186 mm for the mixture, or 39% and 24% of the average annual precipitation (764 mm). The average discharge of the bare mount is 482 mm or 63%. We conclude that a soil cover could considerably reduce the discharge and that the mixture is better suited as surface barrier than the pure Al waste.     

Petri网逆网在主轴故障诊断中的应用

比较了成熟期27个梨品种的果胶含量、半乳糖醛酸含量、果肉硬度和可溶性固形物含量,并分析果胶含量与果实品质特性的相关性。结果表明,不同梨品种间的果肉硬度、可溶性固形物、果胶、半乳糖醛酸含量4个指标的差异性都达到极显著水平(P0.01),果肉硬度均值为2.76 kg·cm-2,F值为47.03;半乳糖醛酸含量为0.64%~1.73%,F值为89.24,品种间差异最大;可溶性固形物含量为9.41%~15.19%,F值为17.66,品种间差异最小;果胶含量为0.23%~1.02%,与可溶性固形物和半乳糖醛酸含量呈极显著正相关(P0.01),Pearson相关系数分别为0.618和0.680。     

鄂尔多斯植被的NDVI 3g动态及气候响应

[目的]研究鄂尔多斯地区生态格局以及在全球变化下的自然演变规律,揭示中国西部矿区人工扰动生态环境的时空变化。[方法]利用1982—2012年GIMMS NDVI 3g数据集和年均气温、降水量等气象数据,分别进行最大值合成、反距离加权法插值、线性回归与变化率分析、相关性分析等处理,揭示植被覆盖的时空变化趋势下蕴含的植物生理学机理,及其对气温和降水变化趋势的响应特征。[结果]鄂尔多斯地区植被返青期(start of season,SOS)始于4月下旬,枯黄期(end of season,EOS)结束于11月上旬,植被生长期(duration of season,DOS)NDVI初始阈值为0.12,平均生长期为198d;31a间鄂尔多斯地区植被绿度变化率(slope)为0.0023,植被变化趋势逐像元回归分析表明研究区80.8%的植被有轻微改善;31a间鄂尔多斯地区NDVI变化与年均气温和降水量的相关性分别为0.054和0.400。[结论]31a间鄂尔多斯地区植被返青期有提前趋势,枯黄期有滞后趋势,生长期有延长趋势;研究区大部分区域植被均有轻微改善;年均气温与降水量均呈现升高趋势,NDVI变化受温度和降水的共同作用,且NDVI最大值增高与年均降水量增加相关性较高,与年均气温升高相关性较低。     

DEMAND FOR AQUACULTURE PRODUCTS IN TAIWAN: AN APPLICATION OF THE GENERALIZED MODEL

ABSTRACT

Policy decisions on what aquaculture products to develop require information on consumer demand for cultured species. However, information on the structure of demand for aquaculture products is limited and what few studies there are in Taiwan, where aquaculture is a major industry, suffer from methodological problems. To clear up some of these problems, we used modified nonnested testing techniques and performance forecasting to determine which generalized models could best estimate the demand for Taiwanese aquaculture products. The results of modified nonnested testing of the aquaculture demand system showed that prices predetermined and quantities predetermined could be used to estimate demand. The generalized ordinary demand model was able to better forecast performance than the generalized inverse demand model. We used the likelihood ratio test to discriminate among the four competing models for the generalized ordinary model; the AIDS model could be more suitably applied to the data. A more general model that is able to incorporate different dynamic structures (partial adjustment, first autoregressive, and static). This general framework is applied to the AIDS model. The first autoregressive AIDS model we used to calculate the own and cross-price elasticities for milkfish, tilapia, shrimp, shellfish, and carps found that price elasticities varied across fish type, that some products had high long-run own price elasticities, and that the demand for aquaculture products was largely determined by inertia.     

打顶后棉花倒四叶内源激素的变化及与早衰的关系

测定新疆石河子垦区棉花打顶后倒四叶内源激素含量的变化,分析激素在不同时间段的变化。结果表明:(1)打顶能改变倒四叶中IAA(生长素)、CTK(细胞分裂素)和ABA(脱落酸)含量的变化趋势,并在72 h内和对照有显著差异。(2)打顶后涂抹NAA(萘乙酸)不能完全取代IAA的作用,但能明显改变IAA、CTK和GA3(赤霉素)含量的变化规律,保持ABA含量的稳定。(3)棉花倒四叶中各激素的比值在含量上存在相互制约的动态平衡关系;外用生长素能降低衰老激素和生长激素中的比值;打顶打破了这种平衡关系,大幅度增加了ABA/IAA和ABA/CTK的比值,这可能是打顶能促进棉花早衰的生理原因。     

近50年柴达木盆地气候要素分布特征及变化趋势分析

用线性估计方法和反距离权重方法对柴达木盆地9个气象站点1958-2007年气温、降水、日照和风速的分布特征和变化趋势进行分析,结果表明:柴达木盆地近50年气温随时间变化呈显著上升趋势,空间分布总体上呈现从南向北递减的趋势,变化趋势为东北部、东南部上升趋势最小,西部、西南部上升幅度最大;多年平均降水量呈微弱上升趋势,空间分布规律从东向西逐渐减少,变化趋势表现为大部分地区降水呈增加趋势,以东部和中部最为明显;年日照时数表现为明显的下降趋势,空间分布从西北向东南少,变化趋势大致从东部向西北方向减少;年平均风速呈明显的下降趋势,空间分布从西向东逐渐降低,变化趋势大部分地区呈减少趋势,大致从中部向东西两侧增加;近50年来柴达木盆地气候总体上呈现暖湿趋势,以东南部最为明显;中部和西部极端干旱地区,由于日照时数和风速的下降,使沙尘暴日数减少,植被有所恢复,生态环境将得到改善。     

方格法测量土方量精度的研究

运用误差传播定律分析方格网法计算土方量的理论精度,结果表明:(1)在距离为100m范围内,水准仪、经纬仪和全站仪测量地面高程、方格法计算土石方量的相对中误差分别为4%、8%和2%。(2)随着测量仪器精度的提高,土地平整过程中土方量测量计算的容许误差应由过去的10%提高到6%。(3)用反距离加权插值法计算方格顶点高程可提高方格网法计算土方量的精度。     

胺基化磁性壳聚糖微球对苹果渣多酚的吸附条件优化

为分离苹果渣中的多酚物质,研究壳聚糖磁性材料对多酚物质提取的影响。采用化学共沉淀法制得Fe3O4磁核,反相悬浮交联法制得磁性壳聚糖微球,并进行胺基化改性;利用扫描电镜、激光粒度仪对微球进行表征。采用单因素试验和响应曲面法对磁性微球吸附分离苹果渣多酚的吸附条件进行了工艺优化。结果表明:胺基化磁性壳聚糖微球吸附苹果渣多酚工艺参数对多酚吸附率有显著影响,因素影响主次顺序为微球用量>摇床转速>吸附温度;胺基化磁性壳聚糖微球吸附苹果渣多酚的工艺参数为:微球用量0.25g/mL,吸附温度45℃,摇床转速127r/min,吸附率可达81.58%。壳聚糖与Fe3O4磁性物质相结合,对多酚物质具有良好的吸附性能,可以对多酚物质进行快速分离,解析后多酚得率可达78.73%。研究结果为磁性材料吸附分离多酚类物质提供了理论参考。