自动折叠喷洒臂的设计及运动学特性

为了解决当前卷盘式喷灌机所配套的喷灌车自动化水平较低的问题,设计了一种基于电动缸驱动的自动折叠喷洒臂,并在喷洒臂之间连接处设计了一种当喷洒臂完全展开时能够实现自密封的端面密封铰链.基于喷洒臂完全折叠时收拢于车架两侧,完全伸展时铰链左右铰合密封等特征建立各杆件参数约束方程,确定了喷洒臂的各杆件尺寸.通过矢量方程法对喷洒臂进行运动学分析,以电动杆推杆的转角、位移、速度、加速度为输入量,各杆件的角位移、角速度、角加速度为输出量,通过Simulink搭建喷洒臂的运动仿真框图并进行分析.结果表明:完全折叠时,喷管1与水平方向呈90°夹角;伸展过程中,各喷管运动平稳,且始终保持在水平直线方向;完全展开时,3个喷管转动90°,且各喷管铰接处完全闭合不发生水泄漏现象,说明设计具有一定的合理性.     

类人机器人全能运动的稳定性研究

类人机器人全能运动包括不同粗糙平面上的快速行走、越障、踢球、格斗等,稳定性是上述运动的关键环节。本文从分析机器人关节角与零力矩点（ZMP）的关系入手,研究提高机器人运动稳定性的新方法。具体步骤是先粗调校正机器人姿态,然后确定各关节角度,得到保证稳定运动的关节角范围。最后依托韩国GP型机器人进行测试,结果表明了所提出方法的有效性。     

常利率通货膨胀下有扰动的双复合Poisson-Geometric过程的两险种风险模型

考虑常利率及通货膨胀下有扰动的双复合Poisson-Geometric过程的两险种风险模型,运用鞅方法得到破产概率满足的Lundberg不等式和一般公式,当保费和索赔服从指数分布和混合指数分布时,得到破产概率的精确表达式。     

Performance of DSSAT-Nwheat across a wide range of current and future growing conditions

Crop models are widely used in agricultural impact studies. However, many studies have reported large uncertainties from single-model-based simulation analyses, suggesting the need for multi-model simulation capabilities. In this study, the APSIM-Nwheat model was integrated into the Decision Support System for Agro-technology (DSSAT), which already includes two wheat models, to create multi-model simulation capabilities for wheat cropping systems analysis. The new model in DSSAT (DSSAT-Nwheat) was evaluated using more than 1000 observations from field experiments of 65 treatments, which included a wide range of nitrogen fertilizer applications, water supply (irrigation and rainout shelter), planting dates, elevated atmospheric CO₂ concentrations, temperature variations, cultivars, and soil types in diverse climatic regions that represented the main wheat growing areas of the world.DSSAT-Nwheat reproduced the observed grain yields well with an overall root mean square deviation (RMSD) of 0.89 t/ha (13%). Nitrogen applications, water supply, and planting dates had large effects on observed biomass and grain yields, and the model reproduced these crop responses well. Crop total biomass and nitrogen uptake were reproduced well despite relatively poor simulations of observed leaf area measurements during the growing season. The low sensitivity of biomass simulations to poor simulations of leaf area index (LAI) were due to little changes in intercepted solar radiation at LAI >3 and water and nitrogen stress often limiting photosynthesis and growth rather than light interception at low LAI.The responses of DSSAT-Nwheat to temperature variations and elevated atmospheric CO₂ concentrations were close to observed responses. When compared with the two other DSSAT-wheat models (CERES and CROPSIM), these responses were similar, except for the responses to hot environments, due to different approaches in modeling heat stress effects.The comprehensive evaluation of the DSSAT-Nwheat model with field measurements, including a comparison with two other DSSAT-wheat models, created a multi-model simulation platform that allows the quantification of model uncertainties in wheat impact assessments.     

持续被动运动通过抑制软骨细胞NO合成下调MMP-1和MMP-13表达

目的：观察持续被动运动（CPM）和补充一氧化氮（NO）供体——硝酸甘油（NG）对兔骨关节炎（OA）模型中软骨基质金属蛋白酶-1（MMP-1）和MMP-13表达以及NO含量的影响，探讨CPM下调MMPs的可能机制。方法：30只3~4月龄雄性新西兰大白兔，其中6只进行假手术作为正常对照组（NC组），另外24只建立膝关节OA模型，术后随机分为4组，即OA对照组（OA组）、OA硝酸甘油给药组（NG组）、OA持续被动运动组（CPM组）、OA持续被动运动+硝酸甘油给药组（CPM+NG组），每组各6只。NC组和OA组不作处理，NG组给予NG软膏膝关节局部涂抹，CMP组在CPM训练仪上进行膝关节持续被动运动，CMP+NG组即在运动干预的同时给予NG局部涂抹。4周后取各组软骨组织，硝酸还原酶法测定NO含量，HE染色观察软骨形态学变化并进行Mankin''s评分，实时荧光定量PCR（RQ-PCR）检测MMP-1和MMP-13 mRNA水平，免疫组织化学法测定MMP-1和MMP-13蛋白表达量。结果：NO含量、Mankin''s评分以及MMP-1和MMP-13 mRNA和蛋白水平在OA组明显高于NC组（P<0.01），NG组高于OA组（P<0.01），CPM组低于OA组和NG组（P<0.01），CPM+NG组低于NG组（P<0.01），但高于CPM组（P<0.01）。结论：CPM通过抑制软骨细胞NO合成下调MMP-1和MMP-13表达，进而对软骨细胞起保护作用。     

3-RPS并联机构奇异位形及工作空间研究

提出一种求解并联机构无奇异位形工作空间的方法。通过分析3-RPS并联机构在奇异位形时动平台的微分运动与结构约束及关节约束的关系，得到机构奇异位形判别方程和奇异位形曲面方程。探索了工作空间边界，综合分析了机构奇异位形与工作空间的关系。合理选择机构结构参数和关节变化范围，得到了无奇异位形的工作空间。     

Human Simulated Intelligence Motion Control for Three-link Acrobot on Horizontal Bar

The design of multi-controller and multi-mode control law is presented for the three-link Acrobot on horizontal bar by employing Human simulated intelligent control method based on sensory-motor Schema.Imitated the characteristics of gymnast's swing-up and handstand movement,the control process of robot is divided by six sequence phase.Then the sensory cell and motor cell and the group of sensory-motor schema is designed based on the analysis of quality-quantity combination.The simulation results show that the controller ensures the gesture and the energy to the desired goal,farther more the motion control of giant swing backword is realized in the simulation.     

System Design for Leather Cavity XCT

This paper introduces a method of solving the problem of leather cavity measurement in shoe CAD/CAM by industrial CT technology. Concentrating on peculiarity and requirement of leather cavity measurement, this paper presents a X-ray industrial CT system scheme, which not only satisfy the requirement of leather cavity measurement but also can achieve general industrial CT. measurement. The achievement on data collection system and motion control of stepping motor is emphasized.     

On System Stability under Random Perturbations

In this paper we concider the problem of stability of stochastic evolution systemsin Hilbert space drived by a cylindrical Brownian mothin. We regard the stochestic evolutionequation dXt = AXtdt +G(Xt)dBt as a deterministic system of the form dXt=AXtdt under randomperturbation,and obtain stability of its solution. It is shown that under certain assumptions,itsevolution solution and L2-contimuous evulution solution are exponertially stable.     

Fractional brownian motion and binary market models

We prove a Donsker type approximation theorem for the fractional Brownian motion in the case of the Hurst index greater than one half. With this approximation we construct an elementary market model that converges weakly to the fractional analogue of the Black Scholes model. We show that there exist arbitrage opportunities in this model.