利用平原水库实现地表水与地下水联合调蓄的研究——以海河流域东南段为例

海河流域东南段地下水系统调蓄潜力大,调蓄能力强,由于调蓄水源欠缺,地下水的人工调蓄研究停滞不前。研究区近年修建的大量平原水库,为地下水的人工调蓄提供了水源条件。由于单纯依靠平原水库调蓄地表水,不仅侵占大量农田,还将产生诸如水资源浪费、土壤次生盐渍化等环境地质问题。利用地下水巨大的调蓄空间和有利的调蓄途径,凭借一定的回灌工程,将平原水库蓄存的地表水回灌至地下蓄存,同时解决了地下水调蓄的水源问题和地表水调蓄空间、蒸发及其他环境地质问题,是水资源可持续利用的有效途径之一。     

基于混合扩张状态观测器的农田平地机液压系统反步滑模控制研究

为解决农田平地机液压系统在复杂地貌平地作业时控制精度低、抗干扰能力差等问题,设计了一种基于混合扩张状态观测器（HESO）的反步滑模控制器。其中,HESO基于输出反馈信号估计系统未知状态和总扰动,并在前馈通道中进行扰动补偿;基于快速趋近律设计的反步滑模控制器输出连续光滑的控制量,增强了系统鲁棒性,克服了系统非线性与参数不确定性问题;通过Lyapunov稳定性理论对所提出的观测器和控制器稳定性进行验证,得到误差一致有界稳定结论;通过AMESim和Matlab/Simulink联合仿真与田间试验对本文控制算法的有效性和优越性进行了验证。在两条地貌情况较为复杂波浪地中单次平地和地貌情况较为相似的两田块进行3次遍历试验表明,使用本文控制方法,平地后高程相较于平地前标高的平均绝对误差、最大绝对误差、绝对误差标准差分别为0.053、0.146、0.037m和0.02、0.041、0.011m,较PID算法分别降低36.35%、28.32%、31.37%和62.6%、50%、51.83%。     

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。     

Computed tomographic (CT) arthrogram contributes to the diagnosis of an osteochondroma of the distal calcaneus in a horse

Osteochondromas in the horse are most commonly found as a solitary lesion affecting the distal radial metaphysis. In this location, diagnosis is reliant on radiographic and ultrasonographic examination and confirmed with post-operative histopathology. This case report describes the additional benefit of performing a CT arthrogram to aid the diagnosis of an osteochondroma in an atypical location.     

Gross anatomy,computed tomography,magnetic resonance imaging and bone mineral densitometry of the ovine metacarpo/metatarsophalangeal joint

This study was aimed to provide anatomical atlas of the ovine metacarpo/metatarsophalangeal joints using computed tomography (CT) scan and magnetic resonance imaging (MRI), as well as to investigate bone mineral density (BMD) and morphometric features of this joint. The limbs of twenty adult Sanjabi sheep were examined. Imaging was performed using a 16-slice multi-detector CT scanner and a 1.5 Tesla MRI scanner. The obtained images were correlated with corresponding anatomical sections. BMD was measured by Dual Energy X-ray Absorptiometry (DEXA) method. Also morphometric features included distance between metacarpal and metatarsal heads, width of metacarpal and metatarsal head, length, width and the height of the proximal sesamoid bones were measured. In MRI images, compact bones, ligaments and tendons showed less signal intensity (hypointense). The fatty tissue and bone marrow had more signal intensity (hyperintense), but articular cartilage and synovial fluid showed moderate signal intensity. BMD in the left hind limb was significantly higher than other three limbs (p ≤ 0.05). The length of proximal sesamoid bones in left forelimb was higher than right forelimb (p ≤ 0.05). The thickness of proximal sesamoid bones in left limbs was higher than those in their counterparts (p ≤ 0.05). The width of the medial head in the forelimbs was significantly greater than the hind limbs (p ≤ 0.05). The present results might be useful in managing the clinical techniques on this joint. Larger volume of the proximal sesamoid bones and wider medial head in the forelimbs compared to the hindlimbs impel this speculation that the centre of gravity is closer to the forelimbs.     

Nonlinear FEM Analysis of RC Staggered Joint by Using APDL Language

In order to settle some problems involved in applying ANSYS into nonlinear Finite Element Analysis of RC structure,this paper discusses the nonlinear FEM method for staggered joint,incorporating its experimental result.The main solved problems are as follows:(1) The fundamental process of nonlinear FEM analysis;(2) How to model the behaviors of reinforcement and concrete respectively;(3) How to model the bond-slip relationship between reinforcement and concrete.     

万向节安装误差引起的拖拉机传动系横向激励

采用齐次坐标变换矩阵分析由于安装误差引起输入轴和输出轴不相交的万向节运动；定性和定量地给出了这一误差引起的横向激励的频率和数量；用计算机分析了这一激励与各因素的关系；并进行了试验验证。     

基于模糊分析的农用运输车双万向传动轴可靠性优化设计

将模糊可靠性设计应用于农用运输车传动轴的优化设计,提出了农用车双万向传动轴的模糊可靠性优化设计方法,建立了在满足给定模糊可靠性要求设计条件下优化设计数学模型,并进行了实例计算。