冗余度机器人力控制的运动学稳定性分析

把非冗余度机器人位置／力混合控制方案引入到冗余度机器人，用线性化的动力学模型对其运动学稳定性进行分析，提出一种改进的基于运动学稳定的冗余度机器人混合控制策略。仿真研究结果证明了所提出方法的有效性。     

冲压空气涡轮性能的局部改进升力线算法

将现代螺旋桨的改进升力线算法应用于空气涡轮性能计算，结合冲压空气涡轮结构特性对叶片模化作了局部改进，对一个冲压空气涡轮模型作了计算，与实验结果和改进升力线法的对比表明，局部改进后的叶片环量和诱导速度分布合理，计算精度和宽度有明显改善，与实验符合较好。     

Dayside reconnection during IMF northward: A possible foreshock effect

The northward and southward orientation of the interplanetary magnetic field (IMF) is usually considered as providing the external boundary conditions in the solar wind interaction with the Earth's magnetopause but it is the magnetic field in the magnetosheath that interacts with the Earth's magnetic field. In this paper, we consider the possibility that the wave activity in the foreshock region may affect the magnetic field orientation in the magnetosheath with time scales that might be geomagnetically effective. If magnetosheath magnetic field becomes disturbed on plasma streamlines which are connected to the quasi-parallel bow shock and foreshock, the magnetic field orientation on the inner magnetosheath may differ significantly from the undisturbed IMF. We present a model of dayside reconnection which may occur when the IMF northward and illustrate its effects on the erosion of the magnetopause.     

Solar UV irradiance variation during cycles 22 and 23

The Solar Ultraviolet Spectral Irradiance Monitor (SUSIM) aboard the Upper Atmosphere Research Satellite (UARS) has been measuring solar UV irradiances since October 1991, a period which includes the decline of solar cycle 22 followed by the rise of cycle 23. Daily solar measurements include scans over the wavelength range 115–410 nm at 1.1 nm resolution. As expected, the measured time series of UV irradiances exhibit strong periodicities in solar cycle and solar rotation. For all wavelengths, the UV irradiance time series are similar to that of the Mg II core-to-wing ratio. During solar cycle 22, the irradiance of the strong Ly- line varied by more than a factor of two. The peak-to-peak irradiance variation declined with increasing wavelength, reaching 10% just below the Al edge at 208 nm. Between the Al edge and 250 nm the variation was 6–7%. Above 250 nm, the variation declines further until none is observed above 290 nm. Preliminary results for the first portion of cycle 23 indicate that the far UV below the Al edge is rising at about the same rate as the Mg II index while the irradiances in the Ly- emission line and for wavelengths longer than the Al edge are rising more slowly — even after accounting for the lower level of activity of cycle 23.     

Principal components in the PG-X-ray QSO sample

We have performed a spectral principal component analysis for a complete sample of 22 low redshift QSOs with spectra from Ly to H, and found three significant principal components, which account for 78% of the spectrum-to-spectrum variance. We present strong arguments that the first principal component represents the Baldwin effect, relating equivalent widths to the luminosity (i.e. accretion rate). The second component represents continuum variations, probably dominated by intrinsic reddening. The third principal component is directly related to broad emission-line width and X-ray spectral index, and therefore probably driven by Eddington accretion ratio, L/L_Edd. The third set of relationships tie directly to the optical Principal Component 1 found by Boroson and Green [Boroson, T., Green, R.F., Astrophys. J. Suppl. 80, 109, 1992 (BG92)], and are the primary cause of scatter in the Baldwin relationships.     

一般硬化材料弹塑性旋转盘的变分解法

首先在小弹塑性范围内用应变的奇次四项式相当精确地拟合一般硬化材料的拉伸曲线;再在体积不变条件下用弹性位移场的已知模态和一待定幅值构成弹塑性位移场;最后用势能原理确定该幅值而得到封闭解。     

机器人运动的学习控制

机器人学习控制旨在采用简单的控制器结构和易于实现的控制算法,提高机器人轨迹动态跟踪精度。本文讨论了机器人控制研究中存在的困难,简要回顾了早期学习控制思想的形成和发展,重点介绍了近年来国内外有关机器人学习控制研究的现状。     

A Far Infrared Photometer (FIRP) for the Infrared Telescope in Space (IRTS)

We describe the design and calibration of the Far-Infrared Photometer (FIRP), one of four focal plane instruments on the Infrared Telescope in Space (IRTS). The FIRP will provide absolute photometry in four bands centered at 150, 250, 400, and 700 μm with spectral resolution λ/Δλ ≈ 3 and spatial resolution ΔΘ = 0.5 degrees. High sensitivity is achieved by using bolometric detectors operated at 300 mK in an AC bridge circuit. The closed-cycle ³He refrigerator can be recycled in orbit. A 2 K shutter provides a zero reference for each field of view. More than 10% of the sky will be surveyed during the ≈3 week mission lifetime with a sensitivity of <10⁻¹³ W·cm⁻²·sr⁻¹ per 0.5 degree pixel.     

CNC数控系统控制软件

本文分析了数控机床控制系统,由硬件NC(Numerical Contro1)向CNC(ComputerNumerical Control)转变时进给速度下降的问题,阐述了解决此问题的一种方法——二次插补方法。指出CNC数控系统是个多重中断系统,论述了将数控的工作按其重要的程度、实时性的高低,安排在不同的优先级,使整个系统协调工作的思想。