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.     

燃烧室头部进气规律对煤粉燃烧效率的影响

用实验方法研究了火焰筒式煤粉燃烧室头部进气规律对燃烧效率的影响。通过对6种结构的头部配气方案的分析比较,得出了煤粉燃烧室合理的头部配气方案,为今后煤粉燃烧室的设计和工作状态的选择提供了重要的实验依据。     

Experimental drop tube of the metallurgy department of Grenoble

The drop tube which will be available in the “Centre d'Etudes Nucléaires de Grenoble” is described. Its main features are the following: - Dimensions : Drop height : 47.1 m Drop time : 3.1 s Tube inside diameter : 0.2 m - Experimental atmosphere : 1 Ultra-vacuum : 10⁻⁶ to 10⁻⁷ Pa - Residual gravity level : 10⁻⁸ to 10⁻⁹ g according to the vacuum level and drop diameter.

This facility is unique insofar as it enables experiments to be performed under ultra-vacuum conditions which, by delaying the formation of surface oxides, should contribute to improving maximum undercooling values.

The techniques used for obtaining small metallic drops (0.5 to 3 mm) are described. The availability of this instrument for the scientific community is also foreseen by the french sponsoring organizations (CEA, CNES, CNRS) ; some practicle informations will be given to potential experimenters.     

Search for organic molecules in the outer solar system

Recent developments of millimeter astronomy have led to the discovery of more and more complex molecules in the interstellar medium. In a similar way, attempts have been made to detect complex molecules in the atmospheres of the most primitive bodies of the Solar System, i.e. outer planets and comets, as well as in Titan's atmosphere. An important progress has been achieved thanks to the continuous development of infrared astronomy, from the ground and from space vehicles. In particular, an important contribution has come from the IRIS-Voyager infrared spectrometer with the detection of prebiotic molecules on Titan, and some complex organic molecules on Jupiter and Saturn. Another important result has been the observation of carbonaceous material in the immediate surroundings of Comet Halley's nucleus. In the near future, the search for organic molecules in the outer Solar System should benefit from the developments of large millimeter antennae, and in the next decade, from the operation of infrared Earth-orbiting spacecrafts (ISO, SIRTF).     

太阳射电微波爆发的频谱分析

1981年4月1日太阳发生一个4N级Hα耀斑并伴随出现强烈的IV型射电爆发.本文对北京天文台,西澳大利亚站等射电资料进行分析.分析表明:(1)该事件的微波源状态相对稳定,米波源位置存在移动,因此产生微波辐射与米波辐射是两组不同的电子群体,在爆发频谱指数的时变曲线上表现出明显的形态差异.还由于两者辐射源的位置不同,微波与米波的爆发在峰值时刻上也不完全符合.(2)4月1日微波大爆发是由三个主爆发组成的,它们的峰值时刻分别为0135.1,0146.1,0153.6UT.由射电高频端谱指数算出的非热电子能谱指数表明,在射电爆发的三个峰值时刻电子能谱都变硬.本文还得出该活动区的非热电子平均速度(以光速c为单位)β为0.9左右,磁场强度B为430G.并由回旋同步辐射阻尼算得,非热电子的寿命为829秒,这个数值与三个主峰的持续时间相吻合.     

余辉等离子体的实验研究

利用调制脉冲产生的余辉等离子体的参数测量表明:等离子体空间电位和电子温度的衰变是重要的,它在余辉等离子体的密度衰变过程研究中必须予以考虑.对容器中余辉等离子体密度径向分布的测量结果与理论预言是一致的.     

LET variation measurements behind different absorber thicknesses on COSMOS-1129 satellite

LET variation with the absorber thickness was measured by plastic detectors exposed on COSMOS-1129 satellite.     

Changes of deoxyribonucleoprotein in the spleen, thymus and liver of rats exposed to weightlessness and artificial gravity aboard the Cosmos biosatellites

Changes of deoxyribonucleoprotein in the spleen, thymus and liver of rats exposed to wegithlessness or artifical gravity on board biosatellites Cosmos 782 and Cosmos 936 after 20 days of flight were investigated. The level of polydeoxyribonucleotides in the spleen and thymus of rats exposed during the flight to weightlessness increased 4 – 11 hours after landing, suggesting breakdown of a part of the deoxyribonucleoprotein present. The use of artifical gravity prevented this breakdown in the thymus but not in the spleen. The breakdown was accompanied in the majority of cases by a decrease in teh deoxyribonucleoprotein content. We believe the breakdown of deoxyribonucleoprotein is due to a nonspecific stress reaction to the change from the weightless state to that of terrestrial gravity during landing. The polydeoxyribonucleotide level and amount of deoxyribonucleoprotein in the majority of cases returned to normal values during the 25 days of readaptation. No substantial change of deoxyribonucleoprotein was found in the liver. The different findings in the three organs are due to the fact that breakdown of deoxyribonucleoprotein takes place in sensitive cells underlying pycnosis. These cells are found in the spleen and thymus, but not in the liver.