一种基于3-RSS/S并联机构的踝关节康复机器人

提出了一种用于踩关节康复的康复训练机器人，该机器人采用3-RSS／S并联机构，具有3个转动自由度，可以帮助患者进行多种复合运动的康复训练；本文对基于3-RSS／S并联机构的踩关节康复机器人的自由度，工作空间和运动进行了分析，并且给出了工作空间范围和运动曲线。     

集成2R1T并联机构的艾灸辅疗机器人概念设计与运动学分析

设计一种用于艾灸辅疗的新型五自由度混联机器人机构，该机构由2UPS&1UPR&1UP并联模块和2R串联模块组成.首先，给出该混联机器人的概念设计方案，并运用螺旋理论分析2UPS&1UPR&1UP并联模块的自由度，建立该混联机构的运动学模型并推导其位置逆解的解析解，进而求得全局雅克比矩阵和奇异位型.在此基础上，采用“分层切片”的搜索方法得到该艾灸机器人的可达工作空间.最后，制作概念样机，并通过运动位姿实验验证运动学逆解与工作空间分析的正确性.研究表明，所提混联机器人机构具有大转角和大工作空间的性能优势，可以满足艾灸辅疗流程对器械运动形式与工作空间的需求.     

3-RCT三维移动并联机器人机构及其位置分析

在机器人结构型式中,并联机构的应用越来越广泛,因此关于并联机器人机构的研究也日趋重要。根据并联机器人机构结构综合理论,以单开链支路为单元,构造了一种能实现空间三维移动的并联机器人机构——3-RCT并联机构,分析了该机构实现空间三维移动的机构学原理,给出了其位置正逆解的分析方法,并进行了数值验证。该机构结构简单、计算容易、输出运动只含三维移动而不合任何转动,有较好的应用前景。     

一种新型空间三自由度并联机器人的运动学与工作空间分析

提出一种新型三自由度并联机器人机构．该新型并联机器人由定平台、动平台和3个连接支链组成,其动平台相对于定平台具有两个转动和一个移动自由度．各运动支链结构完全相同,且都含有一个闭环子链．该并联机器人只含转动副,具有结构对称和工作空间大的特点．文中对该新型并联机器人的结构进行了详细描述,并应用螺旋理论分析了其运动特性;根据运动链等价替换原理,给出了该并联机器人的运动学反解和正解,并进行了工作空间分析。     

新型四自由度并联机构结构及运动分析

提出了一种能实现空间三维平动和绕Z轴转动的4-PTT并联机构;应用螺旋理论对该机构的结构及约束特征进行了分析,并计算了机构的自由度;运用解析几何中的坐标变换和投影理论,求得了该机构位置反解的显式表达式;利用MATLAB以及ADAMS软件中的点驱动技术对该机构的运动输出和位置反解进行了仿真验证.该机构为一过约束机构,具有各分支完全相同、结构对称、刚度大等优点,可应用于工业装配机器人、微动机器人、多维减振平台、康复机器人等领域.     

非对称2T1R并联机构的运动学和灵巧性分析

提出一种非对称空间并联机构,其动平台相对于静平台具有两个移动和一个转动自由度。利用单开链单元理论对机构的运动输出特性进行了分析,并对其自由度数目进行了计算。推导出机构位置的正、逆解析解,以及速度矢量方程。根据机构灵巧性分析可知,当机构处于某一特殊位形时,其运动学条件指标等于1,即该机构为各向同性并联机构。因而所提出机构具有良好的运动学性能,在工业机器人、医用机器人和微操作机器人等领域具有潜在的应用前景。     

两种新型对称五自由度并联机器人机构

由于具有对称结构的少自由度并联机器人型综合难度极大,目前国内外尚未有对称结构的五自由度并联机器人。本文提出两种新的五自由度对称并联机器人机构,可以实现空间的三个转动和两种移动,具有结构简单,转动和移动运动解耦等特点,具有极好的应用前景。     

新型多单元串联巡检机器人机构研究与设计

针对超高压输电线路巡检机器人作业任务需求和输电线路障碍环境特点，提出了一种新型多单元串联的巡检机器人机构，每个单元由两个串联的平行四边形机构组成.根据机器人的越障机理及线路障碍物类型，规划出机器人的4种典型越障模式，给出机器人的主要结构设计参数，分析了典型越障模式下机器人手臂的工作空间.分析结果表明，该机构具备跨越500kV输电线路上典型障碍的能力，多单元串联的巡检机器人机构能够满足爬坡和转向条件下的越障运动需求.     

新型3-CRC并联机构结构及运动解耦分析

提出了一种能实现空间三维平动的3-CRC并联机构;应用机器人机构拓扑结构学理论对该机构的结构及运动输出进行了分析,并计算了机构的自由度;根据机构特点,运用解析几何中的坐标变换和投影理论求得了该机构位置正、反解的显式表达式;由正解结论分析机构的输入输出解耦性并利用ADAMS软件对该机构的运动及解耦性进行了仿真验证.     

一种六足铲斗机器人腿部机构工作空间设计

首先,介绍了一种六足铲斗机器人,其腿部采用一种3自由度RPR+R(2RPR+FD)串并混联机构。其次,建立了该腿部机构的位置反解,基于极坐标边界搜索方法绘制了其足端工作空间三维图,分析了腿部机构几何参数对工作空间高度和长度的影响规律。最后,考虑到该机器人的越障能力、行走速度以及铲斗作业时的位姿变化要求,设计了腿部机构工作空间。该机器人在受灾场合中进行障碍清除、物资搬运以及对易燃易爆物隔离等方面有很好的应用前景。     

Markedness and its Interpretation in Language Use

Language markedness is a common phenomenon in languages, and is reflected from hearing, vision and sense, i.e. the variation in the three aspects such as phonology, morphology and semantics. This paper focuses on the interpretation of markedness in language use following the three perspectives, i.e. pragmatic interpretation, psychological interpretation and cognitive interpretation, with an aim to define the function of markedness.     

Features of Women's language

Language is a means of verbal communication. People use language to communicate with each other. In the society, no two speakers are exactly alike in the way of speaking. Some differences are due to age, gender, statue and personality. Above all, gender is one of the obvious reasons. The writer of this paper tries to describe the features of women＇s language from these perspectives： pronunciation, intonation, diction, subjects, grammar and discourse. From the discussion of the features of women＇s language, more attention should be paid to language use in social context. What＇s more, the linguistic phenomena in a speaking community can be understood more thoroughly.     

Characterization of Ordovician carbonate reservoirs, southeastern Saskatchewan, Canada

The discovery of the prolific Ordovician Red River reservoirs in 1995 in southeastern Saskatchewan was the catalyst for extensive exploration activity which resulted in the discovery of more than 15 new Red River pools. The best yields of Red River production to date have been from dolomite reservoirs. Understanding the processes of dolomitization is, therefore, crucial for the prediction of the connectivity, spatial distribution and heterogeneity of dolomite reservoirs.The Red River reservoirs in the Midale area consist of 3～4 thin dolomitized zones, with a total thickness of about 20 m, which occur at the top of the Yeoman Formation. Two types of replacement dolomite were recognized in the Red River reservoir: dolomitized burrow infills and dolomitized host matrix. The spatial distribution of dolomite suggests that burrowing organisms played an important role in facilitating the fluid flow in the backfilled sediments. This resulted in penecontemporaneous dolomitization of burrow infills by normal seawater. The dolomite in the host matrix is interpreted as having occurred at shallow burial by evaporitic seawater during precipitation of Lake Almar anhydrite that immediately overlies the Yeoman Formation. However, the low δ18O values of dolomited burrow infills (-5.9‰～ -7.8‰, PDB) and matrix dolomites (-6.6‰～ -8.1‰, avg. -7.4‰ PDB) compared to the estimated values for the late Ordovician marine dolomite could be attributed to modification and alteration of dolomite at higher temperatures during deeper burial, which could also be responsible for its 87Sr/86Sr ratios (0.7084～0.7088) that are higher than suggested for the late Ordovician seawaters (0.7078～0.7080). The trace amounts of saddle dolomite cement in the Red River carbonates are probably related to "cannibalization" of earlier replacement dolomite during the chemical compaction.     

低渗透非均质砂岩油藏启动压力梯度研究

理论推导与室内实验相结合,建立了低渗透非均质砂岩油藏启动压力梯度确定方法。首先借助油藏流场与电场相似的原理,推导了非均质砂岩油藏启动压力梯度计算公式。其次基于稳定流实验方法,建立了非均质砂岩油藏启动压力梯度测试方法。结果表明:低渗透非均质砂岩油藏的启动压力梯度确定遵循两个等效原则。平面非均质油藏的启动压力梯度等于各级渗透率段的启动压力梯度关于长度的加权平均;纵向非均质油藏的启动压力梯度等于各渗透率层的启动压力梯度关于渗透率与渗流面积乘积的加权平均。研究成果可用于有效指导低渗透非均质砂岩油藏的合理井距确定,促进该类油藏的高效开发。     

On Tragic Consciousness In The Works By Ernest Hemingway

As an American modern novelist who were famous in the literary world, Hemingway was not a person who always followed the trend but a sharp observer. At the same time, he was a tragedy maestro, he paid great attention on existence, fate and end-result. The dramatis personae's tragedy of his works was an extreme limit by all means tragedy on the meaning of fearless challenge that failed. The beauty of tragedy was not produced on the destruction of life, but now this kind of value was in the impact activity. They performed for the reader about the tragedy on challenging for the limit and the death.     

A computer generator for randomly layered structures

AcomputergeneratorforrandomlylayeredstructuresYUJia shun1,2,HEZhen hua2(1.TheInstituteofGeologicalandNuclearSciences,NewZealand;2.StateKeyLaboratoryofOilandGasReservoirGeologyandExploitation,ChengduUniversityofTechnology,China)Abstract:Analgorithmisintrod…     

An Index mechanism for multi-scale view in spatial databases

There are numerous geometric objects stored in the spatial databases. An importance function in a spatial database is that users can browse the geometric objects as a map efficiently. Thus the spatial database should display the geometric objects users concern about swiftly onto the display window. This process includes two operations:retrieve data from database and then draw them onto screen. Accordingly, to improve the efficiency, we should try to reduce time of both retrieving object and displaying them. The former can be achieved with the aid of spatial index such as R-tree, the latter require to simplify the objects. Simplification means that objects are shown with sufficient but not with unnecessary detail which depend on the scale of browse. So the major problem is how to retrieve data at different detail level efficiently. This paper introduces the implementation of a multi-scale index in the spatial database SISP (Spatial Information Shared Platform) which is generalized from R-tree. The difference between the generalization and the R-tree lies on two facets: One is that every node and geometric object in the generalization is assigned with a importance value which denote the importance of them, and every vertex in the objects are assigned with a importance value,too. The importance value can be use to decide which data should be retrieve from disk in a query. The other difference is that geometric objects in the generalization are divided into one or more sub-blocks, and vertexes are total ordered by their importance value. With the help of the generalized R-tree, one can easily retrieve data at different detail levels.Some experiments are performed on real-life data to evaluate the performance of solutions that separately use normal spatial index and multi-scale spatial index. The results show that the solution using multi-scale index in SISP is satisfying.     

Jane Eyre——A Feminist In The 19th Century

In the 19th century the society was controlled by men, and women were just appendants of them, they had not any rights and freedom. But Jane was an exception, she showed some characteristics of early feminist. Jane showed her characteristics of feminism in three aspects: rebellion, equality, and independence. These characteristics were helpful to her success, and feminism is the only way out for women of that time.     

Achieving Unusual States of Matter Under High Pressure

正The periodicity of the elements and the non-reactivity of the inner-shell electrons are two related principles of chemistry,rooted in the atomic shell structure.Within compounds,Group I elements,for example,invariably assume the+1 oxidation state,and their chemical properties differ completely from those of the p-block elements.These general rules govern our understanding of chemical structures and reactions.Using first principles calcula-     

Exchange-Correlation and Electronic Excitation Energies from Pairing Matrix Fluctuations

We have developed an adiabatic connection to formulate the ground-state exchange-correlation energy in terms of pairing matrix linear fluctuations.This formulation of the exchange-correlation energy opens a new channel for density functional approximations based on the many-body perturbation theory.We illustrate the potential of such approaches with an approximation based on the particle-particle Random Phase Approximation(pp-RPA).This re-