空间机器人组装超大型结构的动力学分析北大核心CSCD

超大型航天结构具有超大柔性、超低固有频率的特点,空间机器人在轨组装时应尽可能避免激起超大型结构的柔性振动.空间机器人组装超大型结构模块的过程分成抓捕阶段、位姿调整与稳定阶段、安装阶段和爬行阶段.通过对安装阶段的动力学与控制研究,提出共线安装的轨迹规划方法,有效避免了柔性结构振动.首先,采用自然坐标法和绝对节点坐标法建立主结构-空间机器人-待组装结构的在轨组装系统动力学模型.然后,将共线安装的要求转化为空间机器人的轨迹规划约束,要求空间机器人质心到主结构/待组装结构的距离保持不变,实现共线安装的轨迹规划.数值仿真表明:提出的组装方法在组装过程中可有效避免超大型结构的横向运动,降低夹持力矩.最后,分析了系统参数对组装过程动力学响应的影响,为超大型航天器的在轨组装提供了参考.     

The alternating basis algorithm for assignment problems

The purpose of this paper is to present a new primal extreme point algorithm for solving assignment problems which both circumvents and exploits degeneracy. The algorithm is based on the observation that the degeneracy difficulties of the simplex method result from the unnecessary inspection of alternative basis representations of the extreme points. This paper characterizes a subsetQ of all bases that are capable of leading to an optimal solution to the problem if one exists. Using this characterization, an extreme point algorithm is developed which considers only those bases inQ. Computational results disclose that the new algorithm is substantially more efficient than previously developed primal and primal-dual extreme point (simplex) methods for assignment problems.     

Production of α-keto acids Part I. Immobilized cells ofTrigonopsis variabilis containing D-amino acid oxidase

Whole cells ofTrigonopsis variabilis were immobilized by entrapment in Ca²⁺-alginate and used for the production of α-keto acids from the corresponding D-amino acids. The D-amino acid oxidase within the immobilized cells has a broad substrate specificity. Hydrogen peroxide formed in the enzymatic reaction was efficiently hydrolyzed by manganese oxide co-immobilized with the cells. The amino acid oxidase activity was assayed with a new method based on reversed-phase HPLC. Oxygen requirements, bead size, concentration of cells in the beads, flow rate, and other factors were investigated in a “ trickle-bed ” reactor.     

The topology of energy hypersurfaces III. The fundamental group of reaction mechanisms on potential energy hypersurfaces

The family of all possible reaction mechanisms on a potential surface has an algebraic structure with potential applications in quantum chemical molecular design and synthesis planning.Transformation properties and equivalence relations of reaction paths on potential energy hypersurfaces lead to a topological definition of reaction mechanisms. The family of all fundamental reaction mechanisms on the hypersurface has a group structure,the fundamental group of an appropriately defined topological space. Isomorphism and homomorphism relations between fundamental groups of reaction mechanisms are used to characterize the chemically important topological properties of various subsets of a hypersurface, or those of different excited state hypersurfaces.     

Anaerobic reduction of a sulfonated azo dye, Congo Red, by sulfate-reducing bacteria

The capacity for anaerobic decolorization of a sulfonated azo dye, Congo Red, by a strain of a sulfate-reducing bacterium was evaluated. After optimizing the growth rate of the bacteria on a simple carbon source and terminal electron acceptor pair, lactate and sulfate, respectively, the effect of the dye concentration on their growth rate was analyzed. The decolorization rate was affected by the dye concentration in the growth medium. The azo-bond cleavage mechanism of reductive decolorization with the formation of benzidine was consistent with the results, as this metabolite was identified by high-performance liquid chromatography. Several fractions of the culture medium, including lysed cell extracts, were examined for the capacity to reduce the azo dye. This reduction capacity was found in the culture medium in which the cells had previously grown. The results showed that the mechanism of reductive decolorization of this sulfonated azo dye was extracellular and nonenzymatic, consistent with the production of sulfide anion by the microorganisms while growing on lactate and sulfate. The sulfide anions were the cause of the reduction leading to the disappearance of color in the medium. To increase the rate of decolorization, the presence of ferrous ion was also necessary together with the lactate and sulfate substrates.     

Controlled Radical Polymerization

Various methods which lead to the control of molecular weight and polydispersities, and which allow for the preparation of block copolymers by radical polymerization are discussed. Thermal polymerizationof styrenes in the presence of stable radicals, polymerization of vinyl acetate and methyl methacrylate in the presence of chromium complexed by macrocyclic ligands polymerization of vinyl acetate initiated by organoaluminum compounds complexed by dipyridyl and activated by stable radicals, as well as in the presence of phosphites, are described in detail.     

Two-worker blocking congestion model with walk speed m in a no-passing circular passage system

This paper introduces a blocking model and closed-form expression of two workers traveling with walk speed m (m = integer) in a no-passing circular-passage system of n stations and assuming n = m + 2, 2m + 2, …. We develop a Discrete-Timed Markov Chain (DTMC) model to capture the workers’ changes of walk, pick, and blocked states, and quantify the throughput loss from blocking congestion by deriving a steady state probability in a closed-form expression. We validate the model with a simulation study. Additional simulation comparisons show that the proposed throughput model gives a good approximation of a general-sized system of n stations (i.e., n > 2), a practical walk speed system of real number m (i.e., m ? 1), and a bucket brigade order picking application.     

Economic lot scheduling with deliberated and controlled coproduction

This paper presents an algorithm to define the optimal parameters for deliberated and controlled coproduction in an economic lot scheduling problem setting (DCCELSP). Coproduction is said to be deliberated and controlled because it is possible to decide whether or not to coproduce when all the parameters associated with the process are known. The aim is to determine how to produce two products most economically where deliberated coproduction is an option. For this purpose, a procedure for defining optimal lot periods is introduced. Two models are proposed for this procedure and a numerical illustration is provided to gain insight into their dynamics. The cost advantages of coproduction were found to depend on the relationship between setup and holding costs, production rates, and demand for products. The more similar these system parameters are and the higher the machine usage ratio is, the more favourable coproduction is. Additionally, if coproduction is not deliberated appropriately, costs soar.     

地方高校高分子材料与工程专业生产实习协同创新模式探讨

地方高校已成为我国高等教育的重要组成部分,由于办学目标、生源构成、服务地区不同于部属高校,其生产实习教学环节面临各种困境。寻求有效的途径突破生产实习的困境成为当前各地方高校亟待解决的问题。本文以广东工业大学为例,在分析该校的办学特点以及高分子材料与工程专业近年来生产实习状况的基础上,介绍该校以大学联盟为平台的生产实习新模式,并详细说明其实施方案。该模式基于该校的协同创新战略,已取得良好的教学效果。     

面向远海岛礁群的双向物流网络规划

针对若干远海岛礁群系统封闭性的分布特点,将中心岛礁选址、各岛礁建设泊位数量和规模、仓库储存量、运输船型和数量以及航线设置、班期组织等作为规划内容,以整个运输网络系统总成本最低为原则,综合考虑了仓库存储理论,建立了兼顾“选址-库存-路径”的规划模型。结合所建模型特点,提出了双层并行搜索遗传算法,构建了以海上运输为基本交通方式的双向物流系统。最后,以我国南海为例进行建模并求解,采用不同算法并通过多组不同规模的算例进行演算比较,验证了所建模型和算法的有效性与合理性。