基于微机的PUMA262机器人的离线编程系统

本文论述了一个离线编程系统开发的全过程，包括系统的设计和该软件的核心技术，ＰＵＭＡ机器人的运动学动力分析与仿真，机器人与微机的接口技术及ＮＵＲＢＳ高级曲线的路径规划方法等。     

BaFe12O19/SiO2-B2O3微晶玻璃陶瓷的制备和微波性能

采用柠檬酸sol-gel工艺合成了BaFe12O19/SiO2-B2O3微晶玻璃陶瓷，研究了SiO2-B2O3玻璃的含量，Ba/Fe原子比和热处理温度对体系析出晶相的影响，以及介电常数和磁异率在1MHz-6GHz频率范围的变化规律，结果表明，休系中SiO2-B2O3玻璃的含量和Ba/Fe比越高，BaF312O19相的析出越困难，前驱体合适的热处理温度为1000℃，介电常数和磁导率基本上随测试频率的增而加下降；介电损耗的最大值为0．43，磁损耗较小。     

PCI接口芯片9080及其应用

CI9080是PLX公司开发的支持主从模式传输的PCI接口芯片。介绍了PCI总线的特性和PCI9080的主要特点、芯片内部结构,并详细分析了DMA,Direct Master,Direct Slave的传输特性和总线周期信号响应过程,以及PCI9080的总线工作模式、配置空间加载方式、上电初始化过程。最后给出了一个PCI数据采集卡的硬件设计框图和具体功能模块说明,旨在说明如何通过PCI9080设计PCI总线适配卡。     

土壤源热泵取热的实验研究

通过广泛分析国内外对土壤源热泵实验研究的现状,建立了可以模拟多个地区、多种运行工况的土壤源热泵沙箱实验台,并进行了绝热边界工况短期内取热的实验研究。     

相变储能材料研究进展

综述了固-固相变储能材料（s-S PCMs：sofid-solid phase change materials）、固-液相变储能材料（s-1 PCMs：solid—liquid phase change materials）的主要优缺点，并主要介绍了以下2种封装方式：（1）PCMs与基体材料复合制成定型PCMs，包括：与有机高分子材料机械共混、用无机多孔材料封装；（2）PCMs微囊化。此外，还分析了PCMs的主要应用领域及PCMs的主要研究方向。     

清涧河流域不同水土保持措施配置下蓄水拦沙效益分析

从分析清涧河流域不同年代水土保持措施配置人手，以蓄水拦沙效益为研究目标，探讨了水土保持措施优化配置问题。分析认为：水土保持措施配置与蓄水拦沙效益是密切相关的，淤地坝在水土保持措施配置中应占有合理比重，坡面治理措施配置中需进一步加大封禁治理比例。     

黄河下游河道萎缩致灾机理探讨

本文基于水力学原理，结合实体模型试验及原型实测资料分析，探讨了黄河下游河道萎缩的概念、致灾效应和致灾机理。分析表明，河道萎缩是造床过程中河道排洪输沙功能衰退的一种演变现象，其致灾效应是使洪水涨率增大，同流量下洪水水位不断抬升。致灾的现象主要表现在畸型河势增加、工程险情增多、直接造成工程损失及滩区经济损失等。试验研究揭示，主河槽宽度缩窄造成洪水水位涨幅增大，河底平均高程抬升和过水断面面积减小造成洪水水位起涨的基准面抬升是河道萎缩致灾的主要原因。河道萎缩致灾效应的大小与萎缩模式有关，其中以“集中淤槽”模式所形成的致灾效应尤为明显。     

铁素体球墨铸铁与20钢的闪光对焊

试验使用铁素体球墨铸铁和20钢的实心棒料进行了闪光对焊，通过改变次级电压4～8级，通电时间3～5s，观察其焊接接头组织的变化并测定其抗拉强度。结果表明，接头由三个区组成；当通电时间一定时，抗拉强度随次级电压的升高先减小后增大；当次级电压一定时，抗拉强度随通电时间的增加而增大。在次级电压为8级、通电时间为5s时，抗拉强度达最大值，为370．8MPa，是20钢母材的90.4％，是球墨铸铁母材的83.7％。     

Battery-Aware Routing for Streaming Data Transmissions in Wireless Sensor Networks

Recent technological advances have made it possible to support long lifetime and large volume streaming data transmissions in sensor networks. A major challenge is to maximize the lifetime of battery-powered sensors to support such transmissions. Battery, as the power provider of the sensors, therefore emerges as the key factor for achieving high performance in such applications. Recent study in battery technology reveals that the behavior of battery discharging is more complex than we used to think. Battery powered sensors might waste a huge amount of energy if we do not carefully schedule and budget their discharging. In this paper we study the effect of battery behavior on routing for streaming data transmissions in wireless sensor networks. We first give an on-line computable energy model to mathematically model battery discharge behavior. We show that the model can capture and describe battery behavior accurately at low computational complexity and thus is suitable for on-line battery capacity computation. Based on this battery model we then present a battery-aware routing (BAR) protocol to schedule the routing in wireless sensor networks. The routing protocol is sensitive to the battery status of routing nodes and avoids energy loss. We use the battery data from actual sensors to evaluate the performance of our protocol. The results show that the battery-aware protocol proposed in this paper performs well and can save a significant amount of energy compared to existing routing protocols for streaming data transmissions. Network lifetime is also prolonged with maximum data throughput. As far as we know, this is the first work considering battery-awareness with an accurate analytical on-line computable battery model in sensor network routing. We believe the battery model can be used to explore other energy efficient schemes for wireless networks as well.