一种新的机器人手臂控制方法

从机器人手臂的关节电机力学出发，本文提出了一种独立于现行机器人关节控制器的离线补偿方法，通过对－２自由度机器人的数值研究，证明该法不仅能有效地克服由于惯性负载，关节间耦合与重力效应给控制系统带来的动态精度问题，而且还可以消除由于控制系统本身的固有特性所决定的系统的跟踪误差。     

Long-wavelength 640×486 GaAs-AlGaAs quantum well infraredphotodetector snap-shot camera

A 9-μm cutoff 640×486 snap-shot quantum well infrared photodetector (QWIP) camera has been demonstrated. The performance of this QWIP camera is reported including indoor and outdoor imaging. The noise equivalent differential temperature (NEΔT) of 36 mK has been achieved at 300 K background with f/2 optics. This is in good agreement with expected focal plane array sensitivity due to the practical limitations on charge handling capacity of the multiplexer, read noise, bias voltage, and operating temperature     

Strain analysis of moving objects using a Fourier transform grid method

There is no good method to measure the shape and the strain distributions of a structure changing with time. We have previously proposed the Fourier transform grid method (FTGM) to measure the three-dimensional shape and surface strain distributions of stationary objects by analysing the two-dimensional grating images recorded with two cameras. In the stereoscopic method, it is very important to determine the accurate geometric parameters of the camera system. In this paper, the positions and the directions of cameras are accurately determined using the FTGM applied to images of a reference object on which a two-dimensional grating is drawn. Applications for analysing shape and strain distributions of vibrating rubber plates and a moving human skin are shown.     

钢管内径光电检测装置

介绍了一种检测细长钢管内径的光电检测装置。该装置利用线阵ＣＣＤ作传感器，采用８０３１单片机作为主控制。     

热力学相图计算技术在闪速燃烧合成氮化硅铁中的应用

将热力学相图计算技术应用于Si-Fe-O-N体系,以评估由FeSi75粉闪速燃烧合成氮化硅铁的条件和目标产物。结果表明:将闪速燃烧温度控制在1200～1500℃之间较为适宜,此时平衡态产物中除主要含有Si3N4以外,还有一定量的Fe与Si间化合物和少量稳定的SiO2存在。此计算结果与实际试验结果吻合良好。     

有机盐聚合醇氯化钾钻井液的应用

霍尔果斯背斜构造极其复杂,内应力极高,地层倾角大,断层、破碎带多,并存在高低压互层;安集海河组的灰绿色软泥岩水化严重并具有粘弹塑性.该区块重点探井霍003井三开、四开井段选用有机盐聚合醇氯化钾钻井液,同时为保证钻井液在高密度下（2.55 g/cm^3）具有好的流变性,使用活化铁矿粉、活化重晶石加重.应用结果表明,由于采用了强抑制和多元封堵的措施,该钻井液具有良好的流变性和较强的携带能力,钻进中曾携带出重2.8 kg和5.1kg的大掉块;滤失量低,泥饼质量好,封堵能力强,造壁能力强,减轻了井下阻卡程度;有良好的储层保护能力;在室内研究的基础上,经过现场合理使用和维护钻井液,霍003井提高了机械钻速,缩短了钻井周期,井身质量优于邻井.指出在高密度下,未选出适合有机盐聚合醇氯化钾钻井液的稀释剂,钻井液流动性较差.     

房屋建筑结构无损检测方法的分析与展望

通过对现有的结构无损检测方法的总结和分析,讨论了各种方法的优缺点.并结合现场测试的要求,展望结构检测技术的发展方向与趋势.     

Transformations for nonideal uniform circular arrays operating in correlated signal environments

The Davies transformation is a method to transform the steering vector of a uniform circular array (UCA) to one with Vandermonde form. As such, it allows techniques such as spatial smoothing for direction-of-arrival (DOA) estimation in a correlated signal environment, developed originally for uniform linear arrays, to be applied to UCAs. However, the Davies transformation can be highly sensitive to perturbations of the underlying array model. This paper presents a method for deriving a more robust transformation using optimization techniques. The effectiveness of the method is illustrated through a number of DOA estimation examples.     

利津地区深层沙三、沙四段油藏测试评价

利用测试资料，将利津地区深层沙三、沙四段油藏分为5种油藏类型：①高压、低-极低渗、导数曲线后期上翘、地层存在非均质性的油藏；②高压、低渗、无污染、双孔介质的油藏；③高压、低-中渗、无-轻微污染的复合油藏；④常-高压、低渗、有污染的油藏；⑤常-高压、极低渗、无污染、干层的油藏。最后对利津地区深层沙三、沙四段各种类型油藏进行了评价，认为利津地区深层沙三、沙四段自然产能较低，一般需要进行改造措施来提高渗透性，提高产能。