移动机器人路径规划方法研究

移动机器人技术研究中的一个重要领域是路径规划技术，它分为基于模型的环境已知的全局路径规划和基于传感器的环境未知的局部路径规划。综述了移动机器人路径规划技术的发展现状指出了各种方法的优点与不足，最后对移动机器人路径规划技术的发展趋势进行了展望。     

The hot compaction behaviour of woven oriented polypropylene fibres and tapes. I. Mechanical properties

The aim of this work was to establish the important parameters that control the hot compaction behaviour of woven oriented polypropylene. Five commercial woven cloths, based on four different polypropylene polymers, were selected so that the perceived important variables could be studied. These include the mechanical properties of the original oriented tapes or fibres, the geometry of the oriented reinforcement (fibres or tapes), the mechanical properties of the base polymer (which are crucially dependant on the molecular weight and morphology), and the weave style. The five cloths were chosen so as to explore the boundaries of these various parameters, i.e. low and high molecular weight: circular or rectangular reinforcement (fibres or tapes): low or high tape initial orientation: coarse or fine weave.A vital aspect of this study was the realisation that hot compacted polypropylene could be envisaged as a composite, comprising an oriented ‘reinforcement’ bound together by a matrix phase, formed by melting and recrystallisation of the original oriented material. We have established the crucial importance of the properties of the melted and recrystallised matrix phase, especially the level of ductility, in controlling the properties of the hot compacted composite.     

攀钢1450热轧带钢厂精轧机组电动压下机构带钢压下时的动特性计算和探讨

从理论上和实践上对武钢１７００、鞍钢１７００改造前后、本钢１７００改造前后和攀钢１４５０精轧机组的电动压下机构在带钢压下时的动特性进行计算和探讨，得出有说服力的结论。主题词：     

中国工程勘察设计咨询业产业整合的路径选择

产业是由具有相互联系、相互制约的若干组成部分结合在一起并且有特定动能的有机体,产业分工越合理,资金、人力资源和各种自然资源与物质资料在产业内发挥的功能越大;中国工程勘察设计业的产业结构“中间大,两头小”,产业内部资源分布极不合理;结构调整的最佳选择是以工程项目总承包和分包为分工协作的垂直一体化:分化重组中间的工程咨询单位,组建顶端的EPC工程公司,发展低端的专业咨询公司、事务所。     

Effects of hot-carrier stress on high performance polycrystalline silicon thin film transistor with a single perpendicular grain boundary

This paper is a report on the effect of a single perpendicular grain boundary on the hot-carrier and high current stability in high performance polycrystalline silicon (poly-Si) thin film transistors (TFTs). Under a hot carrier stress condition (Vg = Vth + 1 V, Vd = 12 V), the poly-Si TFT with a single grain boundary is superior to the poly-Si without any grain boundary because of the smaller free carriers available for electric conduction. The shift of transconductance in poly-Si TFT with a single grain boundary is less than 5% after hot carrier stress during a period of 1000 s. The shift of transconductance is about 25% in the case of the poly-Si TFTs without a grain boundary in the channel. On high current stress, the poly-Si TFT without the grain boundary is less degraded than the poly-Si TFT with the grain boundary because the concentrated electric field near the drain junction is lower.     

变形温度和变形程度对Ti－31合金性能和组织的影响

通过高温和室温拉伸试验，研究了变形温度和变形程度对Ｔｉ－３１合金板材性能和组织的影响。结果表明，合金在７５０～８５０℃的温度下变形５％～２０％空冷后，其室温机械性能均能达到材料的技术指标要求。并发现了材料在９００℃的临界变形区。     

水溶性涂料使用性能研究

本文通过试验对水溶性涂料的耐盐雾腐蚀性能，耐热性能，高低温冲击性能，耐油性能，涂膜与铁基体，面漆的给合力及涂膜表面电阻进行研究，同时指出了该涂料在军用电子产品上的应用前景。     

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。     

Laser scanning path generation considering photopolymer solidification in micro-stereolithography

It is essential to automate the scanning path generation process to effectively implement the micro-stereolithography. However, a scanning path that is generated based only on a 3D CAD model introduces dimensional inaccuracies. In micro-stereolithography, the photopolymer solidification is affected by fabrication conditions, such as the optical properties (laser power, laser scanning speed, laser scanning pitch focusing condition, etc.) and material properties of the photopolymer. Thus, the photopolymer solidification phenomena must be considered when generating a laser scanning path. In this paper, a scanning path generation algorithm that uses 3D CAD data and considers the photopolymer solidification phenomena is proposed to improve the dimensional accuracy in micro-stereolithography. Multi-line photopolymer solidification experiments were performed for various laser scanning conditions to examine the photopolymer solidification phenomena. From these experiments, linear relations between the solidification length (width) and scanning length (width) were acquired and stored in a database. Subsequently, these data were utilized to compensate the scanning path of the laser beam. In addition, experiments for determining the layer thickness in the z-direction were performed and these results were also used in the scanning path generation algorithm.This research was supported by the Highly Advanced National Project (http://www.most.go.kr), which performs some of the National R&D Program, and sponsored by the Korean Ministry of Science and Technology under the contract project code M10214000116-02B1500-02010.     

巴彦浩特探区钻井液技术初探

巴彦浩特探区钻井液工艺技术的重点是，解决疏松砂砾岩地层水涌漏同层、侏罗系地层水的HCO3^-污染及可能出现的火成岩地层井塌复杂。结合内蒙古巴彦浩特探区地层和井身结构特点，采用了两性聚合物／氯化钾钻井液和氯化钾／石膏-聚磺钻井液体系。该体系抑制能力强，性能稳定．容易实现低固相、低密度近平衡钻井，保护储层效果好。对复杂情况采取了有针对性的处理办法：平稳操作和合理的钻井工程措施是预防水层涌漏同层和火成岩井塌复杂的重要手段；用井场易得的固井水泥或石膏配合烧碱处理HCO3^-污染简便易行；处理火成岩井塌复杂，控制合适的钻井液性能是必要的。