机器人虚拟TCP的设置及其在加工中的应用

针对机器人末端抓持工件时,无法利用生成在工件上的轮廓点进行去毛边加工的问题,对机器人末端抓持工件在工具固定的情况下去毛边加工的方法进行研究,提出在确定工件加工轮廓与机器人末端TCP的固定位姿关系之后,将固定在机器人工作空间中的工具上一点设置为虚拟TCP,以该虚拟TCP为基准,将附着于机器人末端工件上的加工轮廓点映射成机器人工作空间中的虚拟轨迹点的方法。在给出工件上轨迹点与虚拟轨迹点的映射关系,完成虚拟TCP以及机器人末端TCP设置的基础上,在Fanuc机器人仿真软件Robo Guide中对该方法进行了运动仿真验证后进行了加工,测量了其刀具进给量。实验结果表明:利用该方法对机器人夹持的工件进行去毛边加工,完全满足生产加工的精度要求。福建省重大科技专项资助项目(2016HZ0001-6

日本血吸虫幼虫在钉螺及感染外睾吸虫钉螺发育的比较

湖北钉螺先感染外睾吸虫后再感染日本血吸虫,血吸虫幼虫在其体内被击杀(唐崇惕等,2008;2009),本文用日本血吸虫毛蚴分别接触已感染外睾吸虫21d的钉螺和阴性钉螺,观察血吸虫幼虫在此2组实验钉螺体内发育情况。从感染外睾吸虫钉螺再感染血吸虫的28个(73.7%)阳性螺,查获4～82d血吸虫幼虫共300条(侵入率26.74%),全部虫体结构异常停留在早期母胞蚴阶段。从单独感染血吸虫的25粒(69.4%)阳性螺,查获5～61d正常血吸虫母胞蚴67条(侵入率13.96%)和许多不同发育期子胞蚴,感染后75d阳性螺含血吸虫成熟子胞蚴和尾蚴。单独感染血吸虫钉螺的血淋巴细胞增生情况与双重感染外睾吸虫和血吸虫的钉螺存在差异

先感染外睾吸虫的钉螺其分泌物和血淋巴细胞对日本血吸虫幼虫的反应

目的单独感染外睾吸虫的湖北钉螺,螺体分泌物和血淋巴细胞剧烈增加;螺体表分泌物含大小不等颗粒及晶体状物,体内分泌物为金黄色或褐色小颗粒,各颗粒团附近均有极小细胞核。双重感染外睾吸虫和日本血吸虫的钉螺,体内外分泌物和血淋巴细胞等产物同样大量产生;体内分泌物颗粒及其附近小细胞核、3种血淋巴细胞及副腺细胞,出现在血吸虫幼虫周围并进入虫体内;所有血吸虫幼虫结构异常,停止发育并死亡。阴性钉螺和单独感染日本血吸虫的钉螺,它们体内外分泌物及血淋巴细胞的数量均少;分泌物颗粒和血淋巴细胞虽有在血吸虫幼虫附近,但都没有进入虫体内

Digital design and manufacturing technology of customized hip prosthesis

针对人体的髋关节具有个性化特征以及传统假体与股骨匹配后力传递不稳定等问题,对人体髋关节假体数字化设计、有限元力传递分析、基于机器人磨削的数字化加工进行了研究,提出了在设计、仿真和加工过程中将髋关节假体模型统一的方法,实现了定制式假体数字化设计、有限元力传递的分析和机器人磨削加工的一体化,初步建立了髋关节假体的数字化设计与制造、产品生命周期的服务模型,为数字化设计与制造技术在髋关节假体等骨科植入物中的应用建立了基础。实验结果表明：采用机器人数字化磨削加工定制式假体,保持机器人软件空间与实际工作空间一致,可以有效提高假体的制造精度,实现假体与股骨髓腔的最优匹配。Aiming at the personal design of human hip joint and the stable force transmission after the matching of traditional prosthesis and femur, digital design of the human hip prosthesis , finite element analysis of force transfer and digital processing based on robot grinding were studied. The method of unifying hip prosthesis model in the process of design, simulation and processing was proposed to realize the integration of digital design of customized prosthesis, finite element analysis of force transfer and robotic grinding processing and both digital design and manufacture of hip prosthesis and service model of product life cycle were preliminary established to provide the basis for the applications of digital design and manufacturing technology in orthopaedic Implants, such as hip prosthesis. The results show that customized prosthesis produced by robotic digital grinding could effectively improve the manufacturing precision and achieve the optimal matching of prosthesis and femoral medullary cavity by keeping the robot software space consistent with the actual working space

Statistical study of trace elemental concentrations in major types oforganisms from typical Chinese coastal waters

研究了微量元素Fe、Mn、Zn、Cu、Sr、Ba在我国典型海域主要生物类别中的概率分布特征,并与常量元素Ca、Mg进行了比较。结果表明,微量元素的概率分布曲线具正偏态性质,概率分布类型大多为对数正态分布或近似对数正态分布,表明对某一特定微量元素,大多数生物体中的含量都比较低,只有个别生物有不成比例的高含量。常量元素Ca与微量元素相似,表现为对数正态分布,而Mg却具正态分布特征。本文给出了我国典型海域生物体中元素含量的总体分布特征。The probability distribution of the trace elements Fe, Mn, Zn, Cu, Sr and Ba in the marine organisms collected from the typical Chinese coastal water swere studied and compared with those of major elements Ca and Mg. All the distributions for the trace elements in macrophytes, benthic molluscs, crustaceans, cephalopods and different tissues in the fish (muscle, liver and bone) were nearly found to show the positive skewness, and a relatively large number of the marine organisms with low concentrations for the element and only a few organisms with disproportionately high concentrations. Their distribution types were generally logarithmic normal distribution or nearly logarithmic normal distribution. Distribution of Ca was similar to the trace elements, while Mg the normal distribution. Average concentrations of the major elements in the organisms were calculated based on their probability distributions.教育部博士学科重点项目(96038412

日本血吸虫幼虫在先感染外睾吸虫后不同时间钉螺体内被生物控制效果的比较

前此实验显示:21d外睾吸虫阳性钉螺能使再侵入的全部血吸虫幼虫发育停留在异常早期母胞蚴阶段〔1-3〕。本文实验比较观察了感染外睾吸虫后不同时间(21d、35d、55d、70d及85d)的钉螺对再侵入的日本血吸虫幼虫生物控制的情况,发现外睾吸虫和血吸虫双重感染的钉螺,两者间隔时间愈长,后侵入的血吸虫幼虫被击毁程度愈强(图1-20);不同间隔时间双重感染的各组实验钉螺,血吸虫幼虫感染率及幼虫侵入率如下:间隔21d,75%(39/52)和25.5%(398/1560);间隔37d,77.8%(21/27)和35.6%(299/840);间隔55d,44.4%(8/18)和11.9%(19/160);间隔70d,100%(15/15)和10.6%(143/1350);间隔85d,43.3%(13/30)和5.8%(66/1140)

中华哲水蚤不同地理种群苹果酸脱氢酶(MDH)的比较

国家自然科学基础研究重大课题资助项目G1999043708 号 ;; 国家自然科学基金项目40076034

基于标准CMOS工艺的一款宽带限幅放大器芯片设计

采用SMIC0.35μmCMOS混合信号工艺来设计开发一款适用于SDHSTM-16的光接收机前端限幅放大器芯片。该限幅放大器的设计采用了电容中和技术来实现带宽的扩展,可满足2.5Gbps速率要求,芯片电路拥有信号丢失检测和自动静噪功能。芯片版图的参数提取仿真表明:芯片最小输入动态范围可达2mV,50Ω负载上的双端输出摆幅约为1400mVpp,在3.3V供电下静态功耗仅为66mW,动态功耗为105mW,有实际推广价值

An Efficient(k,p) Notational System Transform Algorithm

多进制编码和混合进制编码广泛应用于信息隐藏领域,影响其编码性能的一个关键因素是进制转换效率.针对任意k进制序列到P进制序列的相互转换,提出一种高效的进制转换算法,并根据信息论证明了其最优性.利用新算法改进了kT-lEX文本隐写系统、网页等价标记隐写术、图着色编码和APPM编码等多种基于混合进制编码和分组多进制编码的隐写术,有效提高了原方法的隐写性能.理论分析和实验结果均表明了该算法的有效性.Muti-ary codes and mix-ary codes are widely used in information hiding, while the transfer efficiency between notational systems is an important factor of coding efficiency.An effective notational system transfer algorithm based on double-coding method is proposed for transforming arbitrary k-ary sequences to p-ary sequences.It is proved that the proposed notational system transform algorithm is optimal.The method is applied to improve embedding efficiency of several kinds of steganographic algorithms based on mix-ary codes or grouped multi-ary codes, including KT-Lex steganographic system, webpage steganography based on equal tag, grid coloring codes and APPM codes.Both theory analysis and experimental results show that the proposed method is effective.国家自然科学基金(No.60803155;No.60970141;No.60902102;No.61274133); 中国科学院战略性先导专项课题基金(No.XDA06030601); 国家重大科技专项基金(No.2010ZX03004-003); 郑州市科技创新团队项目基金(No.10CXTD150)资

Variation Characteristics of Water Quality in Aquaculture Ponds in Xishan Island of Eastern China Seas

根据2004年5月10日对西闪岛试验场4个养殖塘及进、排水口水体温度、盐度、pH、溶解氧、各种无机氮、磷酸盐、COD等理化指标和大肠菌群、细菌总数等生物指标的测定结果分析养殖场水质变化。结果表明:养殖场和进、排口水体温度、盐度变化不明显,pH下降与养殖周期有关;营养盐含量增加,在不同养殖种类、养殖周期和养殖饲料系数变化不同;受消毒杀菌等措施影响下细菌总数与大肠杆菌总数明显减小,而养殖周期长的池塘,细菌总数仍增加,大肠杆菌总数减少幅度变小。Based on the results of water quality(physical and chemical factors:water temperature,salinity,pH,DO,DIN,PO4——P,COD,and biomarker-indicated:total bacteria and Coliforms) determining from the 4 pools and infall,outfall of the Xishan Island aquaculture pond,the variation characteristics of water quality in infall,outfall of pond and its reasons were analysised and discussed