COLLISION-FREE OF MULTI-ROBOT SYSTEMS IN VIRTUAL ENVIRONMENT

IntroductionWith the development of automation and con-trol technology,on car- body plant,at present,consideration of multi- robot systems has become abasic requirement. With the help of multi- robotsystems,we can shorten production time,improveproduction quality and quantity,and decrease pro-duction error rate. Buthow multi- robots can coop-erate with each other,especially on welding pro-duction line for car- body,is what we concernabout the most.We hope to find a good way toplan out paths fo…     

DYNAMIC HUNTING EXTREMUM CONTROL METHOD BASED ON MEASURE AND ESTIMATION

Anextremumcontrolsystembasedoncommonhuntingmethods[1 ] cannotworkwellforindustrialprocesses:becauseofthesysteminertialandtimedelayinfluences,thesystemwillbecomeoscillat ing ,workinwrongstepsorwillbehuntingforalongtimefortheworking process.Thepreviousmethod[2 ] canonlyapplytothesystemthathasafastdynamicprocessoritsdynamicresponsecanbeignored .Thispaper proposedadynamichuntingmethod differencepre estimationandcomparisonmethod .Thismethodcanbeusedinsecond orderorhighordersystemswithlargetimecons…     

PATH CONTROL OF A 3 DOF ROBOT MECHANISM ACTUATED WITH LOW PRESSURE AIR POWERED MOTORS

ＩｎｔｒｏｄｕｃｔｉｏｎＡｉｒ－ｐｏｗｅｒｅｄｍｏｔｏｒｓｈａｖｅｔｈｅａｄｖａｎｔａｇｅｓｏｆｌｏｗｃｏｓｔ,ｇｏｏｄｐｏｗｅｒ－ｔｏ－ｗｅｉｇｈｔｒａｔｉｏ,ａｎｄｉｎｔｒｉｎｓｉ－ｃａｌｙｓａｆｅｏｐｅｒａｔｉｏｎ［１］．Ｔｈｅｓｅｃｈａｒａｃ...     

基于逻辑推演理论的船舶避碰决策

提出了研究船舶避碰决策的一个新方法,并把多逻辑系统作用的结构演化引入舰艇避碰决策系统,构建了船舶避碰决策系统逻辑推理的基本理论,指出了进一步的研究方向。     

基于模糊-PID的FDM设备温度控制系统设计与实现

在熔丝沉积成型温度控制系统中,综合考虑到温度控制的精度及快速性,设计了一种基于模糊-PID控制算法的温度控制系统.实践证明,在熔丝沉积成型中采用该温度控制系统不但可以大大减少初始化升温过程的过渡时间,同时还能有效地保证温度控制的稳定和精确,有助于成型工艺的改进和零件质量的提高.     

PLC在燃油锅炉自动控制系统中的应用

介绍了F1-30型PLC对燃油锅炉的点火、燃烧、送风、喷油等一系列程序实行的自动控制,设计了控制系统的软硬件.系统使用表明,系统运行稳定可靠.     

INVESTIGATION ON THE DYNAMIC RESPONSE PERFORMANCE OF A NOVEL THREE-WAY SOLENOID VALVE

In order to meet the increasinglystrict emissionstandards andi mprove the perfor mance of diesel en-gines,using electronic control systemin diesel en-gines becomes more and more popular.In the com-mon-rail injection system of diesel engines,injec-tion ti ming and injection duration are controlled bythe solenoid valve.The perfor mance of common-rail injection systemis directly deter mined by thesolenoid valve[1-2].A novel high-speed three-waysolenoid valve used in the common-rail injectionsyste…     

THE DESIGN OF DYNAMIC SIMULATION SYSTEM ON EARTHQUAKE SURROUNDINGS

Every year ,manyearthquakesoccurallovertheworld .Earthquakealwaysbroughthumanbe ingsterribledisasterandamassofpropertyloss ,anditwillbemoredangerousalongwithmoreandmoreskyscrapers ,large scalebridgesandhugereservoirs.Becausealmostallearthquakesimulationdevicesareusedtoinvestigation ,peoplewhohavenot gonethroughtheearthquakedisasterknownlittletoit.Thispaperbringsoutanearthquakesurroundingssimulationsystembywhich peoplecanbefamiliarwithearthquake phenomena ,includeearthquakeomen ,strongshockanda…     

克山病消长与人体硒水平关系的动态观察

1973年至1990年,对陕西省黄陵县店头病区克山病消长与人体硒水平进行了动态观察。观察期间,急性(含急型和亚急型)、慢型和潜在型克山病发病率逐年下降,潜在型病情恶化率亦呈下降趋势;病区人群头发硒含量逐年上升,病情与发硒含量呈显著负相关。病区人群头发硒含量提高至非病区农村水平后,慢型和潜在型仍有新发病。     

咪唑安定经静脉肌肉途经辅助硬膜外麻醉的效果观察

ASA ～ 级上腹部手术患者 5 0例 ,随机分为咪唑安定静注组 ( 组 )、肌注组 ( 组 )和氟哌啶组 ( 组 ) ,观察用药前后 5、1 5和 30 min MV、RF、SBP、DBP、HR和血气分析等指标的变化。结果 组 MV显著降低 ( P <0 .0 5 ) , 、 组 MV无显著降低。 组用药后 BP、HR显著降低 ( P <0 .0 5 )。三组血气指标无显著性变化 (P >0 .0 5 )。表明咪唑安定可用作硬膜外麻醉辅助用药 ,肌肉注射较安全 ,但应加强监测。     

妊高征患者血浆内皮素水平和血液流变学指标的动态变化

测定了３０例妊娠３０～４２周孕妇（２０例妊高征，１０例正常孕妇）血浆内皮素（Ｅｎｄｏｔｈｅｌｉｎ，ＥＴ）水平和血沉（ＥＳＲ），红细胞压积（Ｈｔ），全血粘度（ＷＢＶ）及血浆粘度（ＰＶ），并动态观察了５例病程较长妊高征患者血浆ＥＴ水平。结果显示，妊高征母体血浆ＥＴ水平显著高于正常孕妇，且随着病程延长和病情加重而有升高；妊高征组Ｈｔ及ＷＢＶ明显高于正常孕妇组，而ＥＳＲ则明显缓慢。两组ＰＶ无明显变化。妊高征组血浆ＥＴ水平与Ｈｔ及ＷＢＶ呈显著正相关，与ＥＳＲ及ＰＶ呈显著负相关。提示血浆ＥＴ水平及其动态变化与妊高征的严重程度呈正相关，可作为其病情判别和母婴预后估计的辅助指标。     

巯甲丙脯酸对心肌梗塞大鼠血浆血管紧张素Ⅱ动态变化的影响

用放射免疫法观察了大鼠心肌梗塞(MI)后血浆血管紧张素H(AH)水平的动态变化及巯甲丙脯酸(Cap)对血浆AH水平的影响。结果表明:MI后第1天血浆AH水平明显升高,但持续时间较短,第3天已恢复至术前水平。较长时间连续应用Cap能使MI鼠的血浆AH持续稳定地处于低水平。     

MANUAL ACUPUNCTURE PRODUCES LONG TERM INHIBITION OF THE NOCICEPTIVE TRANSMISSION TO WIDE DYNAMIC RANGE NEURONS IN THE SPINAL CORD OF THE RAT

Acupuncture,includingelectricalandmanualacupuncture,hasb'enwidelyusedinclinicalandexperimentalpracticetore-lievepain.Althoughbothproceduresseemtobeeffectiveinproducinganalgesi-ac1.3.7～9.l2.16～1B,,thephysiologicalmecha-nismsunderlyingeitherformofacupunc-ture,especiallyfortraditionalmanualacupuncture,thathasalonghistoryofef-fectivenessandhasbeenusedmorewide-ly,arestilluncleart14).Itshouldbenotedthatlittleattentionhasbeenpaidtoinves-tigationofthephysiologicalmechanismsofmanualacupuncturewhichha…     

THE ROLE OF RED NUCLEUS IN THE MODULATION OF SPINAL NOCICEPTIVE TRANSMISSION AND IN NOCICEPTION ELICITED BY MUSCLE SPINDLE AFFERENTS

RNiswellknownasanimportantnucleusinmotorcontrolofextra pyramidalsystem .However ,anatomicalstudieshaverevealedthatasignificantproportionoftherubrospinalfibersterminatesintheventralportionofthedorsalhorn (laminaeⅤ Ⅵ ) ,andinpartoftheintermediatehorn (laminaeⅦ ) .Suchterminaldistributionsuggestthatrubro spinalneuronsmaymodulatetheresponsesofdorsalhornneuronsinvolvedintherelayofsomatosensorycutaneousinformationtomorerostrallevelsofner voussystem .ThereareevidencesthatRNstimula tionaffectsnoc…     

慢性肝病患者血硒、GSH－Px和LPO的动态变化及补硒的影响

动态观察１６例慢性肝病患者加服硒酵母（２００μｇ硒／ｄ，连用１２周）后血浆硒水平、谷胱甘肽过氧化物酶（ＧＳＨ－Ｐｘ）活性和脂质过氧化物（ＬＰＯ）含量的变化，并与未服硒制剂１６例（对照组）作比较。结果：①实验开始１２周后，对照组患者血浆硒、ＧＳＨ－Ｐｘ活性才明显增高，ＰＯ含量明显下降，与治疗前比较差异有显著性（Ｐ＜０．０５）；②服硒组患者４周后血硒、８周后ＧＳＨ－Ｐｘ活性即显著增高，１２周趋于稳定，接近正常人水平。且血硒水平均显著高于对照组同期值（Ｐ＜０．０５）；③服硒组患者８周后血ＬＰＯ含量亦显著下降。提示利用硒酵母口服提高慢性肝病患者的抗氧化能力是可行的。     

两种不同途径应用枢复宁~(TM)预防化疗所致恶心呕吐的疗效比较

观察枢复宁ＴＭ两种不同给药途径预防各种中晚期癌症患者化疗所致恶心、呕吐的临床疗效和副作用。根据所选抗癌药的不同,将１４７例中晚期癌症患者分为Ａ、Ｂ、Ｃ三组。Ａ组为大剂量顺铂组、Ｂ组为低剂量顺铂组、Ｃ组为非顺铂组。各组患者按所用上吐方案分一剂一片组（枢复宁８ｍｇ,静注第一天和口服第二天）;一片一片组（枢复宁８ｍｇ,口服第一天和第二天）,连续观察５ｄ。结果：Ａ、Ｂ、Ｃ三组止吐有效率分别为７５．６％、７２．７％;ＳＬ５％、７５．０％和９４．６％、９４．４％（Ａ与Ｃ组比较Ｐ＜０．０５）。两种枢复宁ＴＭ简化止吐方案均对顺铂和非顺铂类化疗药物引起的急性呕吐有效,疗效没有差别,一片一片的止吐方案更经济简便。