摘要：提出一种基于NOR Flash的存算一体模拟乘加电路以及相应的偏置电路,运用NOR Flash工作于深线性区的I-V特性,实现模拟乘累加运算。通过将同一位线、不同字线的两个浮栅管上电流相减,实现其阈值电压差值与漏源电压的乘法运算。同时将同一字线、不同位线的浮栅管电流相加,实现乘法结果的加法运算。给出电路使NOR Flash位线电流相加、字线电流相减,将运算结果以伪差分的形式输出,仿真结果表明电路可以实现存算一体的模拟乘累加运算。

摘要：提出了一种基于电流估计的机器人重力及摩擦力辨识方法,具有辨识简单、快捷、精确的优点。建立了关于机器人重力项参数的线性回归模型,并基于QR分解的数值方法提取出可被辨识的重力项参数;设计了具有周期性的对称拼接的抛物线过渡的线性插值激励轨迹,并利用最小二乘法估计重力项参数。基于库伦-粘滞模型和Stribeck模型对机器人各关节进行了摩擦力建模及辨识,提升了摩擦模型的拟合精度。实验表明,机器人以低速运行时,基于辨识参数计算的理论力矩能够较好地拟合机器人实际驱动力矩,两者之间的平均绝对误差和均方根误差在2 N·m以内,验证了辨识结果的准确性。

摘要：研究了水泥石线性热膨胀系数的测试方法及温度、湿含量和龄期对其的影响，并进行了一定的理论分析，以期为长形混凝土结构设计提供一定的依据．研究结果发现：所使用的测试水泥石线性热膨胀系数的方法是可行的，所测试的水泥石的线性热膨胀系数在12×10^-6～20×10^-6℃范围内，水泥石线性热膨胀系数随龄期增长而增大，随温度升高而增大；所讨论的影响水泥石线性热膨胀系数的3个因素中，龄期影响最大，温度次之，湿含量影响最小．

摘要：绿色建筑推动工程项目管理咨询服务模式创新——中国·上海2010工程项目管理国际论坛胜利召开为进一步推动我国工程管理的深入发展,促进工程咨询行业的转型升级,11月4日,由上海市建设工程咨询行业协会、同济大学和现代建筑设计集团联合英国皇家特许测量师学会及香港测量师学会共同主办的"

摘要：低压易漏地层在固井过程中易发生漏失,因此固井时要求降低水泥浆密度。以漂珠和空心玻璃微珠复合作为密度减轻材料,根据颗粒级配紧密堆积理论,以水泥、稳定剂DZW以及其他各种外加剂进行合理配比,设计出一种密度为1.28 g/cm3的低密度水泥浆。性能评价结果表明:该体系满足沉降稳定性要求,流动性好,65℃下滤失量小于50 m L,24 h抗压强度大于14 MPa。现场应用结果表明,复合空心微珠低密度水泥浆体系能够有效解决低压易漏地层固井漏失问题。

摘要：The dynamic parameter identification of the robot is the basis for the design of the controller based on the dynamic ***,the primary method for solving angular velocity and angular acceleration is to filter and smooth the position sequence and then form a differential ***,if the noise and the original signal overlap in the frequency domain,filtering the noise will also filter out the valuable information in the frequency *** paper proposes an excitation trajectory based on Logistic function,which fully uses the information in the original signal and can accurately solve the angular velocity and angular acceleration without filtering and smoothing the position *** joint angle of the excitation trajectory is mapped to the joint angular velocity and angular acceleration one by one so that the joint angular velocity and joint angular acceleration can be obtained directly according to the *** genetic algorithm is used to optimize the excitation trajectory parameters to minimize the observation matrix’s condition number and further improve the identification *** using the strategy of iterative identification,the dynamic parameters identified in each iteration are substituted into the robot controller according to the previous position sequence until the tracking trajectory approaches the desired trajectory,and the actual joint angular velocity and angular acceleration converge to the expected *** simulation results show that using the step-by-step strategy,the joint angular velocity and joint angular acceleration of the tracking trajectory quickly converge to the expected value,and the identification error of inertia parameters is less than 0.01 in three *** the increase of the number of iterations,the identification error of inertial parameters can be further reduced.