摘要：This paper presents a new developed anthropomorphic robot dexterous hand： HIT/DLR Hand II. The hand is composed of an independent palm and five identical modular fingers, and each finger has three degree of freedom （DOFs） and four joints. All the actuators and electronics are integrated in the finger body and the palm. Owing to using a new actuator, drivers and a novel arrangement, both the length and width of the finger is about two third of its formner version. By using the wire coupling mecha- nism, the distal phalanx transmission ratio is kept exactly 1 ： 1 in the whole movement range. The packing mechanism which is implemented directly in the finger body and palm not only reduces the size of whole hand but also make it more anthropomorphic. Additionally, the new designed force/torque and position sensors are integrated in the hand for increasing muhisensory capability. To evaluate the performances of the finger mechanism, the position and impedance control experiments are conducted.

摘要：An adaptive control scheme is presented,which can simultaneously realize vibration suppression and compliance control for flexible joint robot(FJR).The proposed control scheme provides a unified formulation for both vibration suppression mode,where FJR tracks the desired position with little vibration,and compliance mode,in which FJR presents *** of designing multiple controllers and switching between them,both modes are integrated into a single controller,and the transition between two modes is smooth and *** stability of the closed-loop system is theoretically proven via the Lyapunov method,with the considering the dynamics uncertainties in both link side and motor *** results are presented to illustrate good performances of the proposed control scheme.

摘要：通过概述一座银行建筑对城市、街区的各种影响，寻求其文化定位，确立其街区形象，试图满足人们多层次的连续的空间体验。

摘要：为满足流量计校准互联网化和信息化的发展需求,研究了流量计校准网络的模型.基于流量标准装置运行所产生的数据,该模型构建了校准网络特有的多反馈多交互结构,为流量计校准网络监控管理提供了互联网运行机制的支持.基于观察者模式设计了监控系统的结构,由依据用户身份划分监控内容转变成依据监控内容划分为不同的主题,用户可以灵活订阅主题的模式.通过Web Socket协议的浏览器与服务器全双工通信功能,实现了流量计校准网络的互联网实时监控.应用Java EE架构设计开发了流量计校准网络监控管理系统.该系统成功地运行在流量标准装置上,取得了较好应用效果.

摘要：为了完整、系统地总结与讨论当前针对智能产品的用户体验设计评价相关研究,推动相关理论或实践研究的形成与发展,从指标、流程和方法等方面对现有研究进行总结。构建了包含本体评价层、行为评价层和价值评价层的智能产品用户体验设计评价层次模型;基于扎根理论和文献计量学方法,提出智能产品用户体验评价指标库;明确了关键技术并提出未来的研究热点和发展趋势。未来的智能产品用户体验设计评价在场景融合、多元化评价方法、信息安全、伦理尺度、参与方式和长期用户体验方面具有发展空间,为相关领域的研究和工作提供参考或帮助。

摘要：根据大型空间机械臂及其在轨服务操作任务的特点,提出了大型空间机械臂末端执行器大容差和软捕获的基本性能要求,同时给出了实现上述基本性能的方法.在此基础上,提出了一种具有大容差性能的机械臂末端执行器设计方案.为了准确获得该类末端执行器的性能指标,完成了该类末端执行器的详细设计,也为后期的动力学仿真分析提供准确的3维模型.最终,通过理论和动力学仿真分析,验证了该末端执行器具有较大的容差范围,并达到了空间大型机械臂对末端执行器容差性能的要求.

摘要：针对空间运输舱具有较大的速度和惯量,在对运输舱的操作过程中存在着冲击和碰撞,严重的时候会影响系统的安全的问题,研制中国大型空间末端执行器,设计大容差柔性钢丝绳捕获机构和基于滚珠丝杠螺旋传动副的拖动机构,并且对其捕获传感器系统进行设计。根据末端执行器机构特点和工作原理,提出基于Loop/Contact控制模型的捕获控制策略,有效地减小了操作对系统的冲击。建立空间微重力环境下末端执行器系统和运输舱系统的动力学模型,推导大型末端执行器在轨操作运输舱的动力学方程。计算机仿真试验证明,捕获过程中捕获力较传统方式降低50%,试验证明捕获力小于700 N,二者验证了末端执行器的实用性和控制策略的可行性,对提高大型空间末端执行器的工作稳定性具有重要意义。

摘要：The construction of high color purity and high resolution organic light-emitting diodes(OLEDs)is facilitated by the development of highly-efficient organic luminescent materials with narrow-band ***,in order to address the problem of broad emission spectra of organic luminescent materials,an effective molecular design strategy is presented to reduce the full width at half maximum(FWHM)of emission by integrating the steric hindrance effect in the pyrene *** the bulky group was introduced into the 2-position,compounds 5 not only show a relative high quantum yield(>0.31)in the solid state,but also can suppress the molecular rotation of triphenylamine(TPA)at the 3-position to narrow the FWHM in the solid state compared to that in *** 5c containing biphenyl units exhibits a maximum emission peak at 484 nm with a quantum yield of 0.38 and FWHM value of 49 nm in the solid state.

摘要：随着时代的发展和科技的进步,以及人们对于文物的文化和艺术价值的认知逐渐深入,博物馆的受众群体也悄然发生着微妙的变化——在老人和儿童群体中,逐渐增加了年轻人。正进入过渡期的观赏石行业,玩石头的老人越来越少,新生力量接棒尚待时日;精品展的展会设计质量有待提高。那么如何吸引更多的人,尤其是年轻人,激发他们对观赏石的兴趣呢?

摘要：以矿渣、粉煤灰和硅灰为原材料制备高强地聚物,利用单一质心设计法对原材料组成进行设计优化,研究了硅灰对凝结硬化过程以及对硬化浆体抗压强度的影响。结果表明:硅灰充分发挥了细颗粒作用,充填在矿渣和粉煤灰堆积空隙中,由此释放的激发剂提高了固体颗粒表面的液膜厚度,从而改善地聚物的流动性,降低浆体的触变性、屈服应力和塑性黏度;由于高活性,部分硅灰在强碱性溶液中快速溶解,使得激发剂中硅酸根离子浓度提高,碱度降低,从而使矿渣和粉煤灰的反应速率降低,减缓C—A—S—H凝胶形成,宏观上表现为凝结时间延长,加速期迟滞,反应热峰值和累计放热量降低,硬化体早期强度发展受到影响。当矿渣含量>50%、粉煤灰含量<30%且硅灰含量<30%时,地聚物砂浆强度超过100MPa,满足新拌性能要求,具有制备超高性能混凝土的可行性。