2-(U+UPS)PU+UPU平动机器人腿机构设计与力速性能分析

以自由度少、末端无伴随转动特征且控制复杂度低为设计目标,提出了一种2-(U+UPS)PU+UPU串并混联三自由度平动机器人腿机构。基于旋量理论分析了腿部机构的活动度并建立了腿部机构的运动学模型,仿真计算得到了腿部机构的末端工作空间和姿态变化特性,推导了末端速度雅可比矩阵及力雅可比矩阵,分析得到速度和力学特性变化规律。开发了所提出腿部机构的原型样机,验证了其可行性。

Prediction of flare-ups of ulcerative colitis using quantitative immunochemical fecal occult blood test

AIM:To examine the feasibility of predicting the flareup of ulcerative colitis (UC) before symptoms emerge using the immunochemical fecal occult blood test (IFOBT).METHODS:We prospectively measured fecal hemoglobin concentrations in 78 UC patients using the I-FOBT every 1 or 2 mo.RESULTS:During a 20 mo-period,823 fecal samples from 78 patients were submitted.The median concentration of fecal hemoglobin was 41 ng/mL (range:0-392 500 ng/mL).There were three types of patients with regard to the correlation between I-FOBT and patient symptoms;the synchronous transition type with symptoms (44 patients),the unrelated type withsymptoms (19 patients),and the flare-up predictive type (15 patients).In patients with the flare-up predictive type,the values of I-FOBT were generally low during the study period with stable symptoms.Two to four weeks before the flare-up of symptoms,the I-FOBT values were high.Thus,in these patients,I-FOBT could predict the flare-up before symptoms emerged.CONCLUSION:Flare-up could be predicted by I-FOBT in approximately 20% of UC patients.These results warrant periodical I-FOBT in UC patients.

双变流器串-并联补偿式UPS控制策略研究

介绍了三相双变流器串-并联补偿式UPS的工作原理,指出了其区别于传统双变换在线式UPS的优点,提出了一种基于同步旋转坐标系下的控制策略。该策略将串联变流器控制为基波正弦电流源,而并联变流器被控为基波正弦电压源,从而实现了双变流器串-并联补偿式UPS的全部控制功能:在电源电压不是额定值且含有谐波电压、负载有谐波电流和无功电流的情况下,电源输入电流被控制为正弦波、cosf =1,负载电压被控制为额定值正弦波。连续域下的系统特性仿真结果表明该控制策略的可行性。

双变流器串-并联补偿式UPS控制系统

文章介绍了三相双变流器串-并联补偿式UPS的工作原理,详细讨论了其基于同步旋转坐标系下的控制系统方案。仿真结果表明,该控制系统可以实现双变流器串-并联补偿式UPS全部控制功能。在电源电压不是额定值且含有谐波电压、负载有谐波电流和无功电流的情况下,电网输入电流被控制为正弦波、cosφ=1,负载电压被控制为额定值正弦波。

一过性升高(flare-up)在促排卵中的应用

The accurate release of a large amount FSH and LH caused by flare-up can be used not only for controlled ovary hyperstimulation for poor responders,but also for ovulation induction of PCOS patients as well as to prevent multiple follicles development,multiple gestation and ovary hyperstimulation.Details should be paid attention to while adopting the flare-up protocol,in order to take it’s advantages and avoid disadvantages.

1,2,3,4-四氯邻苯二甲酸酐的UPS及量子化学研究

首次报道了 1,2 ,3 ,4四氯邻苯二甲酸酐的气相HeI紫外光电子能谱 (UPS) .利用Gaussian 94程序RHF方法对其进行了计算指认 ,计算结果分析显示 ,此化合物的第 1个电离峰是由与苯环部分的共轭π键电子电离及羰基的孤对电子电离引起的 ,化合物的第 2 ,3谱峰与羰基的孤对电子峰相关联 ,说明羰基为此类化合物的特征基团 .经调整轨道指数的STO

Support Vector Machine combined with K-Nearest Neighbors for Solar Flare Forecasting

A method combining the support vector machine （SVM） the K-Nearest Neighbors （KNN）, labelled the SVM-KNN method, is used to construct a solar flare forecasting model. Based on a proven relationship between SVM and KNN, the SVM-KNN method improves the SVM algorithm of classification by taking advantage of the KNN algorithm according to the distribution of test samples in a feature space. In our flare forecast study, sunspots and 10cm radio flux data observed during Solar Cycle 23 are taken as predictors, and whether an M class flare will occur for each active region within two days will be predicted. The SVM- KNN method is compared with the SVM and Neural networks-based method. The test results indicate that the rate of correct predictions from the SVM-KNN method is higher than that from the other two methods. This method shows promise as a practicable future forecasting model.

用于芯片工厂的模块化高频UPS的配电拓扑分析

本文论述了用于极高可靠性供电要求的场合如芯片工厂的配电架构改良,单独内燃机驱动的柴油发电机组(下文简称柴发)作为后备电源进行供电保障优化为结合储能以及不间断电源(Uninterrupted Power Supply,下文简称UPS)相组合的供电保障,UPS的接线拓扑分析以及采用预充磁装置对优化的拓扑进行进一步改良。

三菱电机电力电子和微电子技术的SIL4/Ⅰ级风险3层嵌入式集成——广州新白云机场空管系统2oo1D×2oo1D大功率UPS系统(Ⅱ)

说明电源工程的重要性。介绍2002年交付运行的广州新白云国际机场空中交通管制系统的IEC61508.2000-GB/T20438.2006的2oo1D×2oo1D大功率UPS系统概况。

用三菱电机UPS+PLC实现SIL4/I级风险的嵌入式系统集成——广州新白云机场空管系统3oo1D×(2oo1D+2oo1D)D大功率UPS系统(III)

本文通过1项已经安全运行7年的典型"功能安全措施"工程的系统设计,来说明IEC61508-1998/2000和GB/T20438.4-2006的初步实际运用。其功能安全措施比核电核岛的3oo1D要求更高的3oo1D×(2oo1D+2oo1D)D。

Hypersonic boundary-layer transition on a flared cone

Transition on a flared cone with zero angle of at- tack was studied in our newly established Mach 6 quiet wind tunnel （M6QT） via wall pressure measurement and flow visualization. High-frequency pressure transducers were used to measure the second-mode waves＇ amplitudes and frequencies. Using pulsed schlieren diagnostic and Rayleigh scattering technique, we got a clear evolution of the second-mode disturbances. The second-mode waves exist for a long distance, which means that the second-mode waves grow linearly in a large region. Strong Mach waves are radiated from the edge of the boundary layer. With further development, the second-mode waves reach their maximum magnitude and harmonics of the second-mode instability appear. Then the disturbances grow nonlinearly. The second modes become weak and merge with each other. Finally, the nonlinear interaction of disturbance leads to a relatively quiet zone, which further breaks down, resulting in the transition of the bound- ary layer. Our results show that transition is determined by the second mode. The quiet zone before the final breakdown is observed in flow visualization for the first time. Eventual transition requires the presence of a quiet zone generated by nonlinear interactions.

Synthetic analysis of a two-ribbon microflare

High-resolution Stokes spectral data of Hα, Ca Ⅱ 8542A, and Fe 16302.5A lines for a two-ribbon microflare （TRMF） were simultaneously obtained by the THEMIS telescope on 2002 September 5. We derive the intensity, velocity, and longitudinal magnetic field maps. The hard X-ray emission observed by RHESSI provides evidence of nonthermal particle acceleration in the TRMF. Using Ha and Ca Ⅱ 8542A line profiles and a non-LTE calculation, we obtain semi-empirical atmospheric models for the two brightest kernels of the TRME Our result indicates that the temperature enhancement in the chromosphere is more than 2500 K. The kinetic and radiative energies at the kernels are also estimated, resulting in an estimate of the total energy of the TRMF of about 2.4×10^29 erg. Observations indicate that the TRMF results from the low coronal magnetic reconnection following the eruption of a small fila- ment. However, the local temperature ＂bump＂ in the chromosphere presents a puzzle for such a standard flare model. A possible solution to this is discussed.

A comparison between magnetic shear and flare shear in a well-observed M-class flare

We give an extensive multi-wavelength analysis of an eruptive M1.0/1N class solar flare, which occurred in the active region NOAA 10044 on 2002 July 26. Our emphasis is on the relationship between magnetic shear and flare shear. Flare shear is defined as the angle formed between the line connecting the centroids of the two ribbons of the flare and the line perpendicular to the magnetic neutral line. The magnetic shear is computed from vector magnetograms observed at Big Bear Solar Observatory （BBSO）, while the flare shear is computed from Transition Region and Coronal Explorer （TRACE） 1700A images. By a detailed comparison, we find that; 1） The magnetic shear and the flare shear of this event are basically consistent, as judged from the directions of the transverse magnetic field and the line connecting the two ribbons＇ centroids. 2） During the period of the enhancement of magnetic shear, flare shear had a fast increase followed by a fluctuated decrease. 3） When the magnetic shear stopped its enhancement, the fluctuated decreasing behavior of the flare shear became very smooth. 4） Hard X-ray （HXR） spikes are well correlated with the unshearing peaks on the time profile of the rate of change of the flare shear. We give a discussion of the above phenomena.

A Multi-Wavelength Study of the 3B/X1.2 Flare Observed on 2003 October 26

We report results from a multi-wavelength study of the 3B/X1.2 tworibbon disk flare （S15E44）, which was well observed by both ground-based and space-borne instruments. Two pairs of conjugate kernels - K1 and K4, and K2 and K3 - in the Ha images are identified. These kernels are linked by two different systems of EUV loops. K1 and K4 correspond to the two 17 GHz and 34 GHz microwave sources observed by the Nobeyama Radioheliograph （NoRH）, while K2 and K3 have no corresponding microwave sources. Optical spectroscopic observations suggest that all the four kernels are possible precipitating sites of non-thermal electrons. Thus the energy of electron deposited in K2 and K3 should be less than 100keV. Two-dimensional distributions of the full widths at half maximum （FWHM） of the Ha profiles and the line-of-sight （LOS） velocities derived from the Ca n 8542 A profiles indicate that the largest FWHM and LOS velocity tends to be located near the outer edges of Hα kernels, which is consistent with the scenario of current two-ribbon flare models and previous results. When non-thermal electron bombardment is present, the observed Hα and Ca II 8542 A profiles are similar to previous observational and theoretical results, while the He I 10830 A profiles are different from the theoretical ones. This puts some constraints on future theoretical calculation of the He I 10830 A line.

Short-term solar flare prediction using multi-model integration method

A multi-model integration method is proposed to develop a multi-source and heterogeneous model for short-term solar flare prediction. Different prediction models are constructed on the basis of extracted predictors from a pool of observation databases. The outputs of the base models are normal- ized first because these established models extract predictors from many data resources using different prediction methods. Then weighted integration of the base models is used to develop a multi-model integrated model （MIM）. The weight set that single models assign is optimized by a genetic algorithm. Seven base models and data from Solar and Heliospheric Observatory/Michelson Doppler Imager lon- gitudinal magnetograms are used to construct the MIM, and then its performance is evaluated by cross validation. Experimental results showed that the MIM outperforms any individual model in nearly every data group, and the richer the diversity of the base models, the better the performance of the MIM. Thus, integrating more diversified models, such as an expert system, a statistical model and a physical model, will greatly improve the performance of the MIM.

The Role of Nuclei-Nuclei Interactions in the Production of Gamma-ray Lines in Solar Flares

Dramatic extensions of experimental possibilities (spacecraft RHESSI, CORONAS-F and others) in solar gamma-ray astronomy call for urgent, detailed theoretical consideration of a set of physical problems of solar activity and solar-terrestrial relationships that earlier may have only been outlined. Here we undertake a theoretical analysis of issues related to the production of gamma-radiation in the processes of interactions of energetic (accelerated) heavy and middle nuclei with the nuclei of the solar atmosphere (the so-called i-j interactions). We also make an estimate of the contribution of these interactions to the formation of nuclear and isotopic abundances of the solar atmosphere in the range of light and rare elements. The analysis is carried out for solar flares in the wide range of their intensities. We compare our theoretical estimates with RHESSI observations for the flare of 2002 July 23. It was shown that the 24Mg gamma-ray emission in this event was produced by the newly generated Mg nuclei. With a high probability, the gamma-ray line emission of 28Si nuclei from this flare was generated by the same processes.

Line Broadening in a Limb Flare: Derivation of Macro-turbulent Velocity Fields

The line profiles of Ha in a limb flare on 1998 November 11 appear to be unusually broadened. It is considered that macro-turbulence (or macroscopic mass motions) may be one of the main causes. We use an inversion technique to extract the probability distribution of the line-of-sight velocity in the flare. There exist some differences between the velocity distributions deduced from Ha and from Ca II λ8542, which may be because the two lines depend differently on the temperature and velocity. Since the loop density is high, we obtain a rather short cooling time (several tens of seconds) from the hot X-ray loops to the cool loops visible in Ha. Possible origins of the large scale motions are discussed.

Analysis of the coronal source of the partially limb-occulted flare on 2002 July 20

We carry out a detailed analysis of the X3.5 solar flare that occurred on 2002 July 20, which is the strongest partially limb-occulted flare ever observed by the RHESSI satellite. The main results are： （1） during the main impulsive phase that lasts ,-10 minutes, the motion of the thermal sources follows a U-shaped trajectory. Nonthermal sources move in a similar way, but in a series of larger zigzags. We further show that the non-thermal sources are actually leading the contraction motion. （2） During the main impulsive phase, X-ray sources at different energies continuously form a loop-like configuration, with the highest energy source （up to ,- 100 keV） and the lowest energy source （down to ,- 10 keV） being located at two ends. The entire loop-like configuration moves in a U-shaped trajectory, while keeping the order of descending energy from highest to lowest during motion. Two non-thermal hard X- ray sources with different energies are spatially well separated in the distribution. The unusual complexities of the X-ray emissions in the tenuous solar corona challenge interpretations using bremsstrahlung in a simple magnetic configuration.