Monoterpenoids are widely existing in indoor air.A GC-MS method was established for determination of monoterpenoids in the indoor air by using silonite coated canisters(SUMMA canisters),and preconcentrating low level ...Monoterpenoids are widely existing in indoor air.A GC-MS method was established for determination of monoterpenoids in the indoor air by using silonite coated canisters(SUMMA canisters),and preconcentrating low level samples utilizing three stages focuser.The method was suitable for the determination of trace VOCs in indoors air.The detection limits of method for α-pinene and β-pinene were both 0.71 μg/m3.展开更多
Antarctic scientific expedition has important strategic significance. It is an inevitable trend to apply robots to assist researchers during the Antarctic expedition. However, the robot manipula- tors at present have ...Antarctic scientific expedition has important strategic significance. It is an inevitable trend to apply robots to assist researchers during the Antarctic expedition. However, the robot manipula- tors at present have a series of problems and unable to meet the requirements of the Antarctic expe- dition. In this paper, a novel Antarctic modular robot manipulator is proposed, which has a compact structure with modular joints. The robot manipulator has high reliability, and quick assembling-and- disassembling ability. Through well wires arranging and thermal controlling, the manipulator can better adapt to the Antarctic environment. In addition, the work space of the manipulator is serious- ly analyzed, and a new hybrid position/force control method is adopted to make the manipulator per- form better. Simulation results validate the control method and show that the robot manipulator has a good performance to meet the requirements of Antarctic expedition.展开更多
With dexterous hands, robots can improve the work scope and work ability significantly. As palms of the existing multi-hand robots are made of steel plates that have small contact area, the robots cannot grab firmly. ...With dexterous hands, robots can improve the work scope and work ability significantly. As palms of the existing multi-hand robots are made of steel plates that have small contact area, the robots cannot grab firmly. In this study, a new five-fingered dexterous robot hand is developed. Having flexible palm with 17 degree of freedoms （ DOFs）, the hand can grasp more stably and firm- ly. First, the forward kinematics and inverse kinematics of the fingers and the hand are calculated. Then, the connection between the force exerting on the end effectors and the torque exerting on the joint is set up, laying the foundation for the following control. Finally, through the analysis and sim- ulation of the position, velocity and acceleration, the trajectory planning has a better performance.展开更多
文摘Monoterpenoids are widely existing in indoor air.A GC-MS method was established for determination of monoterpenoids in the indoor air by using silonite coated canisters(SUMMA canisters),and preconcentrating low level samples utilizing three stages focuser.The method was suitable for the determination of trace VOCs in indoors air.The detection limits of method for α-pinene and β-pinene were both 0.71 μg/m3.
基金Supported by Beijing Science Foundation(4122065)National High Technology Research and Development Program of China("863" Program)(2011AA040202)National Science Foundation for Distinguished Young Scholar(60925014)
文摘Antarctic scientific expedition has important strategic significance. It is an inevitable trend to apply robots to assist researchers during the Antarctic expedition. However, the robot manipula- tors at present have a series of problems and unable to meet the requirements of the Antarctic expe- dition. In this paper, a novel Antarctic modular robot manipulator is proposed, which has a compact structure with modular joints. The robot manipulator has high reliability, and quick assembling-and- disassembling ability. Through well wires arranging and thermal controlling, the manipulator can better adapt to the Antarctic environment. In addition, the work space of the manipulator is serious- ly analyzed, and a new hybrid position/force control method is adopted to make the manipulator per- form better. Simulation results validate the control method and show that the robot manipulator has a good performance to meet the requirements of Antarctic expedition.
基金Supported by Beijing Science Foundation(4122065)National Science Foundation for Distinguished Young Scholar(60925014)
文摘With dexterous hands, robots can improve the work scope and work ability significantly. As palms of the existing multi-hand robots are made of steel plates that have small contact area, the robots cannot grab firmly. In this study, a new five-fingered dexterous robot hand is developed. Having flexible palm with 17 degree of freedoms （ DOFs）, the hand can grasp more stably and firm- ly. First, the forward kinematics and inverse kinematics of the fingers and the hand are calculated. Then, the connection between the force exerting on the end effectors and the torque exerting on the joint is set up, laying the foundation for the following control. Finally, through the analysis and sim- ulation of the position, velocity and acceleration, the trajectory planning has a better performance.
