We investigated the vibration of a cleaning robot for hotline insulators, providing a flexible elevating link with a rigid moving link at the end. A Lagrange dynamic model is established based on the assumed mode method. An approach is proposed to reduce residual vibration of the flexible elevating link by optimizing acceleration of rigid link using the Pontryagin maximum principle (PMP). A numerical solution to the proposed optimization problem including a two-point boundary-value problem (2PBVP) is developed. Residual vibration of the flexible elevating link of the optimal acceleration profile is compared with that of the optimal trapezoid velocity profile. The result shows that the proposed trajectory optimization method can reduce the residual vibration more effectively.
Six kinds of pyrophosphate were synthesized.The investigation on ion exchange properties showed that zireonyl molybopyrophosphate exhibited large exchange capacity and high distribution coefficient for cesium in the medium of 3 mol· L－ 1 HNO3.Preliminary study of its properties indicated that this material is a bifunctional inorganic ion exchanger with good thermal and chemical stabilities.ZMPP might be suitable for removing cesium directly from strong acidic HLLW.
AIM To study the therapeutical effectiveness, dosage range and toxic adverse effects of domestic phosphorus 32 glass microsphere and evaluate its clinical significance. METHODS Ⅰ. Fifty two BALB/*!c tumor bearing male nude mice were allocated into treatment group( n =38) and control group( n =14). In the former group different doses of 32 P GMS were injected into the tumor mass, while in the latter 31 P GMS or no treatment was given. The experimental animals were sacrificed in batches, and then the tumors and their nearby tissues were examined by light and electron microscopy. Ⅱ. Through selective catheterization of hepatic artery, 32 P GMS was infused to 5 healthy domestic pigs in a dosage equivalent to the therapeutic dose for human being, and 31 P GMS was infused to another 5 healthy domestic pigs. Two pigs infused with contrast medium served as whole course blank controls. One pig from each group was surrendered to euthanasia at week 1, 4, 8 and 16 respectively. The ultrastructural histopath ological changes in liver tissues taken from different sites were evaluated semiquan titatively. Ⅲ. One hundred and twenty seven times of 32 P GMS intrahepatic artery interventional therapies were performed on 93 patients with hepatic carcinoma, including 79 cases of primary hepatic carcinoma and 14 cases of secondary hepatic carcinoma. 32 P GMS ( n =30), and group B, 32 P GMS and half dose of trans hepatic artery embolization (TAE) ( n =49) , and 18 patients with HCC by TAE only as control group C. Fourteen patients with secondary hepatic carcinoma were treated in the same way as group B or C. RESULTS Ⅰ. Comparing with the control group, the treatment group of tumor bearing nude mice attained the tumor inhibition rates of 59 7%-93 7% ( F =579 62, P <0 01) at 14*!d . At an absorbed dose of 7320Gy, the tumor cells were completely destroyed. When the absorbed doses ranged from 1830Gy to 3660Gy, most of the tumor cells showed the evidences of injury or necrosis, but there appeared some well differentiated tumor cells
LIU Lu, JIANG Zao, TENG Gao Jun, SONG Ji Zhi, ZHANG Dong Sheng, GUO Qing Ming, FANG Wen, HE Shi Cheng and GUO Jin He
A new voidage measurement method based on electrical capacitance tomography (ECT) technique, Genetic Algo- rithm (GA) and Partial Least Square (PLS) method was proposed. The voidage measurement model, linear capacitance combi- nation, was developed to measure on-line voidage. GA and PLS method were used to determine the coefficients of the voidage measurement model. GA was used to explore the optimal capacitance combination which gave significant contribution to the voidage measurement. PLS method was applied to determine the weight coefficient of the contribution of each capacitance to the voidage measurement. Flow pattern identification result was introduced to improve the voidage measurement accuracy. Experi- mental results showed that the proposed voidage measurement method is effective and that the measurement accuracy is satis- factory.
