摩擦补偿下基于关节力矩的笛卡尔阻抗控制

为了研究基于关节力矩信息的笛卡尔阻抗控制策略及摩擦补偿的影响,利用关节本身具有的传感器,进行了辨识谐波驱动摩擦参数、摩擦补偿和笛卡尔阻抗控制的实验研究．与传统的基于机器人末端力／力矩信息的笛卡尔阻抗控制方案不同,考虑了5种基于关节力矩的笛卡尔阻抗控制方案,包括笛卡尔空间／关节空间基于力的、笛卡尔空间／关节空间基于位置的方案和刚度控制．其中,前4种方案分别在有／无摩擦补偿的条件下进行了相应的实验验证．实验比较结果表明：对于基于关节力矩信息来实现笛卡尔阻抗控制的机器人,基于力的阻抗控制策略比基于位置的策略更适合,并且摩擦对这类笛卡尔阻抗控制的稳定性有积极影响．     

关联论对幽默的诠释

幽默言语是人类日常生活中经常出现的一种语言交际形式。语言本身并无幽默可言，只有在特定的情景和语境中，一定的语言才会产生幽默感。幽默的产生通常有四种情况：语境效果的前后矛盾，最佳关联和最大关联的矛盾，记忆与感官系统的失谐，旧语境与新产生语境之间的矛盾。     

基于最小生成树的图论模型及其在医学中的应用

样本数据分类是医学研究中常见的工具。本文提出了一种新的数据分类思想和方法。在分析分类过程及其主要矛盾的基础上，提出了极大λ-截子图的概念。作为示范，建立了三个基于最小生成树的图论模型，并分析了其在研究营养与疾病的关系以及基因分类中的应用。最后讨论了图论在医学中的应用前景。     

Efficacy of manual versus free-weight training to improve maximal strength and performance for microgravity conditions

We tested a simple and compact device designed for manual resistance training in conditions of microgravity (Self-Powered Rope Trainer Duo (SPoRT Duo)) to increase muscle performance. Twenty-four participants (20.8 ± 2.1 years) were randomly assigned to a manual resistance group (n = 12) and a free-weight group (n = 12). Participants performed eight exercises (three sets; 8–12 efforts) either with free weights or the SPoRT Duo twice a week for 6 weeks. Maximal isometric force of trunk flexion, back extension and chest press increased (P at least 0.01, d at least 0.52) both in the manual resistance group (18.4% ± 15.0%; 32.7% ± 22.7%; 15.3% ± 9.7%) and free-weight group (18.0% ± 13.9%; 26.6% ± 28.9%; 13.3% ± 7.6%). The change in maximal isometric force of wide grip row in both groups (d at best 0.38) did not reach statistical significance (P at best 0.08). The squat one-repetition-maximum increased in the manual resistance group (29.8% ± 22.1%) and the free-weight group (32.4% ± 26.6%). Jump height, determined by a jump-and-reach test, increased in the free-weight group (9.8% ± 13.2%) but not in the manual resistance group (2.0% ± 8.5%). Manual resistance training was equally effective in increasing strength as traditional resistance training with free weights. This apparatus is a useful addition to current in-flight exercise systems.     

Effects of fast-velocity eccentric resistance training on early and late rate of force development

This study examined whether short-term maximal resistance training employing fast-velocity eccentric knee extensor actions would induce improvements in maximal isometric torque and rate of force development (RFD) at early (<100 ms) and late phases (>100 ms) of rising torque. Twenty healthy men were assigned to two experimental groups: eccentric resistance training (TG) or control (CG). Participants on the TG trained three days a week for a total of eight weeks. Training consisted of maximal unilateral eccentric knee extensors actions performed at 180°s-1. Maximal isometric knee extensor torque (MVC) and incremental RFD in successive 50 ms time-windows from the onset contraction were analysed in absolute terms (RFD_INC) or when normalised relative to MVC (RFD_REL). After eight weeks, TG demonstrated increases in MVC (28%), RFD_INC (0–50 ms: 30%; 50–100 ms: 31%) and RFD_REL (0–50 ms: 29%; 50–100 ms: 32%). Moreover, no changes in the late phase of incremental RFD were observed in TG. No changes were found in the CG. In summary, we have demonstrated, in active individuals, that a short period of resistance training performed with eccentric fast-velocity isokinetic muscle contractions is able to enhance RFD_INC and RFD_REL obtained at the early phase of rising joint torque.     

Isokinetic imbalance of adductor–abductor hip muscles in professional soccer players with chronic adductor-related groin pain

This study aims to compare the isokinetic profile of hip abductor and adductor muscle groups between soccer players suffering from chronic adductor-related groin pain (ARGP), soccer players without ARGP and healthy volunteers from general population. Study included 36 male professional soccer players, who were randomly selected and followed-up over two years. Of the 21 soccer players eligible to participate in the study, 9 players went on to develop chronic ARGP and 12 players did not. Ten healthy male volunteers were randomly selected from the general population as a control group. Comparison between the abductor and adductor muscle peak torques for players with and without chronic ARGP found a statistically significant difference on the dominant and non-dominant sides (p?p?p?=?.008). The adductor muscle strength was also significantly decreased on the affected side. This imbalance appears to be a risk factor for adductor-related groin injury. Therefore, restoring the correct relationship between these two agonist and antagonist hip muscles may be an important preventative measure that should be a primary concern of training and rehabilitation programmes.     

三相变频调速异步电动机设计与分析

分析由变频器供电的变频调速异步电动机气隙磁势，讨论恒转矩负载时三相变频调速异步电动机特性，结合研制的2极、功率3．5～4．5kW、频率80～100Hz变频调速木工同异步电动机样机的实测结果，阐述恒转矩负载时设计特点。     

有关一个整系数多项式环定理的矩阵证明

本文旨在 :(1)用有理数域多项式矩阵证明以下定理 :设Z代表整数环 ,Z[　 ]代表整数系数多项式环 (我们简称整系数多项式环 ) ,定理 :设f1;f2 ;…fn 是Z[x]中一组 (n个 )元素 ,d是它们的最大公因式 ,则Z[x]中一定有一组相应的元素q1;q2 ;…qn,使得 :d =f1·q1 f2 ·q2 … fn·qn.(2 )用矩阵来计算若干个整系数多项式的最大公因式 .     

两个关联向量组的极大无关组及其余向量的线性表示

给出了两个向量组为关联向量组的定义，讨论了其简单性质及判定，极大无关组的求法及其余向量的线性表示。     

世界优秀男子短跑运动员100m跑速度特征研究

对第六届和第七届世界田径锦标赛男子100m决赛运动员的成绩进行对照分析,结果表明最大速度不断提高和最大速度的持续延长是当前短跑运动的发展趋势。