Traditionally, the contact between the end-effector and the target is modeled as a parallel spring-damp model, which requires a time-consumed tuning of values of stiffness and damping factor and an extra force sensor fixed on the end-effector. The above drawbacks inspire the application of complementary problem to uniformly describe the unilateral contact for space robot. A dynamical equation of the space robot with unilateral contact is derived, and a numerical method is developed utilizing the Lemke algorithm. By numerical calculation of a planar 3 degree-of-freedom (DOF) manipulator fastened on a 3 DOF floating base, the effectiveness of the dynamical model is verified.

To solve the operating problems of quality management system (QMS) existing in universities, the basic situation of the QMS in universities affiliated to the Ministry of Education were investigated, the system modes and problems existing in the QMS were paid attention, the system changes and the coverage areas were studied. These information provide data support for the study of QMS in scientific research in universities and have important practical significance.

There are two ways to present mathematical expressions on web page now, i.e. as an image or installing special plug-ins on web browser. To make up for the shortage of both methods, a solution named WebMath is presented. Based on XML and implemented in Java language and the support of the IBM's XML4J parser and Java Applet technology, WebMath is implemented and integrated in web page editor tools. This thesis provides WebMath's framework and a technical solution.

Hemodynamics of intracranial lateral aneurysms was simulated numerically. The blood was considered as Newtonian fluid and the elasticity of the wall was neglected. Three-dimension N-S equations were solved by using artificial compressibility algorithm. The influence of aneurysmal geometry shape and Reynolds number on hemodynamic factors, such as shear stress on the wall, pressure were calculated in the static and pulsatile conditions. The main results were that the greater depth of intracranial aneurysm, the greater distal shear stress is in which the aneurysm grow up and rupture for the intracranial aneurysms in the early stage in both static and pulsatile conditions; the pulsatile make the variety of distal shear stress with space and time more violent and easier rupture. The distal shear stress of aneurysm increases while the arterial diameter decrease and the velocity keep constant. It shows that the intracranial aneurysm is easier grow in small artery than that in the bigger blood tube. This result is consistent with physiology.

In Unix system,it is necessary to add module of control and audit based on users. By adding a net module called iplog in Solaris, the goal is fulfilled and therefore the safety of operation system is strengthened. It is shown that the method is effective solution with not very heavy load.

Relativistic spinpolarized local density functional calculations have been performed for HgBa₂CaCu₂O_6+δ. The calculated core excited energies essentially agree with the XPS spectra. The spinorbit splittings are especially in satisfactory agreement with the observed ones.

The Tb³⁺ mixed ligand complex was prepared using Tb³⁺, DTPAA and pAS-Na in aqueous solution, and its existence was proved by UV and fluorescence spectra. The influence of concentration, pH value and La³⁺ on fluorescence emission strength of the complex was studied. The reaction of DTPAA with pAS-Na can give DTPA-pAS and DTPA-2pAS. Their Tb³⁺ complexes were obtained via the reactions of Tb³⁺ with DTPA-pAS and DTPA-2pAS in aqueous solution, respectively. The fluorescence properties of the Tb³⁺ complexes were studied. The possibility for application of the Tb³⁺ mixed ligand complex in labeling for human serum albumin(HSA) is tested.

Thermosensitive PVA-g-NIPAAm copolymers was prepared by grafting copolymerization of N-isopropylacrylamide (NIPAAm) onto poly(vinyl alcohol) (PVA) in homogeneous system by ⁶⁰Co-γ irradiation at room temperature. The effects of radiation grafting conditions, such as absorption dose, dose rate, acid concentration on grafting yield were investigated. It was found that dose rate and acid concentration had obvious influence on the grafting yield. Then the hydrogels of PVA and PVA-g-NIPAAm copolymer were made through freezing-thawing processes and the later hydrogels obtained in this method were found to exhibit obvious thermal sensitivity. In addition, the slow release of Methylene Blue (MB) from this kind of hydrogels was studied.

The monomer of SuMA or SuMA and HEMA was grafted onto the PET fibers successfully under UV irradiation by the use of NaIO₄ instead of the degassing process. Under the same concentration of SuMA, the use of HEMA could enhance the grafting yield of SuMA onto PET fibers obviously comparing with the process which only SuMA was used. As expected, proteins of trypsin and hepatitis surface antibody were immobilized onto the SuMA grafted PET fibers successfully under the neutral aqueous solutions, which was realized through the reaction between the active ester group of SuMA and amino group of protein. Although the use of HEMA during UV grafting could improve the grafting yield of SuMA onto PET fibers, the special impede on the couple reaction of SuMA and proteins caused by the grafted HEMA on PET remarkably inhibited the immobilization of protein, made the amount of immobilized protein lower than that of the only SuMA grafted samples.

The silica adsorbed rare earth hydroxide [SiO₂·RE(OH)₃RE=La, Nd, Y] dispersed in a hydrocarbon-type oil are prepared and their ER effect under D.C.electric field are studied. A more obvious ER effect is observed in SiO₂·RE(OH)₃ than in SiO₂ for the ER fluid density of 80.0g/L. The properties of the fluids show a significant dependence on La(OH)₃, Nd(OH)₃ and Y(OH)₃ and their contents in fluids.

The title complex was synthesized in an aqueous solution and its crystal structure was determined by X-ray diffraction. The crystal is monoclinic with space group P2₁. The cell parameters are: a=1.10390(10)nm, b=1.6493(2)nm, c=1.9986(3)nm, β=103.600(10)⁰, V=3.5367(8)nm³, Z=4, D_c=2.141g/cm³. The final R is 0.0311. The complex molecule is an infinite layer built from binuclear polymer. In each binuclear unit, two metal ions are connected by four bridging carboxyl groups from four glutamic acid molecules, two carboxyl groups of near the NH₂ are simple bridging coordination and the carboxyl groups far from NH₂ tridentate to the central ions. Each metal ion is also coordinated by four water molecules. So the coordination number of the central ion is nine, and forming a trigontetradecahedron arrangement.

In this paper, the two-dimensional numerical model are used for simulating the profiles of the potential temperature and specific humidity over homogeneous Gobi underlying surface under convective conditions. This result explains the observed fact that most of the profiles of the potential temperature and specific humidity. The model also gives a fair description of the time variation of the profiles of the potential temperature and specific humidity and the depth of the mixed layer. Comparison with observation shows that the results obtained from the numerical model are in good agreement with observations of the potential temperature and specific humidity, including the change of the depth of the mixed layer with time.