This paper reports the development of a robotic system designed to extend a human's ability to perform small-scale (sub-millimeter) manipulation tasks requiring human judgment, sensory integration, and hand-eye coordination. Our novel approach, which we call steady-hand micromanipulation, is for tools to be held simultaneously both by the operator's hand and a specially designed actively controlled robot arm. The robot's controller senses forces exerted by the operator on the tool and by the tool on the environment, and uses this information in various control modes to provide smooth, tremor-free, precise positional control and force scaling. Our goal is to develop a manipulation system with the precision and sensitivity of a machine, but with the manipulative transparency and immediacy of hand-held tools for tasks characterized by compliant or semi-rigid contacts with the environment.

This paper use the Friuli Siegel formula for calculating the main steam flow. Analyzed the difference between using different stage pressure to calculate the main steam flow and the tested main steam flow. Other stages pressure that using for calculating the main steam flow can be used for comparative analysis.

This paper given an online flow measurement method of large diameter pipe and low-head. This method can be applied to measure circulating water flow of thermal power plant. The characteristics of method is that: the measuring device adapted the method to solve the problem of the online flow measurement of circulating water, and to provide the necessary operating parameters for optimal operation of the unit cold-end system.