The problem of collision-free path planning for nuclear reactor repairing manipulator with the given end path is considered.A hybrid algorithm of combining the transpose of Jacobian control algorithm with rapidly-exploring random tree method is presented.The nearest configuration point to the workspace with goal point is taken as the expanded node of the tree to avoid the solving of inverse kinematics.The best expanding direction is calculated with the jacobian transpose control algorithm.And the velocity of the end tool of the manipulator is restricted by using the bisection gradient-decent extend algorithm to avoid the occurrence of joint velocity mutation.The simulation results show the rapidity and validity of the proposed hybrid algorithm.

Polysaccharides of Auriculari Auricula can regulate human immune system,reduce blood pressure,reduce blood-fat,resist thrombus,improve the function of stomach,protect liver and so on.In order to optimize microwave-assistant extraction technique of polysaccharides from A.Auricula,the technique conditions were studied by response surface method.Through single factor experiment,there were four factors screened: ratio of water to raw material,microwave power,microwave time and extraction time in water bath,which were carried out by central composite design then.The results with response surface analysis showed that the optimal polysaccharides extraction conditions were ratio of water to raw material 149,microwave power 538 W,microwave time 11 s and extraction time in water bath 7.1 h.Under the conditions,the extraction rate of polysaccharides from A.Auricula was 28.94%.These predicted values were also verified by validation experiments.It was exact and high efficient that optimization of the microwave-assistant extraction technique of polysaccharides from A.Auricula was studied by response surface method.