基于速度矢量可行度的移动机器人多行为综合决策方法

为了提高机器人对真实环境的适应能力 ,基于行为思想越来越多地被用于自主机器人的在线运动决策 .由此 ,产生了多行为综合管理问题 .本文分析了常用的基于矢量合成的并行行为的综合方法 .在此基础上 ,提出基于速度矢量可行度的自主移动机器人多行为综合决策方法 .该方法可较完整地保留子行为的决策意图 ,得到更合理的行为综合结果 .

Effect of information transmission on cooperative behavior

Considering the fact, in the real world, that information is transmitted with a time delay, we study an evolutionary spatial prisoner's dilemma game where agents update strategies according to certain information that they have learned. In our study, the game dynamics are classified by the modes of information learning as well as game interaction, and four different combinations, i.e. the mean-field case, case I, case II and local case, are studied comparatively. It is found that the time delay in case II smoothes the phase transition from the absorbing states of C (or D) to their mixing state, and promotes cooperation for most parameter values. Our work provides insights into the temporal behavior of information and the memory of the system, and may be helpful in understanding the cooperative behavior induced by the time delay in social and biological systems.

Influence Of Different Amount Of Au On The Wetting Behavior Of Pdms Membrane

Polydimethylsiloxane (PDMS) has been widely used as a base material for bio-MEMS/NEMS devices. It is difficult for PDMS to transfer and spread aqueous solution as a kind of highly hydrophobic material. Therefore, surface modification is necessary for PDMS to make it hydrophilic. In this paper, a method of hydrophilization of PDMS surface is proposed. Gold is sputtered to the PDMS substrate by sputter coater in different average thicknesses. Relationship between the average thickness of gold on the PDMS substrate and the contact angle of the surface was studied. It was found that even gold of average thickness less than 1 nm can result in about 25 degrees change of contact angle. AFM is also used to get topographic information of PDMS surface coated with gold. Three cases are classified with different amount of Au: (1) Heterogeneous zone; (2) Transition zone; (3) Film zone. For heterogeneous zone, a simple model about heterogeneous phase wetting is put forward to interpret this phenomenon.

TRITON-(HE)-H-3 RELATIVE AND DIFFERENTIAL FLOWS AND THE HIGH DENSITY BEHAVIOR OF NUCLEAR SYMMETRY ENERGY

Using a transport model coupled with a phase-space coalescence after-burner we study the triton-He-3 relative and differential transverse flows in semi-central Sn-132 + Sn-124 reactions at a beam energy of 400 MeV/nucleon. We find that the triton-He-3 pairs carry interesting information about the density dependence of the nuclear symmetry energy. The t-He-3 relative flow can be used as a particularly powerful probe of the high-density behavior of the nuclear symmetry energy.

Electrochemical quartz crystal microbalance study of the electrochemical behavior of riboflavin at gold electrodes

The electrochemical and adsorption behaviors of riboflavin (RF) at gold electrodes has ken studied by using an electrochemical quartz crystal microbalance (EQCM). Useful information is obtained not only about electrochemical behavior but also about mass changes on the electrode surface. The electrochemical properties and frequency shifts were investigated in RF solutions at different pH values, concentrations and scan rates. Reversible voltammograms were observed for pH less than or equal to 9.71. There was no electrochemical reaction for pH > 9.71. The maximum current response was obtained at about pH 8. The current response was proportional to the square root of scan rates when the concentration of RF was lower than 1.0 x 10(-4) mol L-1 (pH 6.92). On the contrary, at concentrations higher than 1.0 x 10(-4) mol L-1 (pH 6.92), it was proportional to the scan rates.

Preparation, physico-chemical behavior and catalytic property for ammonia oxidation of perovskite like mixed oxides La2-xSrxCuO4-lambda

A series of Sr2+ doped perovskite like oxides La2-xSrxCuO4-lambda (x = 0 similar to 1) were prepared, the structure, lattice parameters, content of Cu3+, oxygen vacancies created by Sr2+ substitution and composition of these complex oxides were studied by XRD and iodic titration method. The redox ability,active oxygen species and surface image were evaluated and analyzed with TPD, TG, XPS and SEM measurements. The catalytic activity for ammonia oxidation over these oxides was tested, and the relationship among the catalytic properties, structure, nonstoichiometric oxygen,redox ability and surface behavior were correlated and some information on the mechanism of ammonia oxidation was obtained.

Electrochemical behavior of FAD at a gold electrode studied by electrochemical quartz crystal microbalance

The electrochemical behavior of flavine adenine dinucleotide (FAD) at a gold electrode involving adsorption of the reduced form FADH(2) and desorption of the oxidized form FAD has been studied by using electrochemical quartz crystal microbalance (EQCM). EQCM can present information not only about the electrochemical behavior but also about the mass changes on the electrode surface. The electrochemical properties and frequency shifts were investigated in FAD solutions at different pH values, concentrations and scan rates. Reversible voltammograms were observed when pH<4.5 and irreversible voltammograms were found when pH greater than or equal to 4.5. It is found to be a diffusion controlled process when the concentration of FAD is lower than 2x10(-4) moll(-1) (pH 1.5). On the contrary, at concentrations higher than 2x10(-4) moll(-1) (pH 1.5), it is found to be an adsorption controlled process.

A new topological index for the Changchun institute of applied chemistry C-13 NMR information system

A method to assign a single number representation for each atom (node) in a molecular graph, Atomic IDentification (AID) number, is proposed based on the counts of weighted paths terminated on that atom. Then, a new topological index, Molecular IDentification (MID) number is developed from AID. The MID is tested systematically, over half a million of structures are examined, and MID shows high discrimination for various structural isomers. Thus it can be used for documentation in the Changchun Institute of Chemistry C-13 NMR information system.