一个面向复杂任务的多机器人分布式协调系统

基于多智能体系统理论，研讨在非结构，不确定环境下面向复杂任务的多机器人分布式协调系统的实现原理，方法和技术。提出的递阶混合式协调结构，基于网络的通讯模式和基于有限状态机的规划与控制集成方法，充分考虑了复杂任务和真实自然环境的特点，通过构建一个全实物的多移动机器人实验平台，对规划，控制，传感，通讯，协调与合作的各关键技术进行了开发和集成，使多机器人分布式协调技术的研究直接面向实际应用，编队和物料搬运的演示实验结果展示了多机器人协调技术的广阔应用前景。

面向任务的虚拟环境和人机交互方法研究

基于虚拟现实技术的人机交互方法为面向任务的机器人远程作业研究提供了新的思想和思路 ,增强了机器人系统的遥控作业能力 .本文对机器人系统中虚拟环境和人机交互方法研究进行了综述 ,对虚拟环境中的示教和遥操作进行了评析 ,并探讨了未来遥操作机器人系统作业的发展趋势

面向任务的机器人语言的实现

本文提出的面向任务的机器人语言是为移动机器人提供的一种编程工具。利用环境描述语言和其他灵活的人机对话方式建立环境模型;根据各种不同的性能指标,规划出最佳路径;根据安全等因素自动规划出最佳路径上的行走参数;对来自传感器的信息进行处理,以确定机器人实际位置及障碍情况;引导机器人沿规划好的路径行走,纠正偏差或重新选择避障路径。

机器人规划与编程系统的研究

机器人的程序设计问题是智能机器人研究的重要方面。也是自动程序设计的一个重要方面。给定一个机器人的任务描述。应该能够得一个完整的程序代码（用某种程序设计语言书写）。本文描述了一个这样的系统－LRPS。LRPS用一种比较简单的任务描述语言TOL（Task-Oriented Language）来接收用户的任务描述，然后经过分析。规划，最后生成一段用VAL语言编写的程序代码，系统能够给出机器人的宏动作序列－－机器人规划。并能对若干知识库进行操作。在规划器中采用了一种新的称为插入法的方法来进行规划，整个系统在IBM－PC机上用PASCAL语言实现。

Feasibility of Protein a for the Oriented Immobilization of Immunoglobulin on Silicon Surface for a Biosensor with Imaging Ellipsometry

The feasibility of using protein A to immobilize antibody on silicon surface for a biosensor with imaging ellipsometry was presented in this study. The amount of human IgG bound with anti-IgG immobilized by the protein A on silicon surface was much more than that bound with anti-IgG immobilized by physical adsorption. The result indicated that the protein A could be used to immobilize antibody molecules in a highly oriented manner and maintain antibody molecular functional configuration on the silicon surface. High reproducibility of the amount of antibody immobilization and homogenous antibody adsorption layer on surfaces could be obtained by this immobilization method. Imaging ellipsometry has been proven to be a fast and reliable detection method and sensitive enough to detect small changes in a molecular monolayer level. The combination of imaging ellipsometry and surface modification with protein A has the potential to be further developed into an efficient immunoassay protein chip.

Low-temperature hydrothermal growth of oriented [0001] ZnO film

Well-aligned ZnO films have been successfully prepared by using low-temperature hydrothermal approach on (0001) sapphire substrates that were pre-coated with a ZnO nano-layer by dip-coating. The characterizations of scanning electron microscopy (SEM) and X-ray diffraction (XRD) indicate that the ZnO films consist of hexagonal rods that grow along the c axis based on the sapphire substrates. It is found that the size of ZnO rods can be adjusted by an aqueous solution with some methenamine. (c) 2006 Elsevier B.V. All rights reserved.

Low temperature growth of c-axis oriented AlN films on gamma-LiAlO2 by radio frequency magnetron sputtering

Aluminum nitride (AlN) films were prepared on gamma-LiAlO2 substrates by radio frequency (rf) magnetron sputtering. The influence of substrate temperature (T-s) and nitrogen (N-2) concentration on film growth was investigated. The X-ray diffraction (XRD) results reveal that highly c-axis oriented AlN films can be obtained in the temperature range from room temperature (RT) to 300 degrees C. A smoother surface and a crystalline quality decrease with increasing N-2 concentration have been observed by XRD and atomic force microscopy (AFM) for the films deposited at lower substrate temperature. On the contrary, the degradation of the surface smoothness and the higher crystalline quality can be observed for the films deposited at a higher substrate temperature with N-2-rich ambient. The growth mechanism which leads to different crystalline quality of the films is discussed. (C) 2008 Elsevier B.V. All rights reserved.