轮式移动机器人轨迹跟踪的最优控制

深入分析了轮式移动机器人的运动状态,建立了WMR路径偏差系统的非线性数学模型。应用小偏差线性化理论,将该多输入多输出非线性系统简化成一个单输入单输出线性系统。然后基于线性二次型调节器理论进行了系统最优控制器的设计,并针对该理论中加权矩阵Q与R难以确定的问题,从控制效果出发,采用自适应遗传算法对其进行了优化。实现了移动机器人对预定轨迹的满意鲁棒跟踪,同时满足了实时性要求。实验结果证明了该方法的正确性与实用性。

Experimentally Determined Flame Properties near Flammability Limits Under Gravity and Microgravity Conditions

Flammability limits for flames propagating in a rich propane/air mixture under gravity conditions appeared to be 6.3% C3H8 for downward propagation and 9.2% C3H8 for upward propagation. Different limits might be explained by the action of preferential diffusion of the deficient reactant (Le < 1) on the limit flames, which are in different states of instability. In one of the previous studies, the flammability limits under microgtravity conditions were found to be between the upward and downward limits obtained in a standard flammability tube under normal gravity conditions. It was found in those experiments that there are two limits under microgravity conditions: one indicated by visible flame propagation and another indicated by an increase of pressure without observed flame propagation. These limits were found to be far behind the limit for downward-propagating flame at 1 g (6.3% C3H8) and close to the limit for upward-propagating flame at 1 g (9.2% C3H8). It was decided in the present work to apply a special schlieren system and instant temperature measuring system for drop tower experiments to observe combustion development during propagation of the flame front. A small cubic closed vessel (inner side, 9 cm 9 cm 9 cm) with schlieren quality glass windows were used to study limit flames under gravity and microgravity conditions. Flame development in rich limit mixtures, not visible in previous experiments under microgravity conditions for strait photography, was identified with the use of the schlieren method and instant temperature measuring system. It was found in experiments in a small vessel that there is practically no difference in flammability limits under gravity and microgravity conditions. In this paper, the mechanism of flame propagation under these different conditions is systematically studied and compared and limit burning velocity is estimated.

Determination of Proper Processing Conditions of Material Surface Heat Treatment Through Finite Element Method

A two-dimensional model has been developed based on the experimental results of stainless steel remelting with the laminar plasma technology to investigate the transient thermo-physical characteristics of the melt pool liquids. The influence of the temperature field, temperature gradient, solidification rate and cooling rate on the processing conditions has been investigated numerically. Not only have the appropriate processing conditions been determined according to the calculations, but also they have been predicted with a criterion established based on the concept of equivalent temperature area density (ETAD) that is actually a function of the processing parameters and material properties. The comparison between the resulting conditions shows that the ETAD method can better predict the optimum condition.

Post-cyclic Strength Degradation of Undisturbed and Remolded Marine Silty Clay

A series of static and cyclic-static tri-axial compression tests under consolidated-undrained conditions are carried out to study the characteristics of post-cyclic strength of the undisturbed and the remolded samples of marine silty clay. It is found that the post-cyclic monotonic strength decreases if the cyclic strain or pore pressure is over a certain value. The maximum degradation is 10% for undisturbed samples while 70% for remolded ones. The relationship between normalized undrained shear strength and apparent overconsolidation ratio, which is determined by the excess pore pressure induced by cyclic loading, is also established. Static consolidated-undrained tests on overconsolidated remolded samples are also performed. It is proposed that the static consolidated-undrained tests may be substituted for the cyclic-static consolidated-undrained tests if the post-cyclic strength degradation of remolded silty clay is needed to be evaluated simply.

Catalytic Cracking and Heat Sink Capacity of Aviation Kerosene Under Supercritical Conditions

Catalytic cracking of China no. 3 aviation kerosene using a zeolite catalyst was investigated under supercritical conditions. A three-stage heating/cracking system was specially designed to be capable of heating 0.8 kg kerosene to a temperature of 1050 K and pressure of 7.0 MPa with maximum mass flow rate of 80 g/s. Sonic nozzles of different diameters were used to calibrate and monitor the mass flow rate of the cracked fuel mixture. With proper experiment arrangements, the mass flow rate per unit throat area of the cracked fuel mixture was found to well correlate with the extent of fuel conversion. The gaseous products obtained from fuel cracking under different conditions were also analyzed using gas chromatography. Composition analysis showed that the average molecular weight of the resulting gaseous products and the fuel mass conversion percentage were a strong function of the fuel temperature and were only slightly affected by the fuel pressure. The fuel conversion was also shown to depend on the fuel residence time in the reactor, as expected. Furthermore, the heat sink levels due to sensible heating and endothermic cracking were determined and compared at varying test conditions. It was found that at a fuel temperature of similar to 1050 K, the total heat sink reached similar to 3.4 MJ/kg, in which chemical heat sink accounted for similar to 1.5 MJ/kg.

Transport-determined early growth and development of jack mackerel Trachurus japonicus juveniles immigrating into Sagami Bay, Japan

Oceanographic conditions and transport processes are often critical factors that affect the early growth, survival and recruitment of marine fishes. Sagittal otoliths were analysed to determine age and early growth for 381 jack mackerel (Trachurus japonicus) juveniles from Sagami Bay on the Pacific coast of Japan. Two separate hatching periods ( December and February-March) were identified. They originated from the spawning grounds in the East China Sea. Early growth and developmental rates of December-hatching fish were lower than those for February-March-hatching fish. It is likely that these differences were determined in the Kuroshio Current during transport from the spawning grounds to Sagami Bay, and the lower December water temperatures in the bay. Origin and hatch dates of juveniles in Sagami Bay were in contrast to previous research on Fukawa Bay, where April-or-later-hatching fish from spawning grounds in the coastal waters of southern Japan constituted about half of the juvenile population. Management of these two jack mackerel stocks needs to consider these differences in hatch date composition and spawning origins, as these differences could affect early growth and subsequent mortality.

Studies on the energy release of rice mitochondria under different conditions by means of microcalorimetry

The thermodynamic and kinetic behaviors of energy release of mitochondria isolated from rice (Oryza sative L.) were studied by using a LKB 2277 Bioactivity Monitor under different conditions. The thermogenesis curves of energy release of the rice mitochondria (which had been kept at 0-3 degreesC for 15 h and 40 day before the determination) were determined respectively at 25 and 30 degreesC, and the difference in shape of the thermogenesis curves and thermodynamic and kinetic characteristics were compared. The thermodynamic and kinetic parameters of energy release of the mitochondria in the thermogenesis increasing stage have been calculated, and the experimental thermokinetic equations of the thermogenesis have been established. The results indicated that the lower the temperature, the slower the energy release of the rice mitochondria. Both the thermogenesis and the energy release late of the rice mitochondria increased after the mitochondria was kept at lower temperature for 40 days. One can use the methods to characterize the ability of the rice mitochondria to release energy under different conditions. (C) 2001 Published by Elsevier Science B.V.

One-dimensional modulation instability of broad optical beams in biased photorefractive-photovoltaic crystals under steady-state conditions

We present a comprehensive study of the one-dimensional modulation instability of broad optical beams in biased photo refractive-photovoltaic crystals under steady-state conditions. We obtain the one-dimensional modulation instability growth rate by globally treating the space-charge field and by considering distinction between values of Eo in nonlocal effects and local effects in the space-charge field, where Eo is the field constant correlated with terms in the space-charge field, which depends on the external bias field, the bulk photovoltaic effect, and the ratio of the optical beam's intensity to that of the dark irradiance. The one-dimensional modulation instability growth rate in local effects can be determined from that in nonlocal effects. When the bulk photovoltaic effect is neglectable, irrespective of distinction between values of Eo in nonlocal effects and local effects in the space-charge field, the one-dimensional modulation instability growth rates in nonlocal effects and local effects are those of broad optical beams studied previously in biased photorefractive-nonphotovoltaic crystals. When the external bias field is absent, the one-dimensional modulation instability growth rates in nonlocal effects and local effects predict those of broad optical beams in open- and closed-circuit photorefractive-photovoltaic crystals. (c) 2004 Elsevier B.V. All rights reserved.

Pre-irradiation with low-dose C-12(6+) beam significantly enhances the efficacy of AdCMV-p53 gene therapy in human non-small lung cancer

The combination of ionizing radiation and gene therapy has been investigated. However, there are very few reports about the combination of heavy-ion irradiation and gene therapy. To determine if the pre-exposure to low-dose heavy ion beam enhances the suppression of AdCMV-p53 on non-small lung cancer (NSLC), the cells pre-irradiated or non-irradiated were infected with 20, 40 MOI of AdCMV-p53. Survival fraction and the relative biology effect (RBE) were determined by clonogenic assay. The results showed that the proportions of p53 positive cells in C-12(6+) beam induced AdCMV-p53 infected cells were more than 90%, which were significantly more than those in gamma-ray induced AdCMV-p53 infected cells. The pre-exposure to low-dose 12C6+ beam significantly prevented the G(0)/G(1) arrest and activated G(2)/M checkpoints. The pre-exposure to C-12(6+) beam significantly improved cell to apoptosis. RBEs for the C-12(6+)+ AdCMV-p53 infection groups were 30%-60%,20% -130% and 30%-70% more than those for the C-12(6+)_irradiated only, AdCMV-p53 infected only, and gamma-irradiation induced AdCMVp53 infected groups, respectively. The data suggested that the pre-exposure to low-dose C-12(6+) beam significantly promotes exogenous p53 expression in NSLC, and the suppression of AdCMV-p53 gene therapy on NSLC.

Analysis of aromatic amines by high-performance liquid chromatography with pre-column derivatization by 2-(9-carbazole)-ethyl-chloroformate

2-(9-Carbazole)-ethyl-chloroformate (CEOC), a novel pre-column fluorescence derivatization reagent, has been developed for the analysis of aromatic amines. Taking five monocyclic aromatic amines (o-toluidine, aniline, 3,4-dimethylaniline, N-ethyl-p-toluidine, and p-phenylenediamine) as testing compounds, derivatization conditions such as pH of borate buffer, reaction time and fluorescent tagging reagent concentration have been investigated. By a one-step procedure, CEOC reacts readily with the aromatic amines to form stable derivatives with excitation and emission wavelengths, respectively, at 293 and 360 nm. This derivatization reaction could be finished within 20 min even at room temperature. The peak shapes of the derivatized aromatic amines can be improved greatly without any addition of competition amines into the mobile phase. Furthermore, this method can offer excellent quantitative precision with high tolerance of the matrix of samples. (C) 2003 Elsevier B.V. All rights reserved.

Preparation and Characterization of Melt Grafting 2-acrylamido-2-methyl-1-propanesulfonic Acid onto Pre-Irradiated Linear Low Density Polyethylene

Linear low density polyethylene (LLDPE) was functionalized with 2-acrylamido-2-methyl-1-propanesulfonic acid (AMPS) by using -ray pre-irradiation in air in a twin-screw extruder. Fourier-transformed infrared spectroscopy (FT-IR) and electron spectroscopy for chemical analysis (ESCA) were used to characterize the formation of LLDPE-g-AMPS copolymers. The content of AMPS in LLDPE-g-AMPS was determined by using element analysis instrument. The effects of concentrations of monomer, reaction temperature and pre-irradiation dose on degree of grafting were investigated. The critical surface tension of LLDPE-g-AMPS was measured by using contact angle method. The influences of the degree of grafting on crystallization properties were studied by using DSC. Compared with neat LLDPE, the crystallization temperature increased about 4C, and crystallinity decreased with increasing degree of grafting. Crystallization rates of grafted LLDPE were faster than that of plain LLDPE at the same crystallization temperature.

Chandrananimycins A-C: Production of novel anticancer antibiotics from a marine Actinomadura sp isolate M048 by variation of medium composition and growth conditions

In our screening of marine actinomycetes for bioactive principles, three novel antibiotics designated as chandrananimycin A (3c), B (3d) and C (4) were isolated from the culture broth of a marine Actinomadura sp. isolate M045. The structures of the new antibiotics were determined by detailed interpretation of mass, 1 D and 2 D NMR spectra.

Formation and early development of tetraspores of Gracilaria lemaneiformis (Gracilaria, Gracilariaceae) under laboratory conditions

Morphological and culture studies of tetraspores of Gracilaria lemaneiformis were carried out under laboratory conditions. Relationships of germination rate, diameter and survival rate of tetraspores from 1st generation branches with grads of temperature and irradiance were determined, respectively. The result showed that 1st generation branches is in the majority of the tetraspores shedding and tetraspores from which had highest survival rates than other parts of the sporophytic plant. The time tetraspores used developing from giant unicells to diads, which both existed on the epidermis, then to tetraspores off the matrix, was only approximately 3 weeks all through. However, tetraspores spent more than two months developing into germlings of gametophytes. It was shown that temperature variation (10, 15, 25, 30 degrees C) with the light of 30 mu mol m(-2) s(-1) had significant effects on the germination rate and diameter, but had no apparent effect on survival rate (ANOVA, P < 0.01). Germination rates of tetraspores reached the maximum at 20 degrees C, which was significantly higher than those at other temperature levels (P < 0.01), whereas 15 degrees C seemed to be optimal temperature for the diameter. All the three growth parameters (germination rate, diameter and survival rate) yield highly significant variations with irradiance treatments at room temperature (ANOVA, P < 0.01). The optimal germination rate was detected at the irradiance of 30 mu mol m(-2) s(-1) (P < 0.01). The photon flux density which exceeds 480 nnol m(-2) s(-1) have apparently negative effect on diameter and survival rate. (c) 2005 Elsevier B.V. All rights reserved.

Determination of aliphatic amines from soil and wastewater of a paper mill by pre-column derivatization using HPLC and tandem mass spectrometry (HPLC-MS/MS)

A pre-column derivatization method for the sensitive determination of aliphatic amines using the labeling reagent 1,2-benzo-3,4-dihydrocarbazole-9-ethyl chloroformate (BCEOC) followed by HPLC with fluorescence detection and APCI/NIS identification in positive-ion mode has been developed. The chromophore of 2-(9-carbazole)-ethyl chloroformate (CEOC) reagent was replaced by the 1,2-benzo-3,4-dihydrocarbazole functional group, which resulted in a sensitive fluorescence derivatizing reagent, BCEOC, that could easily and quickly label amines. Derivatives were stable enough to be efficiently analyzed by HPLC and showed an intense protonated molecular ion corresponding m/z [M + H](+) with APCI/MS in positive-ion mode. The collision induced dissociation of the protonated molecular ion formed characteristic fragment ions at m/z 264.1, m/z 246.0 and m/z 218.1, corresponding to the cleavages of CH2CH2O-CO, CH2CH2-OCO, and N-CH2CH2O bonds. Studies on derivatization conditions demonstrated that excellent derivatization yields close to 100% were observed with a 3 to 4-fold molar reagent excess in acetonitrile solvent, in the presence of borate buffer (pH 9.0) at 40 degrees C for 10 min. In addition, the detection responses for BCEOC derivatives were compared with those obtained with CEOC and FMOC as labeling reagents. The ratios I-BCEOC/I-CEOC and I-BCEOC/I-FMOC were, respectively, 1.40-2.76 and 1.36-2.92 for fluorescence responses (here, I was the relative fluorescence intensity). Separation of the amine derivatives had been optimized on an Eclipse XDB-C-8 column. Detection limits calculated from an 0.10 pmol injection, at a signal-to-noise ratio of 3, were 18.65-38.82 fmol (injection volume 10 mu L for fluorescence detection. The relative standard deviations for intraday determination (n = 6) of standard amine derivatives (50 pmol) were 0.0063-0.037% for retention times and 3.36-6.93% for peak areas. The mean intra-and inter-assay precision for all amines were <5.4% and 5.8%, respectively. The recoveries of amines ranged from 96 to 113%. Excellent linear responses were observed with correlation coefficients of >0.9994. The established method provided a simple and highly sensitive technique for the quantitative analysis of trace amounts of aliphatic amines from biological and natural environmental samples.

柴达木盆地地震勘探关键技术研究

The rugged surface topography determined the seismic data acquisition construction conditions and the seismic wave explosive and receiver quality in Qaidam Basin. This dissertation systematically researched the seismic acquisition, imaging process and the attribute analysis techniques of complicated oil and gas reservoir. The main research achievements and cognitions are as follows: 1. Through the stimulation effects research and analysis from the aspect of lithologic water-containing differences, it’s specific that stable hydrous sand layer can effectively enhance the stimulation effects combined with the corresponding field tests. The seismic data S/N ratio has been improved due to the combination explosive stimulation. Through the fold number and maximum offset analyses of target horizon, the complicated geometry has been optimized and the S/N ratio of seismic data has been improved, which made an important basis for improvement of 3D seismic data. 2. It has been proved that the first arrival refraction static correction method under the model constraint of fine surface survey is suitable to the Qaidam Basin of western areas by the real seismic data processing. Although the refraction horizon of near surface has some changes in a certain extent, it’s steady basically. The refraction horizon can be continuously traced in sections, so it’s qualified for the refraction static correction method on the whole. 3. The research is based on the curved-ray pre-stack time migration techniques of rough topography, and improved the imaging precision of complex areas. This techniques adopted the constant and variable velocity scanning mode and enhanced the velocity analysis precision. The 3D pre-stack time migration techniques reasonably solved the imaging and velocity multiple solutions problems of steep-dip faults and the intersections of horizontal layers. What’s more, fine velocity analysis and mute are very important to enhance the imaging precision of the seismic data in complicated Wunan areas. 4. The 3D seismic data edge-preserving processing methods have been realized due to the image process techniques. Because this method uses the large range filter, it can attenuate the noise maximally. The faults, break points, lithologic pinchout points and lithologic body of small scale such as river will not be influenced by blur because of the edge-preserving characterization of the method which is really an effective assistant technique of low S/N ratio seismic data attribute analysis. 5. The use of spectral decomposition technique can effectively identify the reservoirs. The special geology body which will not be identified (or without obvious characters) in the seismic profile may be found through the details changes of different frequencies in the amplitude profiles.