基于NN的人形机器人自适应H_∞位置跟踪控制

研究一种正交轮式移动车为载体的类人形机器人的建模与控制问题．首先基于分体建模的思想,采用机理建模和神经网络技术相结合的方法建立了动力学模型;然后依据该模型,提出一种新的基于 NN 的自适应 H_∞位置跟踪控制器,使鲁棒非线性 H_∞控制方法自然地与模型的直接自适应神经网络技术集成为一体,并证明了其鲁棒稳定性．最后,仿真研究验证了该方法的正确性和有效性．

个旧锡矿区构造岩稀土元素特征及其找矿意义

个旧锡多金属矿床明显受断裂的控制。断裂(裂隙)的构造岩分析结果表明，构造岩稀土元素的特征与矿石一致，且它们有相同的来源，而与围岩具有明显的差别。矿区强烈的花岗岩岩浆汽热活动造成构造岩的稀土明显富集。根据稀土元素的分布异常圈定了隐伏矿床(体)找矿靶区，经钻孔验证已见成效。

甘肃阳山金矿同位素地球化学特征及矿床成因

甘肃文县阳山金矿的探明黄金储量已达308t，平均品位4.74g/t，是我国地质勘查储量最大的金矿床。该矿床产于西秦岭造山带，是一个同碰撞形成的类卡林型金矿床，矿体受EW向韧脆性剪切带控制，赋矿围岩为泥盆系碳质千枚岩-板岩-碳酸盐-硅质岩和侵入其中的花岗斑岩脉。流体成矿过程包括：形成石英-绢云母-黄铁矿组合的早阶段，形成石英-黄铁矿-毒砂-方铅矿等多金属组合的主成矿阶段，形成碳酸盐-辉锑矿-石英网脉的晚阶段。 与矿体关系较为密切的花岗斑岩富集LILE 和 LREE, 亏损 Ba, Sr, Nb, Ta, P 和Ti，ΣREE＝54.35～124.01 μg/g ，(La/Yb)N=9.72～27.80，δEu=0.70～0.89， ISr值为0.70806～0.71756，平均0.71107；εNd(t)平均-3.4；Nd模式年龄（T2DM）平均1.34（Ga）。表明花岗斑岩岩浆应源自成熟度较低的中元古代基底地壳物质。花岗斑岩的(206Pb/204Pb)220Ma、(207Pb/204Pb)220Ma和(208Pb/204Pb)220Ma的平均值分别为17.875、15.604和38.296，与秦岭微陆块的中元古代基底和碧口地体碧口群的Pb同位素组成一致。考虑到前人获得碧口群的年龄为1.235～1.367Ga，而秦岭微陆块沿勉略缝合带向南仰冲到碧口地体之上，我们认为由碧口群等组成的俯冲板片的变质脱水熔融作用导致了阳山金矿带花岗斑岩的形成。因此，阳山金矿带的花岗斑岩是扬子与华北大陆中生代碰撞造山过程中形成的同碰撞花岗岩类。 最新的S，Sr和Pb同位素研究表明：热液成矿早阶段的黄铁矿的34S值范围介于-15.5‰~6.59‰之间，总体离散性比较大，显示沉积地层来源的特征，硫同位素组成属离散型，不具有岩浆主导的成矿的塔式效应。花岗岩中黄铁矿硫同位素范围很集中，34S值处于-1.47‰～2.12‰之间，本区花岗斑岩不可能为成矿物质的主要来源。矿石硫化物的初始锶同位素比值范围较大（0.70877～0.71697，平均为0.71258），显示成矿物质并非单一来源，考虑到花岗斑岩先于矿床形成，只在后期构造作用的岩体部分成矿的地质事实，少量矿石中的低锶同位素比值黄铁矿有可能来自作为围岩的花岗斑岩，也可能来自基底物质。矿石硫化物Pb同位素206Pb/204Pb=17.552～18.853，平均18.260；207Pb/204Pb=15.574～15.928，平均15.685；208Pb/204Pb=37.894～39.293，平均38.680，变化范围比较大。μ=9.46~10.06，平均为9.65，ω值介于36.96～42.21，显示了铅源的物质成熟度较高，要求最佳物源是浅变质化学-碎屑沉积建造，恰好与本区泥盆构造层为浅变质细碎屑岩夹薄层灰岩系的特征一致，部分低Sr和Pb同位素比值的成矿物质可能来自于作为围岩的花岗斑岩和/或者基地物质。 总结前人阳山金矿床的H-O-C同位素体系的研究得出，初始成矿流体来源于碳酸盐地层或相似岩石建造的变质或/和改造脱水，成矿流体系统从早到晚、从深到浅，由变质热液演变为大气降水热液。与本文得出的结论一致。 总而言之， 阳山金矿矿成矿流体的来源早期具有变质水特征，应来自赋矿地层或相似岩性组合的改造或变质脱水作用，晚阶段大气水为主的流体性质。成矿物质主要来自于赋矿围岩。流体经过作为部分围岩的花岗斑岩时从中萃取少部分成矿物质，而导致了少部分的低锶、铅同位素的矿石硫化物组成。 在中生代扬子板块北缘（包括碧口地块）向南秦岭陆陆碰撞过程中，扬子北缘板片沿勉略断裂向北俯冲到南秦岭之下，下插板片增温增压，发生变质、脱水和部分熔融。碰撞中期，构造背景由挤压向伸展转变，减压增温的环境导致大量变质流体沿深大断裂向上运移，不断萃取围岩中大量成矿元素，并将成矿元素搬运至有利于流体聚集、成矿物质卸载的空间，使成矿物质富集成矿。阳山金矿床定位于泥盆系构造层中，成矿时代为190Ma左右，紧随花岗斑岩侵入作用（220Ma左右），主成矿作用发生于碰撞作用由挤压-伸展转变期的减压增温环境。成岩、成矿模式与CMF模式吻合。 阳山超大型金矿是世界罕见的碰撞造山带内类卡林型金矿床，其地质地球化学特征复杂、独特，流体性质主要与造山型金矿一致，矿床地质主要与卡林型金矿一致，部分特征兼与造山型和卡林型两类矿床之间，花岗斑岩本身成矿的特点又为阳山所特有，总体具有造山型向卡林型金矿过渡的性质。因此建议以“秦岭式”或“阳山式”类卡林型金矿床代表与阳山金矿具有类似成矿背景及地球化学性质的矿床。

Learning Shape Descriptions: Generating and Generalizing Models of Visual Objects

We present the results of an implemented system for learning structural prototypes from grey-scale images. We show how to divide an object into subparts and how to encode the properties of these subparts and the relations between them. We discuss the importance of hierarchy and grouping in representing objects and show how a notion of visual similarities can be embedded in the description language. Finally we exhibit a learning algorithm that forms class models from the descriptions produced and uses these models to recognize new members of the class.

Imagining the Turkish nation through 'othering' Armenians

G?l, A. (2005). Imagining the Turkish nation through 'othering' Armenians. Nations and Nationalism. 11(1), 121-139 RAE2008

Informe comisión San Andrés Isla.

24 hojas : ilustraciones.

Prostate biopsy in selecting candidates for hemiablative focal therapy.

Focal therapy (FT) for the management of clinically localized prostate cancer (PCa) is growing from a concept to reality because of increased interest of both patients and physicians. Selection protocols, however, are yet to be established. We discuss the role of prostate biopsy in candidate selection for FT and highlight the different strategies and technical aspects of the use of prostate biopsy in this setting. In our opinion, prostate biopsy plays a major role in the selection process and tailoring appropriate treatment strategy to the patient. FT necessitates dedicated biopsy schemes that would reliably predict the extent, nature, and location of PCa in selected patients. Currently, there is insufficient scientific evidence to propose a specific biopsy scheme that could fit every candidate, providing accurate characterization of the disease in the individual patient. Further research is necessary to establish solid selection protocols that would reliably identify appropriate candidates for FT of PCa.

Chimpanzees and bonobos exhibit divergent spatial memory development.

Spatial cognition and memory are critical cognitive skills underlying foraging behaviors for all primates. While the emergence of these skills has been the focus of much research on human children, little is known about ontogenetic patterns shaping spatial cognition in other species. Comparative developmental studies of nonhuman apes can illuminate which aspects of human spatial development are shared with other primates, versus which aspects are unique to our lineage. Here we present three studies examining spatial memory development in our closest living relatives, chimpanzees (Pan troglodytes) and bonobos (P. paniscus). We first compared memory in a naturalistic foraging task where apes had to recall the location of resources hidden in a large outdoor enclosure with a variety of landmarks (Studies 1 and 2). We then compared older apes using a matched memory choice paradigm (Study 3). We found that chimpanzees exhibited more accurate spatial memory than bonobos across contexts, supporting predictions from these species' different feeding ecologies. Furthermore, chimpanzees - but not bonobos - showed developmental improvements in spatial memory, indicating that bonobos exhibit cognitive paedomorphism (delays in developmental timing) in their spatial abilities relative to chimpanzees. Together, these results indicate that the development of spatial memory may differ even between closely related species. Moreover, changes in the spatial domain can emerge during nonhuman ape ontogeny, much like some changes seen in human children.

Microwave cure of conductive adhesives for flip-chip & microsystems applications

The curing of conductive adhesives and underfills can save considerable time and offer cost benefits for the microsystems and electronics packaging industry. In contrast to conventional ovens, curing by microwave energy generates heat internally within each individual component of an assembly. The rate at which heat is generated is different for each of the components and depends on the material properties as well as the oven power and frequency. This leads to a very complex and transient thermal state, which is extremely difficult to measure experimentally. Conductive adhesives need to be raised to a minimum temperature to initiate the cross-linking of the resin polymers, whilst some advanced packaging materials currently under investigation impose a maximum temperature constraint to avoid damage. Thermal imagery equipment integrated with the microwave oven can offer some information on the thermal state but such data is based on the surface temperatures. This paper describes computational models that can simulate the internal temperatures within each component of an assembly including the critical region between the chip and substrate. The results obtained demonstrate that due to the small mass of adhesive used in the joints, the temperatures reached are highly dependent on the material properties of the adjacent chip and substrate.

A new parameterization of Johnson's SB distribution with application to fitting forest tree diameter data

The SB distributional model of Johnson's 1949 paper was introduced by a transformation to normality, that is, z ~ N(0, 1), consisting of a linear scaling to the range (0, 1), a logit transformation, and an affine transformation, z = γ + δu. The model, in its original parameterization, has often been used in forest diameter distribution modelling. In this paper, we define the SB distribution in terms of the inverse transformation from normality, including an initial linear scaling transformation, u = γ′ + δ′z (δ′ = 1/δ and γ′ = �γ/δ). The SB model in terms of the new parameterization is derived, and maximum likelihood estimation schema are presented for both model parameterizations. The statistical properties of the two alternative parameterizations are compared empirically on 20 data sets of diameter distributions of Changbai larch (Larix olgensis Henry). The new parameterization is shown to be statistically better than Johnson's original parameterization for the data sets considered here.

Valuing the health benefits of physical activities in the marine environment and their importance for marine spatial planning

The marine environment provides a number of services which contribute to human well-being including the provision of food, regulation of climate and the provision of settings for cultural gains. To ensure these services continue to be provided, effective management is required and is being strategically implemented through the development of marine spatial plans. These plans require an understanding of the costs and benefits associated with alternative marine uses and how they contribute to human well-being. One benefit which is often difficult to quantify is the health benefit of engaging with the marine environment. To address this, the research develops an approach which can estimate the contribution aquatic physical activities makes to quality adjusted life years (QALYs) in monetary and non-monetary terms. Using data from the Health Survey for England, the research estimates that physical activities undertaken in aquatic environments at a national level provides a total gain of 24,853 QALYs. A conservative estimate of the monetary value of a QALY gain of this magnitude is £176 million. This approach provides estimates of health benefits which can be used in more comprehensive impact assessments, such as cost-benefit analysis, to compare alternative marine spatial plans. The paper concludes by discussing future steps.