Product life trade-offs: what if products fail early?

Increasing product life allows the embodied emissions in products to be spread across a longer period but can mean that opportunities to improve use-phase efficiency are foregone. In this paper, a model that evaluates this trade-off is presented and used to estimate the optimal product life for a range of metal-intensive products. Two strategies that have potential to save emissions are explored: (1) adding extra embodied emissions to make products more sturdy, increasing product life, and (2) increasing frequency of use, causing early product failure to take advantage of improvements in use-phase efficiency. These strategies are evaluated for two specific case studies (long-life washing machines and more frequent use of vehicles through car clubs) and for a range of embodied and use-phase intensive products under different use-phase improvement rate assumptions. Particular emphasis is placed on the fact that products often fail neither at their design life nor at their optimal life. Policy recommendations are then made regarding the targeting of these strategies according to product characteristics and the timing of typical product failure relative to optimal product life.

Climate resilience of schools: a case study

Social and political concerns are frequently reflected in the design of school buildings, often in turn leading to the development of technical innovations. One example is a recurrent concern about the physical health of the nation, which has at several points over the last century prompted new design approaches to natural light and ventilation. The most critical concern of the current era is the global, rather than the indoor, environment. The resultant political focus on mitigating climate change has resulted in new regulations, and in turn considerable technical changes in building design and construction. The vanguard of this movement has again been in school buildings, set the highest targets for reducing operational carbon by the previous Government. The current austerity measures have moved the focus to the refurbishment and retrofit of existing buildings, in order to bring them up to the exacting new standards. Meanwhile there is little doubt that climate change is happening already, and that the impacts will be considerable. Climate scientists have increasing confidence in their predictions for the future; if today’s buildings are to be resilient to these changes, building designers will need to understand and design for the predicted climates in order to continue to provide comfortable and healthy spaces through the lifetimes of the buildings. This paper describes the decision processes, and the planned design measures, for adapting an existing school for future climates. The project is at St Faith’s School in Cambridge, and focuses on three separate buildings: a large Victorian block built as a substantial domestic dwelling in 1885, a smaller single storey 1970s block with a new extension, and an as-yet unbuilt single storey block designed to passivhaus principles and using environmentally friendly materials. The implications of climate change have been considered for the three particular issues of comfort, construction, and water, as set out in the report on Design for Future Climate: opportunities for adaptation in the built environment (Gething, 2010). The adaptation designs aim to ensure each of the three very different buildings remains fit for purpose throughout the 21st century, continuing to provide a healthy environment for the children. A forth issue, the reduction of carbon and the mitigation of other negative environmental impacts of the construction work, is also a fundamental aim for the school and the project team. Detailed modelling of both the operational and embodied energy and carbon of the design options is therefore being carried out, in order that the whole life carbon costs of the adaptation design options may be minimised. The project has been funded by the Technology Strategy Board as part of the Design for Future Climates programme; the interdisciplinary team includes the designers working on the current school building projects and the school bursar, supported by researchers from the University of Cambridge Centre for Sustainable Development. It is hoped that lessons from the design process, as well as the solutions themselves, will be transferable to other buildings in similar climatic regions.

A Maximum-Likelihood Interpretation for Slow Feature Analysis

The brain extracts useful features from a maelstrom of sensory information, and a fundamental goal of theoretical neuroscience is to work out how it does so. One proposed feature extraction strategy is motivated by the observation that the meaning of sensory data, such as the identity of a moving visual object, is often more persistent than the activation of any single sensory receptor. This notion is embodied in the slow feature analysis (SFA) algorithm, which uses “slowness” as an heuristic by which to extract semantic information from multi-dimensional time-series. Here, we develop a probabilistic interpretation of this algorithm showing that inference and learning in the limiting case of a suitable probabilistic model yield exactly the results of SFA. Similar equivalences have proved useful in interpreting and extending comparable algorithms such as independent component analysis. For SFA, we use the equivalent probabilistic model as a conceptual spring-board, with which to motivate several novel extensions to the algorithm.

Key principles for developing industrially relevant strategic technology management toolkits

When considering the potential uptake and utilization of technology management tools by industry, it must be recognized that companies face the difficult challenges of selecting, adopting and integrating individual tools into a toolkit that must be implemented within their current organizational processes and systems. This situation is compounded by the lack of sound advice on integrating well-founded individual tools into a robust toolkit that has the necessary degree of flexibility such that they can be tailored for application to specific problems faced by individual organizations. As an initial stepping stone to offering a toolkit with empirically proven utility, this paper provides a conceptual foundation to the development of toolkits by outlining an underlying philosophical position based on observations from multiple research and commercial collaborations with industry. This stance is underpinned by a set of operationalized principles that can offer guidance to organizations when deciding upon the appropriate form, functions and features that should be embodied by any potential tool/toolkit. For example, a key objective of any tool is to aid decision-making and a core set of powerful, flexible, scaleable and modular tools should be sufficient to allow users to generate, explore, shape and implement possible solutions across a wide array of strategic issues. From our philosophical stance, the preferred mode of engagement is facilitated workshops with a participatory process that enables multiple perspectives and structures the conversation through visual representations in order to manage the cognitive load in the collaborative environment. The generic form of the tools should be configurable for the given context and utilized in a lightweight manner based on the premise of 'start small and iterate fast'. © 2012 Elsevier Inc.

Biomimetic mineral-protein composites formed by an automated alternate soaking process

Biomineralized composite materials found in nature have a compromise of good mechanical properties and relatively small embodied energies in the process of their formation. The Alternate Soaking Process (ASP) is a laboratory technique that has only recently been applied to replicating composite biomineralization. The nexus of the ASP - heterogeneous nucleation - makes it ideal for replicating biominerals where the mineral is templated onto an organic substrate, such as occurs in avian eggshell. Here we demonstrate the deposition of a calcium carbonate gelatin composite on either glass cover slips or demineralized eggshell membranes using an automated ASP. SEM images and FTIR spectra of the resulting mineral show that by altering the amount of gelatin in the growth solutions the final organic component can be controlled accurately in the range of 1-10%, similar to that of natural eggshell. This study shows for the first time the co-precipitation of a CaCO3 - gelatin composite by an ASP and that the organic fraction of this mineral can be tuned to mimic that of natural biomineralized composites. © 2012 Materials Research Society.

Cognition from the bottom up: on biological inspiration, body morphology, and soft materials.

Traditionally, in cognitive science the emphasis is on studying cognition from a computational point of view. Studies in biologically inspired robotics and embodied intelligence, however, provide strong evidence that cognition cannot be analyzed and understood by looking at computational processes alone, but that physical system-environment interaction needs to be taken into account. In this opinion article, we review recent progress in cognitive developmental science and robotics, and expand the notion of embodiment to include soft materials and body morphology in the big picture. We argue that we need to build our understanding of cognition from the bottom up; that is, all the way from how our body is physically constructed.

Soft robotics: Challenges and perspectives

There has been an increasing interest in the use of unconventional materials and morphologies in robotic systems because the underlying mechanical properties (such as body shapes, elasticity, viscosity, softness, density and stickiness) are crucial research topics for our in-depth understanding of embodied intelligence. The detailed investigations of physical system-environment interactions are particularly important for systematic development of technologies and theories of emergent adaptive behaviors. Based on the presentations and discussion in the Future Emerging Technology (fet11) conference, this article introduces the recent technological development in the field of soft robotics, and speculates about the implications and challenges in the robotics and embodied intelligence research. © Selection and peer-review under responsibility of FET11 conference organizers and published by Elsevier B.V.

New robotics: design principles for intelligent systems.

New robotics is an approach to robotics that, in contrast to traditional robotics, employs ideas and principles from biology. While in the traditional approach there are generally accepted methods (e. g., from control theory), designing agents in the new robotics approach is still largely considered an art. In recent years, we have been developing a set of heuristics, or design principles, that on the one hand capture theoretical insights about intelligent (adaptive) behavior, and on the other provide guidance in actually designing and building systems. In this article we provide an overview of all the principles but focus on the principles of ecological balance, which concerns the relation between environment, morphology, materials, and control, and sensory-motor coordination, which concerns self-generated sensory stimulation as the agent interacts with the environment and which is a key to the development of high-level intelligence. As we argue, artificial evolution together with morphogenesis is not only "nice to have" but is in fact a necessary tool for designing embodied agents.

Finding resonance: Adaptive frequency oscillators for dynamic legged locomotion

There is much to gain from providing walking machines with passive dynamics, e.g. by including compliant elements in the structure. These elements can offer interesting properties such as self-stabilization, energy efficiency and simplified control. However, there is still no general design strategy for such robots and their controllers. In particular, the calibration of control parameters is often complicated because of the highly nonlinear behavior of the interactions between passive components and the environment. In this article, we propose an approach in which the calibration of a key parameter of a walking controller, namely its intrinsic frequency, is done automatically. The approach uses adaptive frequency oscillators to automatically tune the intrinsic frequency of the oscillators to the resonant frequency of a compliant quadruped robot The tuning goes beyond simple synchronization and the learned frequency stays in the controller when the robot is put to halt. The controller is model free, robust and simple. Results are presented illustrating how the controller can robustly tune itself to the robot, as well as readapt when the mass of the robot is changed. We also provide an analysis of the convergence of the frequency adaptation for a linearized plant, and show how that analysis is useful for determining which type of sensory feedback must be used for stable convergence. This approach is expected to explain some aspects of developmental processes in biological and artificial adaptive systems that "develop" through the embodied system-environment interactions. © 2006 IEEE.

Differences and commonalities between connectionism and symbolicism

The differences between connectionism and symbolicism in artificial intelligence (AI) are illustrated on several aspects in details firstly; then after conceptually decision factors of connectionism are proposed, the commonalities between connectionism and symbolicism are tested to make sure, by some quite typical logic mathematics operation examples such as "parity"; At last, neuron structures are expanded by modifying neuron weights and thresholds in artificial neural networks through adopting high dimensional space geometry cognition, which give more overall development space, and embodied further both commonalities.

四川九顶山西坡及龙肘山维管植物区系和植物多样性研究

横断山地区是一个十分自然的植物区系地区，在中国植物区系分区中是作为泛北极植物区中国-喜马拉雅亚区中的一个地区，其种子植物区系具有丰富的科、属、种，地理成分复杂，特有现象和替代现象明显。该地区作为植物区系和生物多样性的研究热点地区，长期以来极受中外植物学家关注。横断山脉东缘是中国-喜马拉雅和中国-日本植物区系的交汇过渡区域，北部的岷江流域以及南部的金沙江流域，孕育了该区丰富的物种资源和植被资源。而岷江干热河谷和金沙江干热河谷的相似性和相关性，更为该区的植物区系和生物多样性南北的对比研究提供了有利的条件。 本研究选择的九顶山西坡和龙肘山分别位于横断山区北部和南部，九顶山属岷江流域而龙肘山属金沙江流域。本研究结合植物区系研究和生物多样性研究，对该区的植物资源进行调查。通过样带调查和样线踏查结合，大量详实的野外样方调查和标本采集，进行传统的区系研究和生物多样性研究。研究该区物种多样性的海拔梯度格局及其潜在的影响影子，并利用新的区系评估质量方法对九顶山西坡的植物区系质量进行定量的研究，以期能更为深刻的理解该区的植物资源，为该区的资源保护和利用提供合理可行的建议。主要研究结论如下： 1）九顶山西坡植物区系的性质和特点 经鉴定和统计，九顶山西坡共有1707 种维管植物，分属617 属和140 科,其中种子植物1616 种，分属572 属117 科。就科的分布区成分构成而言，该区系的热带成分与温带成分相当，热带成分略占优势，表明九顶山西坡的植物区系与热带植物区系有较强的联系。但是，在九顶山西坡属的分布区类型所占的比例上，温带成分远远超过了热带成分，本区的种子植物分布表现出明显的温带性质。且温带分布类型的许多物种组成了九顶山西坡植被的建群种和优势种，是本区系最重要的成分，充分体现了本区系的温带性质。 2）九顶山西坡不同植被带的生物多样性海拔梯度格局 基于对土门-断头崖、茶山-九顶山、雁门沟-光光山三条垂直植被样带的调查，我们发现九顶山西坡的生物多样性沿海拔梯度的变化呈现出一定的规律性，不同样带之间有一定差异。就三条样带的物种组成相似性来看，虽然土门－断头崖样带属于涪江水系，而茶山－九顶山样带和雁门沟－光光山样带属于岷江水系，但不同水系对该区物种组成的影响并不明显。三条样带中，草本层物种丰富度均远远大于灌木层和乔木层，而以乔木层物种丰富度最低；α－多样性指数随着海拔梯度的变化在土门-断头崖样带中呈现单一下降趋势，在茶山-九顶山样带表现为双峰模型，而在雁门沟-光光山样带则表现为不显著波动变化；均匀度指数在土门-断头崖样带呈现出单一下降的趋势，在雁门沟-光光山样带表现为凹形曲线，而在茶山-九顶山样带却无明显的变化规律。β－多样性指数在土门-断头崖样带和茶山-九顶山样带呈现出明显的波动状态，植被类型替代现象明显；而在雁门沟-光光山样带却并未有十分显著的转折点，因其水平植被带受到干扰，同海拔替代现象不显著。 3）九顶山西坡维管植物丰富度的海拔梯度格局 我们考察了九顶山西坡和两条垂直样带（土门－断头崖和雁门沟－光光山样带）的不同分类等级（包括科、属、种）和不同生活型物种（乔木、灌木、禾草、蕨类和其它草本）的丰富度沿着海拔梯度的分布。结果发现，物种的丰富度海拔梯度格局具有不同的模式，单一下降和中间膨胀格局依然是其主流。不同生活型的物种具有不同的丰富度格局，但是对于环境需求相似的类型具有较相似的丰富度格局。不同的丰富度格局可能由多因素导致，包括：气候，海拔跨度，面积，人为干扰等等。 4）九顶山西坡区系质量评估 我们尝试使用传统的区系质量评估方法对九顶山西坡的区系质量进行评估，并尝试使用一种新的区系质量评估体系对该区的区系进行评价。在九顶山西坡随着海拔梯度的上升，平均保守性系数在各条植被带中均呈现出逐渐上升的趋势。区系质量指数随着海拔的升高都表现为双峰模型，在植被交错区区系质量指数相对较高，而在海拔的两极，区系质量指数都很低。大部分地区使用新方法计算所得的加权平均保守性系数和区系质量指数都比传统方法计算的平均保收性系数和区系质量指数要高，说明在九顶山西坡的三条样带中，大部分地区都是那些保守性系数较高的物种占据优势，同时也表明九顶山西坡具有很高质量的区系和自然植被。 5）龙肘山种子植物区系的性质和特点 龙肘山种子植物区系的物种较为丰富，共有154 科，544 属，1156 种。科的优势十分明显，单种属和寡种属数量众多，说明本区系植物成分较为复杂、起源古老、物种多样性指数较高。地理成分复杂，分布类型多样，其中热带成分在总数量上高于温带成分，但是许多温带成分的属是该区植被的重要建群类群和优势类群，表现出明显的亚热带性质。 6）龙肘山生物多样性的现状和特点 在海拔梯度上，龙肘山地区无论是科、属、种的数量，还是不同等级分类单元之间的数量比，均呈现先升后降的趋势，并在中海拔地区达到峰值。物种多样性指数从总体上来说变化幅度不大，略有先升后降的趋势，在中海拔梯度物种多样性最高。乔、灌、草三层的多样性指数表现出乔木层<灌木层<草本层的特征；乔木层均匀度的变化很大，而灌木层和草本层均匀度的变化较小；灌木层均匀度的波动又强于草本层。β－多样性指数呈现单峰模式，中海拔地区最高。就龙肘山东、西坡物种多样性相比较而言，两者虽然在数值上交替上升，但是却体现出了较为一致的趋势，但西坡因受到干热河谷气候的影响，其平均气温要高于东坡，导致了东坡植物群落和物种的分布比西坡要低。在区系成分构成上，低山区的相同海拔段，西坡的热带亚热带成分所占的比例要比东坡高，这是因为西坡的平均气温比东坡稍高，导致了热带、亚热带物种分布更多。而随着海拔的上升，东、西两坡的气候、土壤等条件趋于一致，其植物区系成分的构成格局也趋于一致。 The Hengduan Mountain region is a very natural floristic region; it belongs toChina-Himalaya sub-region of Holarctic region in floristic subarea of China. The flora in this areais rich in family, genus and species; has a very complex composition of geographical elements;especially with high richness of endemic species and obvious substitution phenomenon. Thisregion as a hot-spot area of floristic and biodiversity, has fascinated biologists in the world for along time. The eastern range of Hengduan Mountain is the transition zone of China – Himalayaforest sub-region and China-Japan forest sub-region in floristic. The water systems are quitedifferent, Minjiang River in the north and Jishajiang River in the south grow quit different but alsoabundant plant species and vegetation resources. The similarity and correlativity of Minjiang River dry valleys and Jinshajiang River dry valleys have provided advantageous condition tocontrast flora and biodiversity between north and south. In the present study, the Jiuding Mountainlies in the north of Hengduan Mountain and belongs to Minjiang River, and the LongzhouMountain lies in the south of Hengduan Mountain and belongs to Jinshajiang River. In our study, we combined the methods of floristic research and biodiversity investigation toexplore the resources of plant species and vegetations; sampled with transects along the altitudinalgradients and also with transverse straps with similar elevation; collected the vascular plant specimen with sampling plots of ecology. We explored the plant species richness patterns alongaltitudinal gradients and discussed the underlying factors aroused these patterns; and used a novelmethod to assess the quality of Jiuding Mountain’s flora. All for a deeper comprehension of the plant recourses of this region; and provided feasible and reasonable suggestion for the protectionof resources. The results were as follows: 1 The characteristic of the flora of the west slope of Jiuding Mountain We had collected 1707 species of vascular plants belonging to 617 genera in 140 families inthe west slope of Jiuding Mountain，in which included 1616 seed plant species belonging to 572genera and 117 families. As for the composition of the areal types of the Families of seed plants,tropic components and temperate components are well-balanced, and percentage of tropicscomponents is higher than that of temperate ones for a litter bit. This shows the flora in the westslope of Jiuding Mountain has strong relationship with the tropic flora. But for the composition ofthe areal types of genera, temperate components have far exceeded the tropics ones, indicated thewhole flora with a conspicuous temperate character. Temperate components possess maximumproportion in the west slope of Jiuding Mountain, and many of them belong to constructivespecies and dominant species in the vegetation, are most important components in JiudingMountain’s Flora, also have embodied the temperate character of this area sufficiently. 2 Biodiversity patterns along altitudinal gradients in different vegetation transects in the westslope of Jiuding Mountain Based on the investigation of three vegetation transects (including Tumen-Duantouya transect,Chashan-Jiudingshan transect and Yanmengou-Guangguangshan Transect) in the west slope ofJiuding Mountain, we found the change of biodiversity along the altitude gradients displayedcertain regularity, but have differences among different transects. The three transects belong todifferent water systems; the Tumen-Duantouya transect belongs to Fujiang River, and the othertwo belong to Minjiang River. From the similarity of species compositions of different transects,we found different water system didn’t show obvious impact on the species composition. In all thethree transects, the species richness of herb layer was remarkably higher than shrub and tree layer,and the species richness of tree layer was the lowest one. With the increasing of the altitude, theline of α-diversity was monotonically decreasing curve in Tumen-Duantouya transect, andbimodal curve in Chashan-Jiudingshan transect, but in Yanmengou-Guangguangshan transectshowed a wave-like curve although not very obvious. Species evenness showed monotonicallydecreasing trends in Tumen-Duantouya transect, and very low at mid-altitude in Yanmengou-Guangguangshan transect, but in Chashan-Jiudingshan transect changed irregularly. Changes inβ-diversity corresponded with the transition of vegetation in the Tumen-Duantouya transect andChashan-Jiudingshan transect, and the curve of β-diversity along altitude had obvious turningpoint; but in Yanmengou-Guangguangshan transect had no obvious turning point, and thesubstitution phenomenon was not obvious, transverse vegetation straps distributed interlaced. 3 Richness patterns of vascular plant species along altitude in the west slope of Jiuding Mountain Direct gradient analysis and regression methods were used to describe the species richnesspatterns along the altitudinal for Mt. Jiuding, as well as separately for Tumen-Duantouya Transectand Yanmengou-Guangguangshan Transect. Altitudinal gradient of diversity of units at differenttaxonomic level (including Family, Genus and Species) and at different life form (including tree,shrub, pteridophyte, grass and other herb) were tested to find differences among the richnesspattern. We found altitudinal richness also shows different patterns, and both monotonicallydecreasing pattern and hump-shaped pattern can be founded in vascular species richness. Speciesin different life forms show different altitudinal patterns, but those species with similarrequirements to environmental conditions show similar richness patterns along altitudinalgradients. Different richness patterns can be aroused by different climate, different altitudinal span,area factor, anthropogenic factor and so on. 4 Floristic quality assessments in the west slope of Jiuding Mountain We used both the conventional method broadly adopted in the USA and the new one toassess the floristic quality in the west slope of Jiuding Mountain. The Mean Coefficient ofConservatism (MC) had the trend of increment along the altitudinal gradients. The FloristicQuality Index (FQI) was a bimodal curve with increasing of elevation; FQI got maximum valuesin the transition zones of different vegetations in the middle altitude, and had very low values atthe two end of elevation. In most areas of the west slope of the Jiuding Mountain, the resultscalculated using the new methods were higher than those using the conventional method. Thisindicated the dominant species of the communities had very high coefficients of conservatism inmost areas of Jiuding Mountain, and the communities are relatively kept pristine and the habitats very integrative. 5 The characteristic of the flora of Longzhou Mountain The flora of Longzhou Mountain has very abundant in species composition; there are about1156 species of seed plants belonging to 544 genera in 154 families. In which, twelve families with more than 20 species include totally 232 genera and 532 species, and form the majority of itsflora. The origin of its flora is old, monospecific genera and oligotypic genera amounts to 510 innumber, which constitute 93.75% of total number of genera. The geographical components arevarious in Longzhou Mountain, the majority of flora are temperate and pantropic ones. The tropiccomponents overtopped temperate components on genera quantity, but many temperatecomponents belong to constructive species and dominant species in the vegetation, and the wholeflora shows an obvious subtropical character. 6 Current situation and characteristic of biodiversity in Longzhou Mountain With the increasing of altitude, the number of species, genus, family and the ratios ofdifferent taxonomic levels all displayed a trend of descending after rising first, and peaked atmiddle height area. The change of α-diversity was not very acutely, with the trend of descendingafter rising first in some degree, the middle height area had highest α-diversity. As studying thetree layer, shrub layer and herb layer respectively, the Shannon-Wiener index was in followingorder: tree layer < shrub layer < herb layer; the change of evenness was more complicatedly thanthat of diversity, the tree layer changed acutely, but the shrub layer and herb layer fluctuatedsmoothly. Changes in β-diversity also showed the trend of descending after rising first. TheJaccard index and Cody index all peaked at the middle height forest area. As for the comparison ofplant diversity and evenness between the west and east slope, the numerical values ascendedalternatively, but the trend of changing was similar. The distribution of similar plant communitiesand species in east slope were lower than the west slope for the influence of Jinsha River DryValley. As for the composition of different floristic components, in lower altitude area of westslope, the tropic and sub-tropic plants had higher ratio than east slope’s and even could be equal tothe temperate plants. With the increasing of elevation, the floristic composition become morelikely between the east and west slope and temperate plants dominated the flora.

eta-production on the proton via electromagnetic and hadronic probes

The reactions pi(-)p -> eta n and gamma p -> eta p are investigated within a dynamical coupled-channels model of meson production reactions in the nucleon resonance region The meson-baryon channels included are pi N, pi Delta, sigma N, and rho N The direct eta-photoproduction process is studied within a formalism based on a chiral constituent quark model approach, complemented with a one-gluon-exchange mechanism, to take into account the breakdown of the SU(6)circle times O(3) symmetry In the models search, the following known nucleon resonances are embodied S-11(1535), S-11(1650), P-11(1440), P-11(1710), P-13(1720), D-13(1520), D-13(1700), D-15(1675), and F-15(1680). Data for the pi(-)p -> eta n reaction from threshold up to a total center-of-mass energy of W approximate to 2 GeV are satisfactorily reproduced For the photoproduction channel: two additional higher mass known resonances, P-13(1900) and F-15(2000), are also considered However, reproducing the data for gamma p -> eta p requires, within our approach, two new nucleon resonances, for which we extract, mass and width

非完整自主车基于圆轨迹的道路避障

本文就四轮非完整自主车提出了一种基于圆轨迹的道路避障策略。先将道路上的障碍按照障碍距离自主车的远近划分层次,使一个层次的障碍能在自主车视场中全部出现。然后给出基于圆轨迹的避障算法,即自主车沿由自主车出发位姿和子目标点确定的圆弧轨迹走行。在此之前推导四轮非完整车的运动模型为提出避障策略的基础准备。尽量减小自主车在走行过程中运动状态的改变,基于圆轨迹避障策略能够很好地满足这一要求。最后引入代价函数,给出对于此方法的评价,体现了本方法的优越性。

社会发展与中国人人格变迁——控制测验理论与工具的变异后不同时期的中国人人格差异研究

In non-western society，researches on social development and personality change focused on economic development and social modernization. The present study is aimed at exploring the relationship between the social transformation and personality changes of Chinese people by using so-called indigenous personality measurement of CPAI (Chinese Personality Assessment Inventory). Meanwhile, the influence of CPAI measurement itself and measurement theory were also taken into consideration. In study 1, two sets of CPAI data collected in a 10 year interval were analyzed. At the same time, the CPAI-2 data was analyzed in terms of modernization level of various cities from which the data were collected. However, this study didn’t consider the importance of “equivalence” of the measurement, CPAI. In study 2, we detected DIF (Differential item functioning) across the different period groups to confirm if CPAI was equal to people in different period. In this process, both CTT and IRT method were used. The outcome reminded us that there were some DIF items. In study 3, to make sure that the personality measurement is fair to people in different period, we only saved those items whose DIF effect size lower than 0.01, and used IRT method to estimate test-taker’s personality. Then, cohort analysis was used to explore the pattern of personality change of Chinese people. In study 4, we factor-analyzed the DIF items to find the relation between social transformation and the latent personality variable which were composed of DIF items. From these 4 studies, we could got the following conclusions: (1) The CPAI 22 traits could be divided into two categories, with the changing of age, period and cohort, type I traits didn’t change, they were Logical vs Affective Orientation, Enterprise, Responsibility, Inferiority vs Self-Acceptance, Optimism vs Pessimism, Face, Family, Defensive, Graciousness vs Meanness; While with the changing of age, period and cohort, type II traits changed, they were Leadership, Self vs. Social Orientation, Veraciousness vs Slickness, Traditionalism vs Modernity, Harmony, Renqing, Meticulousness, Extraversion vs Introversion, Emotionality, Practical Mindedness, Internal vs External Locus of Control, Thrift vs Extravagance, Discipline. Meanwhile DIF items measured 5 psychologycial characteristics which changed greatly with the changing of age, period and cohort, they were Life attitude of Cynicism-realism, Psychological maladjustment, Coping style of Waiyuanneifang, Self-efficacy, the value of Individualism. (2) In sum, Chinese people in 1992 were more traditional than those in 2001, and with the 10-year of rapid development, according to the market economy’s needs, Chinese people became more individualism. (3) The DIF method of CTT and IRT were comparable. But, in generally, IRT method was more accurate and valid in detecting DIF as were as estimating personality. (4) The DIF outcomes showed that CPAI had good item validity. Meanwhile, it’s possible to develop a subscale by using CPAI items to assess some psychological characteristics. In this current study, according to their stability and variability, we could divided personality traits and psychological characteristics into 3 categories, and the outcome supported the hypothesis of “Six Factor Model”, these foundings were of some theoretic meanings. Meanwhile, as the relation between social development and personality change being explored, it certain help Chinese people cope with the rapid changing society. In this study, we also found that it’s possible to develop a subscale by using CPAI items to assess obverse personality traits and it had some practical use. Furthermore, the use of different measurement theory and cohort analysis embodied some innovation in methodology.

中美大学生归因偏差的跨文化研究

This research systematically compared Chinese undergraduates with American undergraduates on four kinds of attributional bias: correspondent bias, siuational overattribution, intergroup attributional bias and self-serving attributional bias, and examined the effect of the implicit theories reflecting the cultures on attributional bias. First is analyzed three pairs of opposite implicit theories: dispositionalist theory and situationalist theory, generality and particularity, stressing the positive evaluation of self and despising the positive evaluation of self. It developed the Modern Implicit Theories Inventory and Traditional Implicit Theories Inventory to measure these implicit theories, and the results showed these inventories had satisfactory validity and reliability, and they were suitable for the group comparison of Chinese implicit theories with European-American. At the same time through the test it found Chinese undergraduates agreed all these opposite implicit theories more than American undergraduates. Second, it studied Chinese and American undergraduates' attributional accuracy on locus of causality. The results showed: Chinese and American undergraduates both had the correspondent bias under the different salient situational constraints, and the degree of Chinese and American undergraduates' correspondent bias under the different salient situational constraints had no significant difference' Chinese and American undergraduates both showed the situational overattribution; Chinese undergraduates had more the correspondent bias and situational overattribution than American undergraduates. Third, on the research of Chinese and American undergraduates' intergroup attributional bias, it found Chinese and American undergraduates both had no intergroup attributional bias among kin, friends and strangers, while they both show some favorable outcome effects for these three group actors. The favorable outcome effects were significant on the attributional dimensions of locus of causality and controllability for strangers' behavior, and stability for kin and friends' behavior rating by Chinese undergraduates, and stability for friends' behavior rating by American undergraduates. Fourth, it explored Chinese and American undergraduates' self-serving attributional bias, and the result indicated that Chinese and American undergraduates both showed significant self-serving attributional bias: for outcome effects, Chinese undergraduates' self-serving attributional bias were reflected on the attributional dimensions of locus of causality, stability, controllability and globality, and American undergraduates were reflected on the attributional dimensions of locus of causality, stability and globality; for categorization effects, both Chinese and American undergraduates' self-serving attributional bias were reflected on attributional difference between self's negative behavior and others', but Chinese undergraduates were embodied on the attributional dimensions of locus of causality, stability and globality while American undergraduates were reflected on the attributional dimensions of stability and globality. It also found Chinese undergraduates had more self-serving attributional bias than American undergraduates. This was reflected on the attributional dimensions of locus of causality, stability and controllability for outcome effects, and for categorization effects, locus of causality, stability and globality rating for self and others' negative behavior. All studies indicated that Chinese and American undergraduates' implicit theories had no significant effects on all their four attributional bias. These findings' potentially important implications were discussed and the further research was suggested.