移动机器人人机互助行走监控方法研究及其实际应用

由于行走监控在移动机器人技术中的独特地位和作用，使得其问题解决路线与最终性能极大地影响着构成系统的实用性及用户接受程度．本文通过剖析行走监控同其他模块的内在联系，深入地讨论了研究此问题的必要性和困难所在．最后，结合一个实际应用系统，给出了行之有效的指导思想、实现策略和关键问题解决途径。

企业经营系统的对象模型──资金流模型

本文阐述了大型工业企业综合自动化系统体系结构中经营管理层的对象模型（资金流模型）。首先论述了该模型在自动化体系结构中的地位和作用，然后分析了企业生产经营过程中发生的资金流，提出用借贷流程图方法表达资金流模型，并将这一方法与国际通用的借贷记帐法相联系，从而揭示了资金流模型与会计核算的内在联系．本文还对企业生产与经营活动的几个主要过程用借贷流程图进行了细化描述。

三塘湖盆地牛圈湖区储层特征研究—以齐古组、头屯河组为例

In view of few researches into pore textures and anisotropy characteristics of Qiguzu-toutunhezu reservoir in Niuquanhu block in Santanghu Basin, in order to enhance the hydrocarbon recovery of the region of interest and improve the reservoir development effect, with the employment of the experiments like cast thin slice, scanning electron microscope, conventional high pressure mercury penetration, constant speed mercury penetration and nuclear magnetic resonance, the thesis makes a thorough research into pore texture characteristics and anisotropy characteristics of the sandstone reservoir. The research shows that the microscopic pore textures are complicated, the anisotropy is high and waterflood development water/oil displacement efficiency is low, which are mainly caused by the high microscopic anisotropy of the reservoir. Specially, the research shows that Qiguzu-toutunhezu reservoir belongs to braided delta front intrafacies, the intergranular pore is the main type of pores, which take up 65.50 percent of total pores, intergranular dissolved pores, feldspar dissolved pores and lithic dissolved pores are on the second place, and there are few carbonate dissolved pores. The reservoir belongs to mesopore-fine throat and mesopore-medium throat. The pore distribution of the sandstone reservoir is comparatively centralized. The reservoir inhomogeneity is mainly caused by the throat inhomogeneity. Diagenesis mainly includes compaction, cementation, metasomatism and dissolution. Compared with compaction， cementation exerts more direct impact on the decline of the porosity of the sandstone reservoir ( pore loss factor is 63.75 percent in the cementing process). Based on the classification of diagenetic stages, the reservoir diagenesis is on the stage of the late period of early diagenetic stage to early period of late diagenetic stage. The study area of the small sandstone reservoir layer of the anisotropy of the relatively strong; plane, the anisotropy of the relatively weak. microscopic anisotropy of its relatively strong.

地震P-S波时差耦合作用的斜坡崩滑效应研究

China locates between the circum-Pacific and the Mediterranean-Himalayan seismic belt. The seismic activities in our country are very frequent and so are the collapses and slides of slope triggered by earthquakes. Many collapses and slides of slope take place mainly in the west of China with many earthquakes and mountains, especially in Sichuan and Yunnan Provinces. When a strong earthquake happening, the damage especially in mountains area caused by geological hazards it triggered such as rock collapses, landslides and debris flows is heavier than that it caused directly. A conclusion which the number of lives lost caused by geological hazards triggered by a strong earthquake in mountains area often accounts for a half even more of the total one induced by the strong earthquake can be made by consulting the statistical loss of several representative earthquakes. As a result, geological hazards such as collapses and slides of slope triggered by strong earthquakes attract wide attention for their great costs. Based on field geological investigation, engineering geological exploration and material data analysis, chief conclusions have been drawn after systematic research on formation mechanism, key inducing factors, dynamic characteristics of geological hazards such as collapses and slides of slope triggered by strong earthquakes by means of engineering geomechanics comprehensive analysis, finite difference numerical simulation test, in-lab dynamic triaxial shear test of rock, discrete element numerical simulation. Based on research on a great number of collapses and landslides triggered by Wenchuan and Xiaonanhai Earthquake, two-set methods, i.e. the method for original topography recovering based on factors such as lithology and elevation comparing and the method for reconstructing collapsing and sliding process of slope based on characteristics of seism tectonic zone, structural fissure, diameter spatial distribution of slope debris mass, propagation direction and mechanical property of seismic wave, have been gotten. What is more, types, formation mechanism and dynamic characteristics of collapses and slides of slope induced by strong earthquakes are discussed comprehensively. Firstly, collapsed and slided accumulative mass is in a state of heavily even more broken. Secondly, dynamic process of slope collapsing and sliding consists of almost four stages, i.e. broken, thrown, crushed and river blocked. Thirdly, classified according to failure forms, there are usually four types which are made up of collapsing, land sliding, land sliding-debris flowing and vibrating liquefaction. Finally, as for key inducing factors in slope collapsing and sliding, they often include characteristics of seism tectonic belts, structure and construction of rock mass, terrain and physiognomy, weathering degree of rock mass and mechanical functions of seismic waves. Based on microscopic study on initial fracturing of slope caused by seismic effect, combined with two change trends which include ratio of vertical vs. horizontal peak ground acceleration corresponding to epicentral distance and enlarging effect of peak ground acceleration along slope, key inducing factor of initial slope fracturing in various area with different epicentral distance is obtained. In near-field area, i.e. epicentral distance being less than 30 km, tensile strength of rock mass is a key intrinsic factor inducing initial fracturing of slope undergoing seismic effect whereas shear strength of rock mass is the one when epicentral distance is more than 30 km. In the latter circumstance, research by means of finite difference numerical simulation test and in-lab dynamic triaxial shear test of rock shows that initial fracture begins always in the place of slope shoulder. The fact that fracture strain and shear strength which are proportional to buried depth of rock mass in the place of slope shoulder are less than other place and peak ground acceleration is enlarged in the place causes prior failure at slope shoulder. Key extrinsic factors inducing dynamic fracture of slope at different distances to epicenter have been obtained through discrete element numerical simulation on the total process of collapsing and sliding of slope triggered by Wenchuan Earthquake. Research shows that combined action of P and S seismic waves is the key factor inducing collapsing and sliding of slope at a distance less than 64 km to initial epicenter along earthquake-triggering structure. What is more, vertical tensile action of P seismic wave plays a leading role near epicenter, whereas vertical shear action of S seismic wave plays a leading role gradually with epicentral distance increasing in this range. On the other hand, single action of P seismic wave becomes the key factor inducing collapsing and sliding of slope at a distance between 64 km and 216 km to initial epicenter. Horizontal tensile action of P seismic wave becomes the key factor gradually from combined action between vertical and horizontal tensile action of P seismic wave with epicentral distance increasing in this distance range. In addition, initial failure triggered by strong earthquakes begins almost in the place of slope shoulder. However, initial failure beginning from toe of slope relates probably with gradient and rock occurrence. Finally, starting time of initial failure in slope increases usually with epicentral distance. It is perhaps that the starting time increasing is a result of attenuating of seismic wave from epicenter along earthquake-triggering structure. It is of great theoretical and practical significance for us to construct towns and infrastructure in fragile geological environment along seism tectonic belts and conduct risk management on earthquake-triggered geological hazards by referring to above conclusions.

东营凹陷幔源流体对原油生物标志化合物的影响研究

A large number of mantle-derived fluid activities occurred in the Dongying Sag. On the basis of the studies on the geochemical characteristics of these fluids in this sag, the spatial distribution of biomarkers in petroleum and their relationships with the parameters of mantle-derived fluids were studied, to reveal the influence of mantle-derived fluids on the biomarkers and to evaluate the reliability of these biomarkers when applied to oil-source correlation and maturity analysis. Most biomarkers used in oil correlation kept the characteristics of their sources during burial thermal evolution. Even some of them were not influenced by mantle derived fluids, such as the relative content of C27-C29 steroid（ααα20R）and C21/C23 tricyclic terpane. However, Pr/Ph and C35/C34 hopanes were sensitive to both heat energy and materiel input by the mantle-derived fluids. γ-waxnae/C30hopanes and C24 tetracyclic terpanes /C26 tricyclic terpanes responded only to thermal influence by mantle-derived fluids. They did not chemically reacted with the mantle-derived fluids. Fluorene series compounds reacted with hydrogen and / or carbon dioxide from the mantle. Mantle-derived fluids affected most maturity index. The huge thermal energy with mantle-devied fluids weakened the relationship between the maturity parameters and depth. Among them, pregnane/C27-29 steroid and Ts/(Ts+Tm) were more sensitive to the heat of the fluids. ααα20S/(20S+20R) took the second place. αββ/(ααα+αββ) and 22S/(22S+22R) were not thermally influenced by the mantle-derived fluid. Besides, the substance of mantle-derived fluids reacted with fragrants, hopanes or moretanoids and thus altered the values of MPI1, MPI2, MPR, C30 hopanes/(C30 hopanes + moretanoids) and alkyl-diben zothiophene/diben zothiophene. The thermal alernation of phenanthrene series and their spatial distribution show that the heat energy carried by mantle-derived fluids was not fierce but spread widely in Dongying Sag, which is favorable to hydrocarbon generation with little destroy. In sum, mantle-derived fluids affected biomarkers through thermal energy and chemical reactions and changed the values of oil-source correlation and maturity parameters in the deep-seated fault belts. Therefore, in the deep-seated fault belts, oil-source correlation should be restudied and the new parameters need to be explored.

污泥处理经济评价和污泥堆肥中氧气监测与动态分析

With the continually increase both in the amount of wastewater disposal and in the treatment rate, more and more sewage sludge has been produced. An economic estimate was taken on the different sewage sludge disposal and treatment technologies, and led to the conclusion that compost is an effective way to make sewage sludge harmless, stable and resourceable. Normally, there are several ways to treat sewage sludge, such as landfill, compost, incineration and so on. These technologies will cost 300-1000 Y per ton of sludge. Among those ways, landfill is the cheapest one and operates easily, however, it just postpones the pollution instead of eventually eliminating the pollution; The amount of the sludge will reduce dramatically after incineration, while incineration will take a very high investment in the beginning, at the same time, it's very hard to maintain running; Sewage sludge will be resourceful after composting treantment, thus makes up the treatment cost, makes composting is the most economical way. Compost production is safe when correctly used, compost is a important way to treat sewage sludge. Oxygen is an important control factor in aerobic composting that has great effects on temperature and microorganisms. The gas gathering and transfering system of an online oxygen monitoring system for composting were bettermented to prolong the monitoring system's running period. The oxygen concentration changes in various aerobic composting stage were studied, and conclusions came to that oxygen concentration changes much faster in the oxygen concentration increasing stage than that in the declining stage; the better the aerobic condition is, the sooner the monitoring system starts to work. The minimal oxygen concentration during a ventilation cycle often falls at the beginning, then ascends in the composting period; at the same time, oxygen concentration changes fast in the early composting stage(temperature increasing stage), much slower in the middle stage(continouns thermophilic stage),and seldom changes in the late composting stage(temperature declining stage). With the help of the oxygen realtime-online monitoring system, oxygen concentrations was measured. During the composting period, water contents was analyzed after sampled. It's found that water contents (WC) and Oxygen concentration can both influence the composting process, and the control rule varies in the various composting stages. Essentially, the rule that water and oxygen control the composting process comes from water counterchecks the oxygen transferring to the composting substrate. The most influential factor to the WC and to the oxygen is the components in the composting pile. In the temperature increasing stage, seldom microorganisms exist in the composting pile with low activity, thus oxygen can meet with microorganisms' need, and WC is the dominant factor. In the high temperature (continouns thermophilic) stage, composting process is controlled by WC and oxygen, essentially by WC, at the same time, their influence somehow is not remarkable. In the temperature declining stage, WC and oxygen influence the composting process little. It's also found that the composting process will differ even if under the same components, thus to equably mix the components can avoid WC focusing in some place and let the composting pile to be aerobic. In one sentence, aerobic state is the most important factor in the composting process, suitable bulking material will be useful to the composting control.

An Empirical Study of the Use of Relevance Information in Inductive Logic Programming

Srinivasan, A., King, R. D. and Bain, M.E. (2003) An Empirical Study of the Use of Relevance Information in Inductive Logic Programming. Journal of Machine Learning Research. 4(Jul):369-383

Wykładnia funkcjonalna a zmiana społeczno-polityczna. Studium teoretycznoprawne

Wydział Prawa i Administracji: Katedra Teorii i Filozofii Prawa

„Wyłanianie” się podmiotu w autopojetycznie pojmowanej szkole

Istotą artykułu jest dookreślenia podmiotowości w systemie autopojetycznym, jakim może być szkoła. Na początku postaramy się dookreślić znaczenie rozumienia podmiotu i podmiotowości. Przy czym, poszukując ich źródłowych odniesień odwołamy się do myśli Arystotelesa i Kartezjusza, by następnie poddać je krytyce jako niespełnionych oczekiwań nowożytnej i współczesnej cywilizacji. Jednak, powołując się dalej na poglądy M. Heideggera w tym temacie, okazuje się, że podmiot może być traktowany zgoła inaczej niż opisuje to literatura przedmiotu. Przybliżając zatem inne ujęcie podmiotu, postaramy się wykazać, że wyłania się on na styku jego związku z osobowością, co sugeruje, że to właśnie kształcenie i kształtowanie powinno być traktowane jako najważniejsza dziedzina ludzkiej wiedzy. Dopełnienie tej tezy będzie zatem wymagało wyjaśnienia takich pojęć, jak: osobowość i praktyka edukacyjna. I skoro zatem praktyka edukacyjna jest tak istotna i dla kształtowania osobowości, i wyłaniania się podmiotu, to w dalszej części naszej wypowiedzi położymy nacisk na zinstytucjonalizowaną formę praktyki edukacyjnej czyli nauczanie klasowo-lekcyjne, traktowane jako układ autopojetyczny. Wyjaśnienie znaczenia tego układu będzie stanowić kolejną fazę toczonych tutaj rozważań, a ich celem będzie obrona poglądu, że to, co zostanie „wniesione” do klas szkolnych w postaci zasobów i reguł na początku każdego roku szkolnego, będzie się przekładać na kształtowanie i kształcenie osobowości, i tym samym na możliwości samodoświadczania „Się” podmiotowości. Ponieważ pogląd ten może budzić pewne zastrzeżenia, toteż powołamy się na pewne rozważania dotyczące istnienia tzw. podmiotu rekonstruującego, a więc takiego, który wpisany jest w sens istnienia np. projekcji filmowej, spektaklu teatralnego, czytanej książki.

Systematic Review of Supported Housing Literature 1993 – 2008

Supported housing for individuals with severe mental illness strives to provide the services necessary to place and keep individuals in independent housing that is integrated into the community and in which the consumer has choice and control over his or her services and supports. Supported housing can be contrasted to an earlier model called the “linear residential approach” in which individuals are moved from the most restrictive settings (e.g., inpatient settings) through a series of more independent settings (e.g., group homes, supervised apartments) and then finally to independent housing. This approach has been criticized as punishing the client due to frequent moves, and as being less likely to result in independent housing. In the supported housing model (Anthony & Blanch, 1988) consumers have choice and control over their living environment, their treatment, and supports (e.g., case management, mental health and substance abuse services). Supports are flexible and faded in and out depending on needs. Results of this systematic review of supported housing suggest that there are several well-controlled studies of supported housing and several studies conducted with less rigorous designs. Overall, our synthesis suggests that supported housing can improve the living situation of individuals who are psychiatrically disabled, homeless and with substance abuse problems. Results show that supported housing can help people stay in apartments or homes up to about 80% of the time over an extended period. These results are contrary to concerns expressed by proponents of the linear residential model and housing models that espoused more restrictive environments. Results also show that housing subsidies or vouchers are helpful in getting and keeping individuals housed. Housing services appear to be cost effective and to reduce the costs of other social and clinical services. In order to be most effective, intensive case management services (rather than traditional case management) are needed and will generally lead to better housing outcomes. Having access to affordable housing and having a service system that is well-integrated is also important. Providing a person with supported housing reduces the likelihood that they will be re-hospitalized, although supported housing does not always lead to reduced psychiatric symptoms. Supported housing can improve clients’ quality of life and satisfaction with their living situation. Providing supported housing options that are of decent quality is important in order to keep people housed and satisfied with their housing. In addition, rapid entry into housing, with the provision of choices is critical. Program and clinical supports may be able to mitigate the social isolation that has sometimes been associated with supported housing.

Dutch influence in the urban landscape of Cork City pre-1800: Fact or myth?

The early years of the eighteenth century Irish port town, Cork saw an expansion of its city limits, an era of reconstruction both within and beyond the walls of its Medieval townscape and a reclamation of its marshlands to the east and west. New people, new ideas and the beginnings of new wealth infused the post Elizabethan character of the recently siege battered city. It also brought a desire for something different, something new, an opportunity to redefine the ambience and visual perception of the urban landscape and thereby make a statement about its intended cultural and social orientations. It brought an opportunity to re-imagine and model a new, continental style of place and surrounding environment.

Towards a regional understanding of Irish traditional music

The geography of Irish traditional music is a complex, popular and largely unexplored element of the narrative of the tradition. Geographical concepts such as the region are recurrent in the discourse of Irish traditional music but regions and their processes are, for the most part, blurred or misunderstood. This thesis explores the geographical approach to the study of Irish traditional music focusing on the concept of the region and, in particular, the role of memory in the construction and diffusion of regional identities. This is a tripartite study considering people, place and music. Each of these elements impacts on our experience of the other. All societies have created music. Music is often associated with or derived from places. Some places construct or reinforce their identity through the music and musicians through which they are associated. The thesis challenges conventional discourse on regional styles that construct an imagined pattern of regions based on subtle musical differences that may, though are not always, shared by people in that region and focuses on the social networks through which the music is disseminated. The thesis also challenges the abandonment of regional styles and the concept of regions in understanding the complex geographies of Irish traditional music (Morton, 2001). It seeks to find a middle ground between discourse analysis, musical analysis, the experience of music and place, and the representation of music and place. The dissertation is divided into three parts. Part one considers the development of music geography, noting and critiquing the abandonment of useful paradigms in both geography and ethnomusicology in search of new ways of understanding. Of particular interest is the concept of the region but it also considers the study of landscape and the humanist approach in cultural geography. The second part focuses on the discourse and study of regions in Irish traditional music and the various agents and processes that shape the concept of the region in Irish traditional music. The final part presents a case study of the Sliabh Luachra region combining and applying the various perspectives and paradigms drawn from geographical, ethnomusicological and anthropological sources. It attempts to generate an understanding of Sliabh Luachra as a region in the Irish traditional music narrative that is based on a combination of musical, socio-cultural and locational/environmental factors.

Early warning sign attributes for the safety of drinking water treatment works

A proactive risk management strategy seeks to prevent accidents from taking place and maintain the safety of a system. In this context, the task of identifying and disseminating early warning signs and signals is among the most important. The problem is that warning signs that are present before an accident takes place are often being overlooked and not picked up or identified as warning signs. If these warning signs were responded to, then an accident may be averted. Accidents occuring in the critical domain of a drinking water treatments works can have serious implications for the public health of consumers of the water supplied. Realising and comprehending early warning signs is a major challenge for the domain of systems safety and especially in the domain of a water treatment works. The approaches that are typically used to enhance the realisation, comprehension and dissemination of early warning signs in the water treatment domain in Ireland mainly involves the creation of accident scenarios, the use of monitoring data and procedures for the dissemination of warnings. While all of these approaches are all useful to inform the mental or process models of possible accident scenarios, nevertheless, accidents are still occurring in this domain. Therefore, a new approach to enhance the comprehension of and effective dissemination of early warning signs is required in order to improve safety and proactive risk management strategies. The contributions of this thesis is the provision of a set of attributes associated with the early warning sign concept that provides meaningful data on the early warning signs and allows recipients to better comprehend them. The values of these attributes were customised for application in the water treatment domain. This research proves that early warning signs at a water treatment works received with information on their attributes are comprehended and communicated more effectively and efficiently than the usual pragmatic approach and thereby improves the safety and proactive risk management strategies.

Landscapes of kingship in early medieval Ireland, AD 400–1150

This thesis explores the evolution of kingship in early medieval Ireland (AD 400–1150) through a kingdom based and multi-scalar approach to royal landscapes. Through exploring the role of place and landscape in the construction of early medieval Irish kingship, this study will assess the relationship between the social, economic and ideological roles of the king in Irish society. Kingship in Ireland was vested in places, such that royal landscapes were the pre-eminent symbol of regality and authority. As such, an interdisciplinary study of kingship grounded in archaeological methodologies has a unique potential to contribute to our knowledge of the practice of kingship. Consequently, this research considers the material apparatus of different scales of kingships and explores the role of landscape in the construction of kingship and the evolution of kingdoms. It takes two major case studies; (i) Cashel, Munster and the Éoganachta federation; and (ii) the Uí Néill, Tara and the Síl nÁedo Sláine kingdom of Brega. Through interdisciplinary methodologies it charts the genesis and development of political federations, focusing specifically on the role that royal landscapes’ played in their evolution. Similarly, this thesis engages critically with the nature of assembly places and practices in Ireland, and focuses specifically on issues pertaining to the nature of assembly and the archaeological manifestation of such practices. It includes a list of 115 landscapes identified as assembly places, and through the analysis of this material, this thesis examines the ways in which different types of royal sites articulated together to create royal landscapes implicated in the exercise of kingship, and the construction and maintenance of authority. Moreover, through the analysis of assembly places within the context of the development of kingdoms, and structures of jurisdiction and administration, it also investigates the evolution of supra-regional scales of identity and community associated with the emergence of major political federations in early medieval Ireland.

Béal Átha an Ghaorthaidh: logainmneacha agus dinnseanchas

Is é atá sa tráchtas ná staidéar ar logainmneacha agus dinnseanchas ceantair Ghaeltachta Bhéal Átha an Ghaorthaidh. Ins na léarscáileanna a cruthaíodh tá iarracht ar na logainmneacha a líonadh isteach chomh cruinn is ab fhéidir agus furasta iad a aimsiú mar go bhfuil iomlán an eolais ar leathanach amháin. Cuireadh leis an eolas seo trí úsáid foinsí béaloidis a bhain leis an gceantar nó baile fearainn agus is iad Páipéir Uí Dhonnchadha agus Cnuasach Bhéaloideas Éireann is mó a úsáideadh. Tá a lán eolas a bhailigh An tAth Ó Donnchadha faoin nGuagán scríte anseo agus tugann sé le fios a lán dúinn ar an áit agus imeachtaí na haimsire sin.