轮式移动机器人沙地行驶控制建模与仿真研究

结合车轮沙土相互作用的力学分析,研究解决轮式移动机器人沙地行驶车轮过度滑转下陷问题。考虑纵列式重复通过车轮沙土力学参数的修正,建立六轮式沙地移动机器人的动力学模型,以车轮滑转率为状态变量,设计了移动机器人沙地行驶的滑模驱动控制器跟踪车轮期望滑转率。MATLAB/Simulink仿真结果表明,采用该控制器可以较快地跟踪期望滑转率,有效地限制机器人车轮的滑转,避免车轮的过度下陷。

基于计算机视觉的轮毂自动识别与分类

随着全球汽车产量的逐年提高，相应地轮毂市场需求也在迅猛增长，国内80%的汽车轮毂是由铸造而成，铸造而成的轮毂需要进行精加工，而由混流生产线生产的轮毂在再加工时若对其类型进行正确划分将提高生产效率。以往的类型识别是依靠人工识别，工人劳动负荷较大，产生的视觉疲劳和轮毂生产线的速度等多方面原因致使误判情况时常发生，因此，轮毂企业急需一种自动的轮毂识别分类系统来提高生产效率。 计算机视觉是利用计算机对景物的图像进行识别，以实现对人视觉功能的扩展的一门高新技术。利用这一技术可以解决许多工业图像识别和检测环节的问题，以取代落后的人工识别，提高识别效率和工业自动化水平。 基于计算机视觉的轮毂自动识别与分类系统首先由图像采集系统从生产流水线上采集到要处理轮毂的图片，之后进行图像的预处理，包括轮毂图像区域的提取，图像去噪等操作，构造了四个具有平移不变性、比例不变性和幅度线性变换不变性的一维不变量，用以表征轮毂图像的灰度特征，利用边缘检测Canny算子提取轮毂外圆轮廓，之后对外圆轮廓运用改进的Hough变换方法计算出轮毂最大直径，最后运用马氏距离方法判别出轮毂类型。 本文对基于计算机视觉的轮毂自动识别与分类系统进行了总体设计，实现了图像采集、图像处理与轮毂型号识别等基本功能，克服了传统的人工识别的弊端，适应了混流生产线上快速识别分类的需要，开展了面向型号识别的计算机视觉系统的研究工作，为实现工业生产现代新型的图像识别技术做了一些有益的尝试和探讨。

地震力对高架桥梁上轨道车辆的动态分析与安全性研究

The stability and derailment behavior analysis of railway vehicle system has been discussed by many papers in the past. In stability, give first place to consider hunting behavior of vehicle, therefore most of papers was only consider lateral and yaw motion, but vertical motion is the important factor in derailment behavior, and it will be quite effect in stability. We will probe the running stability and derailment behavior of railway vehicle moving on the viaduct in this paper. In this paper, we use Nadal’s formula to get the derailment quotient. In this paper, the railway vehicle is considered to be three subsystems, carbody, bogie and wheelset. There are secondary suspension systems between carbody and bogies, and primary suspension systems connecting bogies and wheelsets. A vehicle with vertical, lateral, roll, and yaw directions motion is considered to derive the mathematical equations. A vehicle with three-dimensional model has 16 degrees of freedom is used to develop the equations of train motion. In this study, results show that the track shift force and derailment factor increase with an increase of ground acceleration. But for the track shift force and derailment factor, the effects of track irregularities and train speed are very small. Key words: earthquake, railway vehicle, viaduct, derailment factor.

湖泊生态系统铁同位素与硫同位素地球化学研究--以红枫湖、阿哈湖为例

湖泊生态系统是陆地水体生态系统的重要组成部分。随着社会经济的不断发展，各种人为因素对湖泊生态系统的影响日益突出，打破了其自然演变规律，诸如 “二次污染”、水体富营养化、重金属污染等环境问题接踵而来。而铁是水生生态系统初级生产力所必需的重要微量营养元素之一，在一定的条件下可以控制和影响浮游藻类的生长速度和种类；而且，铁的氧化还原敏感性很强，其价态的改变往往会影响其它相关重金属的迁移和转化。因此，湖泊生态系统中铁的生物地球化学循环研究具有非常重要的意义。近年来的研究显示，铁同位素分析技术可以用于各种生物作用和非生物作用过程的研究，在海洋和河流生态系统中已有广泛的应用，而对湖泊生态系统的研究则鲜见报导。乌江流域中等富营养化的湖泊――红枫湖和贵阳西南郊矿化程度较高的湖泊――阿哈湖是研究湖泊生态系统中铁生物地球化学循环的理想场所。本文选取这两个性质不同的湖泊为研究对象，运用硫同位素、铁同位素及重金属和营养盐等地球化学方法手段，对两湖流域内硫酸盐的来源、硫同位素的季节和剖面变化特征、铁的来源及铁同位素组成的季节和剖面变化特征及其控制和影响因素等进行了研究和探讨，进一步完善了铁同位素分馏机理，为深化理解和研究湖泊生态系统中铁和硫的生物地球化学循环提供一定的科学依据。论文所获的主要认识总结如下： 两湖流域内湖水与河水的硫酸盐硫同位素地球化学 （1）阿哈湖流域和红枫湖流域水体的硫酸盐浓度和δ34S值均有较宽的分布范围。各入湖支流中，受煤矿废水或煤矸石淋溶液污染的河水的δ34S值相对较低（-8.10‰～-14.92‰），而受生活污水影响严重的河水则具有相对较高的δ34S值（-5.68‰～+0.88‰）。相比而言，阿哈湖流域水体纳入了大量的煤矿废水和煤矸石淋溶液，硫污染程度较红枫湖流域更为严重。因此，阿哈湖湖水具有相对较高的硫酸根浓度（平均为2.30 mmol.L-1）和相对较低的δ34S值（平均为-8.10‰），而红枫湖则具有相对较低的硫酸根浓度（平均为0.96 mmol.L-1）和相对较高的δ34S值（平均为-6.80‰）。 （2）阿哈湖湖水中的硫酸盐主要受煤矿废水、煤矸石淋溶液以及雨水等的控制；红枫湖湖水的硫酸盐主要来源于煤中黄铁矿的氧化和雨水输入，土壤硫化物的氧化和蒸发岩的溶解对湖水硫酸盐硫同位素组成的贡献较小。相比之下，雨水对红枫湖湖水硫同位素的影响更为明显。 （3）红枫湖和阿哈湖湖水的硫酸盐的δ34S值均具有明显的剖面变化特征，而且两湖的变化趋势相似，总体表现为，夏秋季节表层湖水和底层湖水的δ34S值相对较高，而冬春季节湖水剖面上下几乎没有变化。湖水硫酸盐浓度也呈现类似的变化特征，这主要与季节性厌氧湖泊夏季分层冬季混和的典型特点有关。夏季湖水分层期间，大量降雨在湖泊表层的滞留使得δ34S值升高而硫酸盐浓度降低，湖泊底部水层中硫酸盐细菌的还原作用使得底层湖水的硫酸盐浓度降低，而δ34S值升高。 两湖流域内铁同位素地球化学 （1）阿哈湖流域各类样品的δ56Fe值分布在-2.03‰～+0.12‰之间，分布范围较宽。其中湖水悬浮颗粒物的δ56Fe值在-1.36‰～-0.03‰之间，整体相对偏负。湖周各支流河水悬浮颗粒物的δ56Fe值在-0.88‰～+0.07‰之间，也相对富集轻的铁同位素；湖底沉积物和孔隙水的δ56Fe值的分布范围分别为-1.75‰～-0.59‰和-2.03‰～+0.12‰；大气颗粒物和浮游藻类的δ56Fe值分别为+0.06±0.02‰和+0.08‰。与阿哈湖相比，红枫湖流域各类样品的δ56Fe值的分布范围相对较窄，在-0.92‰～+0.36‰之间。湖水悬浮颗粒物的δ56Fe值在-0.85‰～+0.14‰之间，河水悬浮颗粒物的铁同位素组成变化范围为-0.89‰～+0.10‰，二者的变化范围相似。红枫湖沉积物的δ56Fe值在-0.18‰～+0.08‰之间，明显比阿哈湖沉积物的铁同位素组成偏正；而对应孔隙水的铁同位素组成的变化范围为-0.59‰～-0.24‰，均要比对应沉积物的铁同位素值要低。藻类和鲫鱼鱼肉的δ56Fe值分别为+0.36‰和-0.92‰。 （2）通过对两湖研究区湖水悬浮颗粒物与各输入端员环境样品的铁同位素值的研究表明，湖水悬浮颗粒物的δ56Fe值不仅受各输入端员的控制和影响，湖泊内部相关的生物地球化学过程也对湖水悬浮颗粒物的铁同位素组成变化产生了重要影响。两湖研究区内湖水悬浮颗粒物的铁同位素组成均存在季节变化特征，但受湖泊自身特点的影响，主要控制因素方面存在一定差异。夏季阿哈湖湖水悬浮颗粒物的铁同位素值变幅较大，其变化主要表现在表层和底层。表层因受陆源输入的有机结合态铁的影响而具有较负的δ56Fe值，而大气沉降颗粒物和湖泊表层的浮游藻类的影响并不显著。夏季湖水分层期间，“Ferrous Wheel”铁循环对于界面附近铁同位素的重分配起到了主要的控制和影响作用，湖水悬浮颗粒物的铁同位素值在氧化－还原界面附近达到了极负值。水－沉积物界面附近滞水层中亚铁类硫化物的生成可能也是水－沉积物界面附近水层内颗粒物的δ56Fe值偏负的原因之一。而冬季湖水混和时期，阿哈湖湖水剖面悬浮颗粒物的δ56Fe值的变幅明显减小。与阿哈湖不同，藻类的吸附作用可能在夏季红枫湖上层水体中占有主导地位，其湖水悬浮颗粒物的铁同位素组成随叶绿素水平的降低而逐渐降低。下层湖水悬浮颗粒物的铁同位素组成变化也受“Ferrous Wheel”铁循环的影响，在红枫湖后五剖面 20m 处达到-0.18‰，大坝剖面底层约为-0.46‰，其变幅没有阿哈湖悬浮颗粒物的δ56Fe值大，可能是受到了湖水中大量有机物质的影响。冬季红枫湖后五剖面的变化趋势与夏季相似，上层和下层水体悬浮颗粒物分别受不同影响因素的控制。上层水体悬浮颗粒物的铁同位素变化不明显，与Fe、Al、Mn、Zn、Co等元素的含量呈现良好的正相关关系；而底层水体悬浮颗粒物的δ56Fe值变幅比夏季要大，HW采样点20m处可达-0.85‰，与Fe、Al、Zn、Co等呈现良好的负相关关系，具体影响因素还有待于进一步研究。

A comprehensive comparison of fuel options for fuel cell vehicles in China

Fuel cell vehicles (FCVs) offer the potential of ultra-low emissions combined with high efficiency. Proton exchange membrane (PEM) fuel cells being developed for vehicles require hydrogen as a fuel. Due to the various pathways of hydrogen generation, both onboard and off-board, the question about which fuel option is the most competitive for fuel cell vehicles is of great current interest. In this paper, a life-cycle assessment (LCA) model was made to conduct a comprehensive study of the energy, environmental, and economic (3E) impacts of FCVs from well to wheel (WTW). In view of the special energy structure of China and the timeframe, 10 vehicle/fuel systems are chosen as the study projects. The results show that methanol is the most suitable fuel to serve as the ideal hydrogen source for fuel cell vehicles in the timeframe and geographic regions of this study. On the other hand, gasoline and pure hydrogen can also play a role in short-term and regional applications, especially for local demonstrations of FCV fleets. (c) 2004 Elsevier B.V All rights reserved.

Foundational Theory for Understanding Policy Routing Dynamics

In this paper we introduce a theory of policy routing dynamics based on fundamental axioms of routing update mechanisms. We develop a dynamic policy routing model (DPR) that extends the static formalism of the stable paths problem (introduced by Griffin et al.) with discrete synchronous time. DPR captures the propagation of path changes in any dynamic network irrespective of its time-varying topology. We introduce several novel structures such as causation chains, dispute fences and policy digraphs that model different aspects of routing dynamics and provide insight into how these dynamics manifest in a network. We exercise the practicality of the theoretical foundation provided by DPR with two fundamental problems: routing dynamics minimization and policy conflict detection. The dynamics minimization problem utilizes policy digraphs, that capture the dependencies in routing policies irrespective of underlying topology dynamics, to solve a graph optimization problem. This optimization problem explicitly minimizes the number of routing update messages in a dynamic network by optimally changing the path preferences of a minimal subset of nodes. The conflict detection problem, on the other hand, utilizes a theoretical result of DPR where the root cause of a causation cycle (i.e., cycle of routing update messages) can be precisely inferred as either a transient route flap or a dispute wheel (i.e., policy conflict). Using this result we develop SafetyPulse, a token-based distributed algorithm to detect policy conflicts in a dynamic network. SafetyPulse is privacy preserving, computationally efficient, and provably correct.

Unsupervised Neural Network for the Control of a Mobile Robot

This article introduces an unsupervised neural architecture for the control of a mobile robot. The system allows incremental learning of the plant during robot operation, with robust performance despite unexpected changes of robot parameters such as wheel radius and inter-wheel distance. The model combines Vector associative Map (VAM) learning and associate learning, enabling the robot to reach targets at arbitrary distances without knowledge of the robot kinematics and without trajectory recording, but relating wheel velocities with robot movements.

A low-cost, portable, and quantitative spectral imaging system for application to biological tissues.

The ability of diffuse reflectance spectroscopy to extract quantitative biological composition of tissues has been used to discern tissue types in both pre-clinical and clinical cancer studies. Typically, diffuse reflectance spectroscopy systems are designed for single-point measurements. Clinically, an imaging system would provide valuable spatial information on tissue composition. While it is feasible to build a multiplexed fiber-optic probe based spectral imaging system, these systems suffer from drawbacks with respect to cost and size. To address these we developed a compact and low cost system using a broadband light source with an 8-slot filter wheel for illumination and silicon photodiodes for detection. The spectral imaging system was tested on a set of tissue mimicking liquid phantoms which yielded an optical property extraction accuracy of 6.40 +/- 7.78% for the absorption coefficient (micro(a)) and 11.37 +/- 19.62% for the wavelength-averaged reduced scattering coefficient (micro(s)').

THE LESSER-KNOWN PIANO CHAMBER MUSIC OF CAMILLE SAINT-SAENS: A RECORDING PROJECT

Throughout his long and industrious lifetime, Camille Saint-Saens (1835-1921) devoted himself unconditionally to music both as a composer and a performer. Saint-Saens was a self-described traditionalist and musical purist, yet his works are distinctly expressive and imaginative, and they reflect the composer's own unique musical language which incorporates recognizably modem traits such as chromaticism and frequent modulation. As a performer, Saint-Saens preferred to premiere his own works and often included his chamber music in his concert programs. Regarded primarily as a symphonic composer in the present day, however, his extensive and varied collection of chamber music works is sadly neglected. Six varied small-ensemble works with piano from his chamber music repertoire have been selected for study and recording for this project: Piano Trio No. 1 in F Major, Op. 18 (1864); Sonata for Cello and Piano No. 1 inC Minor, Op. 32 (1872); two pieces for two pianos, Le Rouet d'Omphale (The Spinning Wheel ofOmphale), Op. 31 (1871) and Phaeton, Op. 39 (1874); piano duet Konig Harald Haifagar (King Harald Haarfager), Op. 59 (1880); and a wind quartet, Caprice sur des airs Danois et Russes (Caprice on Danish and Russian Airs) for Flute, Oboe, Clarinet and Piano, Op. 79 (1887). Analyses of the forms and harmonic structures of these compositions will be included in this dissertation paper as well as studies from the viewpoint of Saint-Saens' compositional style, ensemble characteristics, and writing for the piano. The recordings for this project were made in four sessions in LeFrak Concert Hall at Queens College, the City University of New York. On September 24, 2003, Op. 31, Op. 39 and Op. 59 were recorded with Professor Morey Ritt, piano. On March 2, 2004, Op. 18 was recorded with Elena Rojas, violin, and Clare Liu, cello, and on March 15, 2004, Op. 32 was recorded, also with Ms. Liu. The Caprice, Op. 79 was recorded on June 27, 2008 with Laura Conwesser, flute; Randall Wolfgang, oboe; and Steve Hartman, clarinet. The recordings may be found on file in the library at the University of Maryland, College Park.

Germanium on Sapphire By Wafer Bonding

This paper describes the creation of a germanium on sapphire platform, via wafer bonding technology, for system-on-a-chip applications. Similar thermal coefficients of expansion between germanium (5.8 x 10-6 K-1) and sapphire (5 x 10-6 K-1) make the bonding of germanium to sapphire a reality. Germanium directly bonded to sapphire results in microvoid generation during post bond annealing. Inclusion of an interface layer such as silicon dioxide layer by plasma enhanced chemical vapour deposition, prior to bonding, results in a microvoid free bond interface after annealing. Grinding and polishing of the subsequent germanium layer has been achieved leaving a thick germanium on sapphire (GeOS) substrate. Submicron GeOS layers have also been achieved with hydrogen/helium co-implantation and layer transfer. Circular geometry transistors exhibiting a field effect mobility of 890 cm2/V s have been fabricated onto the thick germanium on sapphire layer.

Solvent-free synthesis of metal complexes

Avoiding the use of solvents in synthesis can reduce environmental contamination and even be more convenient than using solvent-based synthesis. In this tutorial review we focus on recent research into the use of mechanochemistry ( grinding) to synthesise metal complexes in the absence of solvent. We include synthesis of mononuclear complexes, coordination clusters, spacious coordination cages, and 1-, 2- and 3-dimensional coordination polymers ( metal organic frameworks) which can even exhibit microporosity. Remarkably, in many cases, mechanochemical synthesis is actually faster and more convenient than the original solvent-based methods. Examples of solvent-free methods other than grinding are also briefly discussed, and the positive outlook for this growing topic is emphasised.

Testing of a novel flexible concrete arch system

This paper describes the testing of a novel flexible masonry concrete arch system which requires no centering in the construction phase or steel reinforcement in the long-term. The arch is constructed from a 'flat pack' system by use of a polymer reinforcement for supporting the self-weight of the concrete voussoirs and behaves as a masonry arch once in the arch form. The paper outlines the construction of a prototype arch and load testing of the backfilled arch ring. Some comparisons to the results from analysis software have been made. The arch had a load carrying capacity far in excess of the current Highways Agency (United Kingdom) design wheel loads.

Government Laws, Regulations and Policies: Small Fish in a Big Pond

Global development has, in recent years, been shaped by the rise of transnational capital. This has implications for the quality and effectiveness of those national laws, regulations and policies in place to monitor transnational capital, ensure that multi national organisations assume responsibility and hold them accountable should they fail to do so. In balancing these objectives, contrasting issues come to the fore, such as the fear of capital flight; an issue especially profound in small open economies where the balance may tip in the favour of retaining, as opposed to regulating, foreign capital.
This paper can be considered in three parts. First, the paper addresses the shift in global leadership from national governments to multinational corporations (with particular reference to the rise of the Transnational Capitalist Class). This shift will incorporate the connotations of the Third Way. In considering this ideology, it will propose the Third Way as a transition phase to a stage when government is more the “third wheel” than an equal partner in governance structures. Second, the implications of the changing nature of governance on the capacity of nation states to develop effective laws, regulations and policies is discussed which leads on to the third aspect of the paper which identifies the challenges for governments, business and society in reimagining the governance structure pertaining to law, regulation and policy and the need to reconsider existing structures in light of global shifts in power structures.
A new leadership structure, both within the national and international governance system has far reaching implications. Boundary constraints no longer an issue, the potential for equality and global democracy is huge. Instead, a post recessionary world faces new governance challenges in the shape of; legitimacy; accountability and responsibility. Capitalism has invaded government and the primary challenge will be in avoiding the same issues that have dogged our financial markets for the last number of years. The challenge then to laws, regulations and public policy is huge, especially considering that the governments regulating are smaller than those dictating agenda on a global level

Synthesis of alkylcarbonate analogs of O-acetyl-ADP-ribose

The non-hydrolyzable alkylcarbonate analogs of O-acetyl-ADP-ribose have been synthesized from the phosphorylated ribose derivatives after coupling with AMP morpholidate promoted by mechanical grinding. The analogs were assessed for their ability to inhibit the human sirtuin homolog SIRT1. © 2013 The Royal Society of Chemistry.