智能机器人基于作业子空间划分的自学习自适应控制方法

现有的机器人自适应控制基本上都是在建立机器人线性化的动力学模型的基础上,采用某种显式或隐式参数辨识的方法,在线地修正控制作用.本文针对机器人运动和动力学参数变化的固有特点,提出一种完全不同的自学习自适应方法.这种方法基于智能机器人分级系统中的两级结构,并且在空间域里而不是在时间域里处理机器人参数的变化.把机器人的作业空间划分成子空间,其中包括重力载荷的作用,每个子空间对应一组控制器.规划的轨迹映射到作业空间形成子空间序列.用自学习方法选择与这个序列对应的最佳控制器序列.该方法算法简单,计算量小.避开了通常的自适应方法遇到的一系列困难问题.

三维非均匀各向异性介质中的纵波走时反演研究

Many observations show that seismic anisotropy is very common in the crust and upper mantle of the Earth. Seismic anisotropy can provide some clue about the changing and transporting process inside the earth. in recent years, abundant earthquake travel time data are accumulated, computers become more powerful, and these make the inversion of earthquake travel time data practical. In this thesis we studied the theory of elastic wave in anisotropic media, some formule for travel time inversion were derived. We present an iterative procedure to determine 21 elastic parameters from qP wave travel times. No a priori assumptions about heterogeneity and anisotropy of the model are made. The procedure is suitable for the case when we know nothing about the symmetry of anisotropy of the media, as well as for the case of earthquake travel time inversion which may contain various symmetry of anisotropy. The procedure is tested with a synthetic multiple-source offset VSP experiment. The results proved that the formulae are correct, and the procedure is practical. The results and the related theory indicate that the anisotropic inversion needs more rays than isotropic case. For a 2-D weak anisotropic (WA) medium, we need at least 5 rays in different directions to retrieve the elastic parameters on one grid point, and for a 3-D WA medium we need at least 15 rays in different directions to retrieve the elastic parameters on one grid point. The results also indicate that the starting background velocity has no influence on the final results, at least for the model we specified. Our results also show that insufficient illumination coverage will slow down the convergence rate, and make the results more sensitive to noise. We apply the procedure to a set of field travel time data. The data is from an artificial seismic observation. This observation is for locating micro-seismic events around a tunnel, its purpose is to find out if the digging process and the stress condition around the tunnel can generate micro-cracks. The size of this area is around 100m. The anisotropy derived from qP travel times is the same as the anisotropy showed by apparent velocities, and is also consistent with the anisotropy derived from S-wave splitting phenomena.

(古)盐度研究的一种重要工具——锶同位素

本文详细地阐述了海水－陆表水双元体系中锶同位素的混合原理、混合水体中＾８７Ｓｒ／＾８６Ｓｒ值与盐度的定量关系。利用Ｓｒ同位素不随生物、何尝作用过程发生分馏作用及Ｓｒ与Ｃａ化学性质相似等特征，地层、沉积物中生物壳体和碳酸盐岩＾８７Ｓｒ／＾８６Ｓｒ值可作为沉积水体（古）盐度确定的一种有用工具。文中详细地综述了国内外在这方面的研究进展，并讨论了成岩后生作用对生物壳体和碳酸盐岩＾８７Ｓｒ／＾８６Ｓｒ原始值

An in-situ modified sol-gel process for monolith catalyst preparation used in the partial oxidation of methane

An in-situ modified sol-gel method for the preparation of a Ni-based monolith-supported catalyst is reported. With the presence of a proper amount of plasticizer and binder, and at an optimized pH value, the stable boehmite sol was modified with metal ions (Ni, Li, La) successfully without distinct growth of the particle size. Monolith-supported Ni-based/gamma-Al2O3 catalysts were obtained using the modified sol as the coating medium with several cycles of dip-coating and calcination. Combined BET, SEM-EDS, XRD and H-2-TPR investigations demonstrated that the derived monolith catalysts had a high specific surface area, a relatively homogeneous surface composition, and a high extent of interaction between the active component and the support. These catalysts showed relatively stable catalytic activities for partial oxidation of methane (POM) to syngas under atmospheric pressure. The monolith catalysts prepared by this sol-gel method also demonstrated an improved resistance to sintering and loss of the active component during the reaction process.

L'Ane promeneur, ou Critès promené par son ane : Chef-d'oeuvre pour servir d'Apologie au Goût, aux Moeurs, à l'Esprit, et aux Découvertes du siècle

Première edition revue, corrigée, et précédée d'une Préface à la Mosaïque, dans le plus nouveau goût.

Ilustracion apologetica al primero, y segundo tomo del Teatro critico : donde se notan mas de quatrocientos descuidos al Autor del Anti-Teatro ; y de los setenta, que éste imputa al Autor del Teatro Critico, se rebaxan los sesenta y nueve y medio

Signaturas: a-d4, A-Z4, 2A-2Z4, 3A-3H4.

Cartas eruditas, y curiosas : en que, por la mayor parte se continua el designio del Teatro Critico Universal, impugnando, ó reduciendo á dudosas varias opiniones comunes

Nueva impresion.

Cestería en esparto Cerinza - Boyacá 1989-1995.

76 hojas : ilustraciones.

The Ministry of Evil" An Examination of the Popular Bitter-Sweet Theology

Sermon by William Fairfield Warren.

Some by-products of missions, by Isaac Taylor Headland.

http://www.archive.org/details/somebyproductsof013993mbp

China's new day; a study of events that have led to its coming, by Isaac Taylor Headland.

$u http://books.google.com/books?vid=OCLC02623863&id=mQz8gPn0et8C&a_sbrr=1 View book via Google

The African slave trade / by Thomas Fowell Buxton.

Digitized by Google

The Spanish pioneers and the California missions.

http://www.archive.org/details/spanishpioneersa009682mbp