一个先进的工业机器人计算机控制系统——ARCS

随着工业机器人及其应用的不断发展,要求一个强有力的计算机系统来控制它的工作,并具有灵活、方便的机器人编程语言.本文系统地介绍了我们自行设计并实现的一个先进的机器人控制系统——ARCS.该系统主要包括两部分:(1)一个实时多任务的机器人控制软件SVAL系统,该系统支持一种通用性较强的机器人编程语言——SVAL语言.(2)一个支持该软件系统工作的、具有开放式结构的硬件环境.ARCS系统具有良好的实时性、可扩展性及基于外部传感器信号进行控制的能力.由于该系统的开放式结构.使其根据不同要求可方便地增删其功能,并可控制不同类型的机器人.我们已成功地实现对PUMA760机器人的控制,并在其上引入了力觉与接近觉的传感器,采样时间可缩短到16ms.一年多的运行结果证明,该系统稳定可靠,性能良好,现在正向产品转化.

贵州红枫湖水体溶解有机质的剖面特征和季节变化

溶解有机氮(dissolved organic nitrogen , DON) 与溶解有机碳(dissolved organic carbon , DOC) 相结合在湖泊水体溶解有机质(dissolved organic matter , DOM) 的研究中少有报道. 本研究对贵州喀斯特地区高原性湖泊-红枫湖水体DOC 和DON 的含量进行了近2a 的测定,研究了DOM 的剖面特征和季节变化,并探讨了DOM 垂向分布和季节变化的影响因素. 结果表明,红枫湖DOC 的浓度范围为1160～3108 mg·L - 1 ,DON 的浓度范围为0110～0137 mg·L - 1 . 在湖水混合期表层和底层的DOC和DON 的浓度基本一致,在湖水分层期DOC 和DON 浓度表现出从表层往底层减小的趋势. 表层水体(0～2m 或3m) DOC 的浓度在春末夏初或夏季达到最大,DON 的浓度在春末夏初稍高于其它月份. 结合叶绿素和降雨的数据分析认为,藻类活动和陆源输入直接导致了表层水体DOM 的季节变化模式. DOM 的C/ N 在一般情况下向下增大,但在夏季南湖的垂向水柱上,DOC 和DON 的浓度在12m 以下增大,C/ N 从12m 的1811 下降为14m 的1419 ,并向下持续减小,这很有可能是颗粒态有机质发生降解释放出C/ N 较低的DOM ,成为水体内DOM 的一个内源.

现代分析技术在土壤腐殖质研究中的应用

土壤腐殖质的研究已成为土壤学、环境化学和地球化学等的热点方向之一。应用核磁共振兴谱（NMR）、红外光谱（IR）、荧光光谱（FS）、电子自旋共振谱（ESR）等现代分析技术，对在土壤腐殖质组成和结构研究中取得的主要成果进行了综述。

稳定碳同位素示踪农林生态转换系统中土壤有机质的含量变化

为了观察生态系统的转变对土壤有机质的影响，在贵州茂兰喀斯特原始森林保护区内农林生态系统发生转变的地域，分析了土壤有机质含量和土壤有机质的δ13C值.森林点土壤有机碳含量普遍较高于农田点，表明,毁林造田加速了土壤有机质的降解，使土壤有机质总量减少；对比森林点与农田点的δ13C值，计算表明，毁林造田同时也降低了土壤有机质中活性大的组分的比例，使土壤肥力下降.

A discourse delivered on Thanksgiving Day, Dec. 7, 1837 : in the Unitarian Church, Keene, N.H.

The print copy of this sermon is held by Pitts Theology Library. The Pitts Theology Library's digital copy was produced as part of the ATLA/ATS Cooperative Digital Resources Initiative (CDRI), funded by the Luce Foundation. Electronic reproduction. Atlanta, Georgia : Pitts Theology Library, Emory University, 2003. (Thanksgiving Day Sermons, ATLA Cooperative Digital Resources Initiative, CDRI). Joint CDRI project by: Andover-Harvard Library (Harvard Divinity School), Pitts Theology Library (Emory University), and Princeton Theological Seminary Libraries.

A modern pioneer in Korea the life story of Henry G. Appenzeller

http://www.archive.org/details/amodernpioneerin00grifuoft

A history of Indian missions on the Pacific coast : Oregon, Washington and Idaho / by Myron Eells ; with an introduction by G.H. Atkinson.

http://www.archive.org/details/missionspacific00eellrich

The Hawaiian Islands, as developed by missionary labors. By Andrew P. Peabody. From the Boston Review for May, 1865.

http://www.archive.org/details/hawaiianislandsa00peabiala

Our missions in India 1834-1924 , by Rev. E.M. Wherry.

http://www.archive.org/details/ourmissionsinind012419mbp

On the Marginal Utility of Deploying Measurement Infrastructure

The cost and complexity of deploying measurement infrastructure in the Internet for the purpose of analyzing its structure and behavior is considerable. Basic questions about the utility of increasing the number of measurements and/or measurement sites have not yet been addressed which has lead to a "more is better" approach to wide-area measurements. In this paper, we quantify the marginal utility of performing wide-area measurements in the context of Internet topology discovery. We characterize topology in terms of nodes, links, node degree distribution, and end-to-end flows using statistical and information-theoretic techniques. We classify nodes discovered on the routes between a set of 8 sources and 1277 destinations to differentiate nodes which make up the so called "backbone" from those which border the backbone and those on links between the border nodes and destination nodes. This process includes reducing nodes that advertise multiple interfaces to single IP addresses. We show that the utility of adding sources goes down significantly after 2 from the perspective of interface, node, link and node degree discovery. We show that the utility of adding destinations is constant for interfaces, nodes, links and node degree indicating that it is more important to add destinations than sources. Finally, we analyze paths through the backbone and show that shared link distributions approximate a power law indicating that a small number of backbone links in our study are very heavily utilized.

View Registration Using Interesting Segments of Planar Trajectories

We introduce a method for recovering the spatial and temporal alignment between two or more views of objects moving over a ground plane. Existing approaches either assume that the streams are globally synchronized, so that only solving the spatial alignment is needed, or that the temporal misalignment is small enough so that exhaustive search can be performed. In contrast, our approach can recover both the spatial and temporal alignment. We compute for each trajectory a number of interesting segments, and we use their description to form putative matches between trajectories. Each pair of corresponding interesting segments induces a temporal alignment, and defines an interval of common support across two views of an object that is used to recover the spatial alignment. Interesting segments and their descriptors are defined using algebraic projective invariants measured along the trajectories. Similarity between interesting segments is computed taking into account the statistics of such invariants. Candidate alignment parameters are verified checking the consistency, in terms of the symmetric transfer error, of all the putative pairs of corresponding interesting segments. Experiments are conducted with two different sets of data, one with two views of an outdoor scene featuring moving people and cars, and one with four views of a laboratory sequence featuring moving radio-controlled cars.

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.

Activity patterns in design processes of IT standards

Contemporary IT standards are designed, not selected. Their design enacts a complex process that brings together a coalition of players. We examine the design of the SOAP standard to discover activity patterns in this design process. The paper reports these patterns as a precursor to developing a micro-level process theory for designing IT standards.

Uncle Tom's Cabin and the Irish National Tale

Accepted Version

THE PIANO FANTASY FROM BACH TO DANIELPOUR

The Fantasy, as the term suggests, is a genre that composers have found congenial for exploring innovative and imaginative processes. Works in this genre are numerous in the solo piano literature, and extend even to works for piano and orchestra and to chamber music with piano. I was curious to explore how a specific genre of music maintained similar characteristics but evolved over time. A fantasy is primed to be inventive and I wanted to see how composers from different eras and backgrounds would handle their material in this genre. I have learned that composers worked through formal developments while making innovations within this genre. The heart of my dissertation is presented through the recording project. Because ofthe abundance ofpiano fantasies, many works had to be excluded from this project for time's sake. On two compact discs, I have recorded approximately two hours of solo piano music. I have included some shorter fantasies to magnify significant developments from era to era, country to country, and composer to composer. The first disc has recordings of eighteenth and nineteenth-century fantasies: Chromatic Fantasy and Fugue, BWV 903 by J.S. Bach (1685-1750); Fantasia inC major, H. XVII, 4 by Franz Joseph Haydn (1732-1809); Fantasy inc minor, K. 475 by Wolfgang Amadeus Mozart (1756- 1791); Fantasia inf-sharp minor, Op. 28 by Felix Mendelssohn (1809-1847); and Polonaise-Fantaisie in A-flat major, Op. 61 by Frederic Chopin (1810-1849). On the second disc I have included mid-19th, 20th and 2151-century piano fantasies: Fantasy and Fugue on the Theme B-A-C-H by Franz Liszt (1811-1886); Fantasia Baetica by Manuel de Falla (1876-1946); Three Fantasies by William Bergsma (1921-1994); Fantasy, Aria and Fugue by Frederic Goossen (1927-2011); and Piano Fantasy ("Wenn ich einmal sol! scheiden") by Richard Danielpour (b. 1956). The accompanying document includes program notes for each of the pieces recorded. They were recorded on a Steinway "D" in Dekelboum Concert Hall at the University of Maryland by Antonino D'Urzo ofOpusrite Productions. This document is available in the Digital Repository at the University of Maryland and the CO's are available through the Library System at the University of Maryland.