可重构单体机器人动力学分析与控制

给出了可重构机器人在移动过程中的动力学模型,并提出了相应两种控制方法,即构形调整法和状态调整法。通过仿真试验得到,构形调整法能够在不影响状态的情况下,同时满足机器人运动稳定性和越障性的要求,增强了机器人运动的鲁棒性。

流体地球化学：成因、流动和流体-岩石相互作用及塔里木盆地实例研究

Geofluid in sedimentary basins is related to petroleum generation, migration, accumulation and preservation, and is a topic of geological frontier. By integrating the multi-discipline methods of petroleum geochemistry, sedimentology, hydrogeology, petroleum geology and experimental geochemistry, the thesis has carried out experiments of microcline dissolution in solutions with organic acids, crude oil, brines with high total dissolved solids (TDS), and has dealt with Al distribution between the crude oil and the brines after the experiments. Cases for study includes Central Tarim, Hetianhe Gas Field and Kucha forland basin with data containing fluid chemistry and isotopic compositions, thin sections of sandstones and carbonates, homogenization temperatures and salinities of fluid inclusions, isotopic compositions of bulk rock and autigenic minerals. The aims are to elucidate fluid origin and flow in the three areas, effect of hydrocarbon emplacement on diagenesis, and to show occurrence of microbe-mediated, and thermochemical sulfate reduction in the Tarim Basin. Microcline dissolution experiments show that after 100 hour, part of the dissolved Al distributes in the crude oil, and the Al concentrations in the crude oil rise when organic acids are added. The result can be used to explain that most oilfield waters in the Tarim Basin are characterized by less than 3mg/L Al. Crude oil added to the solutions can enhance microcline dissolution, which is also observed in the case - Silurian sandstones with early crude oil emplacement in the Central Tarim. Al and Si have higher concentrations in the experiments of oxalic acid than of acetic acid under the same pH conditions, suggesting that there exist Al-oxalate and Si-oxalate complexes. Presence of acetate can enhance the activity of Ca and Al, but Al concentrations have not been increased significantly due to formation of small Al-acetate complex during the experiments. Relationships between δD and δ~(18)O in conjunction with chemistry of oilfield waters show that the waters are evaporated connate waters, which subsequently mixed with meteoric water, and were influenced by water-rock interactions such as salt dissolution, dolomitization of calcite, albitization of feldspar. In the Hetianhe Gas Field where salt dissolution took place, δD and δ~(18)O values can be used to trace nicely meteoric water recharge area and flow direction, but TDS can not. Part of the waters have high TDS but very light δD and δ~(18)O. When combined with paleo-topography, or fluid potentials, meteoric water is suggested to flow eastward in the Hetianhe Gas Field, which is the same with the Central Tarim. Whist in the Kuche forland basin, meteoric water may have permeated Cambrian-Ordovician strata. Relationship between ~(87)Sr/~(86)Sr and 1/Sr can be used to indicate migration and mixing of brines from carbonate strata (low ~(87)Sr/~(86)Sr ratio but high Sr content), clastic strata (high ~(87)Sr/~(86)Sr ratio but low Sr content) and crystalline basement (high ~(87)Sr/~(86)Sr ratio and heavy δ~(18)O value). Using this approach, it can be found that ~(87)Sr-depleted brine from Ordovician carbonates have migrated up to and mixed with ~(87)Sr-enriched waters from Silurian and Carboniferous sandstones, and that Silurian brines have mixed with meteoric water. In the Kuche forland basin, brines from the Cambrian and Ordovician carbonates have higher ~(87)Sr/~(86)Sr ratios than those from the overlying sandstones, when combined with chemistry, δ~(15)N and ~3He/~4He ratios of the coexisting natural gases, suggesting that the brines were derived from the basement. There exists some debate on the effect of hydrocarbon emplacement on mineral diagenesis. Case-study from Silurian sandstones in the Central Tarim show that quartz has kept overgrowing secondarily when oil saturation was decreased by meteoric water flushing subsequently to hydrocarbon emplacement. Silicon precipitates on the water-wet quartz surface, leading to decreased Si concentration close to the surface. A Si grads can result in Si diffusion, which supplies Si for quartz overgrowth. Hydrocarbon oxidation-sulfate reduction is an important type of organic-inorganic interaction. Not only can it make secondary alteration of hydrocarbons, but generate H_2S and CO_2 gases which can improve reservoir property. Thermochemical sulfate reduction took place at the temperatures more than 125 ℃ to 140 ℃ in the Cambrian-Ordovician carbonates, the products - H_2S and CO_2 gases migrated up to the Silurian, and precipitated as pyrite and calcite, respectively. The pyrite has an average δ~(34)S value close to those of Ordovician seawater and anhydrite, and calcite has δ~(13)C value as low as -21.5‰. In the Hetianhe Gas Field, sulfate reduction bacteria carried by meteoric water flowing eastward may have preferentially depleted ~(12)C of light hydrocarbon gases, and results in heavier δ~(13)C values of the residual hydrocarbon gases and higher molar CO_2 in the natural gases in the west than in the east. Coexisting pyrite has δ~(34)S values as low as -24.9‰.

鄂尔多斯盆地西缘中生代构造与地层分析及盆地演化研究

Through the detailed analyses of Mesozoic tectono-stratigraphy and basin formation dynamic mechanism and the styles of different units in the western margin of Ordos Basin(Abbreviated to "the western margin"), while some issues of the pre-Mesozoic in the western margin and central part of Ordos Basin also be discussed, the main views and conclusion as follows: 1. There are three types of depositional systems which are related with syndepositional tectonic actions and different tectonic prototype basins, including: alluvial fan systems, river system (braided river system and sinuosity river system), lacustrine-river delta system and fan delta system. They have complex constitutions of genetic facies. For the tectonic sequence VI, the fan sediments finning upper in the north-western margin and coarse upper in the south-western margin respectively. 2. In order to light the relationship between basin basement subsidence rate and sediment supply and the superposed styles, five categories of depositional systems tracts in different prototype basins were defined: aggrading and transgressive systems tracts during early subsidence stage, regressive and aggrading systems tracts during rapid subsidence, upper transgessive systems tracts during later subsidence stage. Different filling characteristics and related tectonic actions in different stages in Mesozoic period were discussed. 3. In order to determined the tectonic events of the provenance zones and provenance strata corresponding to basins sediments, according the clastics dispersal style and chemical analyses results of sediments in different areas, the provenance characteristics have been described. The collision stage between the "Mongolia block" and the north-China block may be the late permian; The sediments of Mesozoic strata in the north-western margin is mainly from the Alex blocks and north-Qilian Paleozoic orogeny, while the south-western margin from Qinling orogeny. The volcanic debris in the Yan'an Formation may be from the arc of the north margin of north-China block, although more study needed for the origin of the debris. The provenance of the Cretaceous may be from the early orogeny and the metamorphic basement of Longshan group. 4. The subsidence curve and subsidence rate and sedimentary rate in different units have been analyzed. For different prototype basin, the form of the subsidence curves are different. The subsidence of the basins are related with the orogeny of the basins.The beginning age of the foreland basin may be the middle Triassic. The change of basement subsidence show the migration of the foredeep and forebulge into the basin. The present appearance of the Ordos basin may be formed at the late stage of Cretaceous, not formed at the late Jurassic. 5. The structure mode of the west margin is very complex. Structure transfer in different fold-thrust units has been divided into three types: transfer faults, transition structures and intersected form. The theoretic explanations also have been given for the origin and the forming mechanism. The unique structure form of Hengshanpu is vergent west different from the east vergence of most thrust faults, the mechanism of which has been explained. 6. In Triassic period, the He1anshan basin is extensional basin while the Hengshanbu is "forland", and the possible mechanism of the seemingly incompatible structures has been explained. First time, the thesis integrate the Jurassic—early Cretaceous basins of west margin with the Hexi corridor basins and explain the unitive forming mechanism. The model thinks the lateral extrusion is the main mechanism of the Hexi corridor and west margin basins, meanwhile, the deep elements and basement characters of the basins. Also, for the first time, we determine the age of the basalt in Helanshan area as the Cretaceous period, the age matching with the forming of the Cretaceous basins and as the main factor of the coal metamorphism in the Helanshan area. 7. The Neoprotterozoic aulacogen is not the continuation of the Mesozoic aulacogen, while it is another new rift stage. In the Paleozoic, the Liupanshan—southern Helanshan area is part of the back-arc basins of north Qilian ocean. 8. The Helanshan "alacogen" is connected with the north margin of north China block, not end at the north of Zhouzishan area like "appendices". Also, I think the upper Devonian basin as the beginning stage of the extensional early Carboniferous basins, not as a part of the foreland basins of Silurian period, not the collision rift. 9. The controlling factor of the difference of the deformation styles of the north-west margin and the south-west margin is the difference of the basements and adjacent tectonic units of the two parts.

云南省白牛厂超大型银多金属矿床矿物学及矿床地球化学

白牛厂矿床是超大型银多金属矿床，除银储量(>7000t)达到超大型规模外，铅、锌、锡储量均达大型规模，同时伴生大量的分散元素（In、Cd、Ge、Ga等）。矿床位于滇东南个旧和都龙矿田之间，赋存于华南加里东褶皱系滇东南褶皱带西北缘的中寒武统细碎屑岩系之中，北西面以弥勒断裂与扬子地块分界，南西以红河断裂为界与哀牢山断块毗邻，南连越北古陆，东部文麻断裂与南岭褶皱系连为一体，区内地质构造、岩浆活动和矿化作用均较复杂，各构造单元的构造演化对白牛厂银多金属矿床均有不同程度的影响。 白牛厂银多金属矿床自80年代后期被发现以来，已有多家单位和个人在该区开展了一系列的研究工作。但是，在成矿物质及流体来源、矿床成因、矿床与花岗岩的关系等方面都存在诸多争议。本文在深入细致的野外地质工作基础上，对矿石进行了系统的显微镜鉴定，并对部分矿物做了电子探针定量及面扫描分析，详细研究了矿床成矿元素特征及主量元素、微量元素、稀土元素、同位素地球化学特征，主要取得以下结论性成果： 1. 银矿物的赋存状态及形成阶段。银主要以硫盐或复硫盐矿物的形式出现，方铅矿是主要的载银矿物。原生银矿物明显分为两组：一组为Ag的黝铜族矿物和Ag的锑硫盐矿物，产于方铅矿的内部或与方铅矿连生形成文象状连晶，与方铅矿具有相似的物源，属热水沉积成因；另一组为Ag的锡硫盐矿物，产于方铅矿边部，往往伴随锡石、黄锡矿、辉锑锡铅矿产出，可见黄锡矿交代锡石形成镶边结构，暗示了其岩浆热液成因。 2. 花岗岩特征及其与成矿的关系。白牛厂矿区花岗岩具有富硅、富碱及高钾低钠特点，属铝过饱和钙碱性岩，与花南改造型花岗岩相似，属同碰撞S型花岗岩，成岩物源主要是基底变质岩重熔作用形成的花岗岩浆，Ag、Pb、Zn、Sn等成矿元素含量较高；与矿石稀土元素对比研究表明，花岗岩稀土配分模式与矿区东南部穿心洞、对门山和阿尾矿段矿石相似，而与矿区西北部白羊矿段矿石相差较大，暗示后期岩浆叠加改造作用主要发生在矿区东南部诸矿段。 　　3. 矿床含矿沉积建造地球化学特征。通过与中国大厂、个旧典型热水沉积硅质岩，加拿大沙利文矿山的条带状富电气石热液沉积岩和加拿大Agnico-Eugle矿山的铁建造中的条带状燧石岩以及现代海底热水沉积物对应的主量元素、微量元素及稀土元素对比研究，为白牛厂矿床含矿沉积建造提供了热水沉积成因的地球化学证据，指出该区中寒武世可能发生了广泛的热水沉积事件。 　　4. 成矿物质及成矿流体来源。系统的铅、硫同位素研究表明，中寒武世热水沉积成矿期金属成矿元素及硫主要是由下地壳古老变质岩淋滤出来的；燕山期花岗岩也在矿区东南部叠加改造较强的部位提供了Sn等部分金属成矿元素及硫。碳、氧同位素及矿石稀土元素反映矿床早期成矿流体源于深部岩浆，晚期主要来源于燕山期花岗岩浆。 　　5. 矿床分散元素特征。分散元素In、Cd、Ga含量较高，平均含量分别为33.21×10-6、389.8×10-6、10.18×10-6，初步估计该矿床In、Cd、Ga储量分别大于180t、20000t、600t，闪锌矿是分散元素In、Cd、Ga主要的载体矿物。 6. 可能的矿床成因模式。白牛厂银多金属矿床是长期以来多种地质作用综合的产物，具有多来源、多期次成矿特点，经历了广泛且具有重要成矿意义的中寒世热水沉积成矿作用和燕山晚期岩浆热液叠加改造作用，热水沉积成矿作用形成了层状、似层状矿体，燕山期岩浆热液在矿区东南部对矿床强烈叠加改造，白牛厂银多金属矿床应属“热水沉积＋岩浆热液叠加改造”成因。

Study of interaction between drug enantiomers and serum albumin by capillary electrophoresis

The interaction between drugs and human serum albumin (HSA) was investigated by capillary electrophoresis (CE). It involves stereoselectivity, drug displacement and synergism effects. Under protein-drug binding equilibrium, the unbound concentrations of drug enantiomers were measured by frontal analysis (FA). The stereoselectivity of verapamil (VER) binding to HSA was proved by the different free fractions of two enantiomers. In physiological pH (7.4, ionic strength 0.17 phosphate buffer) when 300 mu M (+/-) VER were equilibrated with 500 mu M HSA, the concentration of unbound S-VER was about 1.7 times its antipode. The binding constants of two enantiomers, KR-VER and KS-VER, were 2670 and 850 M-1, respectively. However, no obvious stereoselective binding of propranolol (PRO) to HSA was observed. Trimethyl-beta-cyclodextrin (45 mM) was used as a chiral selector in pH 2.5 phosphate buffer. Several drug systems were studied by the method. When ibuprofen (IBU) was added into VER-HSA solution. R-VER was partially displaced while S-VER was not displaced at all. A binding synergism effect between bupivacaine (BUP) and verapamil was observed and further study suggested that verapamil and bupivacaine occupy different binding site of HSA (site II and site III, respectively).

O discurso de O Portuguez e a Corte portuguesa no Brasil

Relatório apresentado à Universidade Fernando Pessoa como parte dos requisitos para cumprimento do programa de pós-doutoramento em Ciências da Comunicação, vertente Jornalismo

C 230 INST-D 2013. 392 Productos de menaje de cocina y comedor elaborados en madera tallada y torneada.

24 fotografías, dieciocho a color.

Alexander Mackay : missionary hero of Uganda.

http://www.archive.org/details/alexandermackay00unknuoft/

Hindrances to the work of the church in the world : a series of sermons / by the Lord Bishop of Bath and Wells ... [et al.]

http://www.archive.org/details/hindrancestothew00unknuoft

Twenty-five years' mission life on Tanna, New Hebrides / Agnes C. P. Watt ; biographical sketch and introduction by T. Watt Leggatt.

http://www.archive.org/details/twentyfiveyears00wattuoft

Unicast-based Characterization of Network Loss Topologies

Current Internet transport protocols make end-to-end measurements and maintain per-connection state to regulate the use of shared network resources. When a number of such connections share a common endpoint, that endpoint has the opportunity to correlate these end-to-end measurements to better diagnose and control the use of shared resources. A valuable characterization of such shared resources is the "loss topology". From the perspective of a server with concurrent connections to multiple clients, the loss topology is a logical tree rooted at the server in which edges represent lossy paths between a pair of internal network nodes. We develop an end-to-end unicast packet probing technique and an associated analytical framework to: (1) infer loss topologies, (2) identify loss rates of links in an existing loss topology, and (3) augment a topology to incorporate the arrival of a new connection. Correct, efficient inference of loss topology information enables new techniques for aggregate congestion control, QoS admission control, connection scheduling and mirror site selection. Our extensive simulation results demonstrate that our approach is robust in terms of its accuracy and convergence over a wide range of network conditions.

Constraint-based Mining of Frequent Arrangements of Temporal Intervals

The problem of discovering frequent arrangements of temporal intervals is studied. It is assumed that the database consists of sequences of events, where an event occurs during a time-interval. The goal is to mine temporal arrangements of event intervals that appear frequently in the database. The motivation of this work is the observation that in practice most events are not instantaneous but occur over a period of time and different events may occur concurrently. Thus, there are many practical applications that require mining such temporal correlations between intervals including the linguistic analysis of annotated data from American Sign Language as well as network and biological data. Two efficient methods to find frequent arrangements of temporal intervals are described; the first one is tree-based and uses depth first search to mine the set of frequent arrangements, whereas the second one is prefix-based. The above methods apply efficient pruning techniques that include a set of constraints consisting of regular expressions and gap constraints that add user-controlled focus into the mining process. Moreover, based on the extracted patterns a standard method for mining association rules is employed that applies different interestingness measures to evaluate the significance of the discovered patterns and rules. The performance of the proposed algorithms is evaluated and compared with other approaches on real (American Sign Language annotations and network data) and large synthetic datasets.

Designing tools that enhance communication and understanding between multiple stakeholders: the case of mobile payment value networks

The pervasive use of mobile technologies has provided new opportunities for organisations to achieve competitive advantage by using a value network of partners to create value for multiple users. The delivery of a mobile payment (m-payment) system is an example of a value network as it requires the collaboration of multiple partners from diverse industries, each bringing their own expertise, motivations and expectations. Consequently, managing partnerships has been identified as a core competence required by organisations to form viable partnerships in an m-payment value network and an important factor in determining the sustainability of an m-payment business model. However, there is evidence that organisations lack this competence which has been witnessed in the m-payment domain where it has been attributed as an influencing factor in a number of failed m-payment initiatives since 2000. In response to this organisational deficiency, this research project leverages the use of design thinking and visualisation tools to enhance communication and understanding between managers who are responsible for managing partnerships within the m-payment domain. By adopting a design science research approach, which is a problem solving paradigm, the research builds and evaluates a visualisation tool in the form of a Partnership Management Canvas. In doing so, this study demonstrates that when organisations encourage their managers to adopt design thinking, as a way to balance their analytical thinking and intuitive thinking, communication and understanding between the partners increases. This can lead to a shared understanding and a shared commitment between the partners. In addition, the research identifies a number of key business model design issues that need to be considered by researchers and practitioners when designing an m-payment business model. As an applied research project, the study makes valuable contributions to the knowledge base and to the practice of management.

Effectuation and its implications for socio-technical design science research in information systems

We study the implications of the effectuation concept for socio-technical artifact design as part of the design science research (DSR) process in information systems (IS). Effectuation logic is the opposite of causal logic. Ef-fectuation does not focus on causes to achieve a particular effect, but on the possibilities that can be achieved with extant means and resources. Viewing so-cio-technical IS DSR through an effectuation lens highlights the possibility to design the future even without set goals. We suggest that effectuation may be a useful perspective for design in dynamic social contexts leading to a more dif-ferentiated view on the instantiation of mid-range artifacts for specific local ap-plication contexts. Design science researchers can draw on this paper’s conclu-sions to view their DSR projects through a fresh lens and to reexamine their re-search design and execution. The paper also offers avenues for future research to develop more concrete application possibilities of effectuation in socio-technical IS DSR and, thus, enrich the discourse.

ALD: adaptive layer distribution for scalable video

Bandwidth constriction and datagram loss are prominent issues that affect the perceived quality of streaming video over lossy networks, such as wireless. The use of layered video coding seems attractive as a means to alleviate these issues, but its adoption has been held back in large part by the inherent priority assigned to the critical lower layers and the consequences for quality that result from their loss. The proposed use of forward error correction (FEC) as a solution only further burdens the bandwidth availability and can negate the perceived benefits of increased stream quality. In this paper, we propose Adaptive Layer Distribution (ALD) as a novel scalable media delivery technique that optimises the tradeoff between the streaming bandwidth and error resiliency. ALD is based on the principle of layer distribution, in which the critical stream data is spread amongst all datagrams thus lessening the impact on quality due to network losses. Additionally, ALD provides a parameterised mechanism for dynamic adaptation of the scalable video, while providing increased resilience to the highest quality layers. Our experimental results show that ALD improves the perceived quality and also reduces the bandwidth demand by up to 36% in comparison to the well-known Multiple Description Coding (MDC) technique.