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。

大别－苏鲁造山带与华北陆块东部岩石层三维速度结构

The 3-D velocity images of the crest and upper mantle beneath the region of 112° -124°E, 28°-39°N including the Dabie-Sulu orogenic belt are reconstructed by using 36405 P-wave arrivals of 3437 regional and 670 distant earthquakes during the period from 1981 to 1996, and gridding the area of 0.5° * 0.5°. The results of tomography demonstrate that: 1. The results of tomographic imaging show a broad heterogeneity in P wave velocity structure for the lithosphere beneath the Dabie-Sulu orogenic belt. 2. In the Dabie orogenic belt, the velocity patterns in the crust are different among various tectonic units. The Dabie and Qinling orogenic belts are remarkable in the tomographic images, and in mm the Hongan and Dabie blocks in the Dabie orogenic belt are also imaged very distinguishably. 3. A velocity (about 5.9～6.0 km/s) layer exists in the Dabie block at depth between 15～25 km, which is coincident with the low-resistance layer at the depth of 12-23 km, being inferred to be the tectonic detachment zone and suggesting that the extension detachment structure was formed in the middle crust. Beneath the southern and northerm Dabie tectonic units, the north-dipping high-velocity (at level of 6.5 ～ 6.6 km/s) block was developed in the crust, which might be correlated with the UHP rockswith low content of the meta-ultramafic rocks. This result is in agreement with the geological observation on the surface. 4. The velocity image at 40 km depth reveals the features at the top of mantle and the configuration of the Moho discontinuity. The depth of the Moho changes slightly along the trend of the orogenic belt. It in Hongan block is less than 40 km, but it is different in the western and eastern parts of the Dabie block, the former is more than 40 km, and the latter less than or equal to 40 km. The remnant of the mountain root exists between the Shangcheng-Macheng fault and the line of Huoshan-Yuexi-Yingshan in the Dabie orogenic belt, and beneath the southern and northern Dabie tectonic units. However, the thickness of the Moho is about 40 km and there is no obvious changes, which suggest that the Dabie orogenic belt has been experienced quite in the gravity equilibration. The Moho's depth in the Sulu is less than 40 km. 5. There is a dipping slab-like high-velocity body in the uppermost mantle. It is sandwiched by slow velocities and exists beneath the Dabie-Sulu orogenic belt in the range of depths between the Moho discontinuity and 110 km at least. This high-velocity body outlines a picture of the slab interpreted as the remnant of the Triassic subducted YZ. 6. The Sulu orogenic belt displays "crocodilian" velocity structure, the upper crust of the Yangtze thrusted over the Huabei crest, and the Huabei crust indented into the Yangtze crust, where the ancient subduction zone of the Yangtze lithosphere located. Based on the previous geological data, this structure is not related with the collision between the Yangtze and Sino-Korean Blocks, but caused by the sinistral offset of the Tan-Lu Fault. Studied on the velocity structure of the eastern Huabei lithosphere indicates: 1. The 'present-day' lithosphere of the eastern Huabei is between 40-100 km thick with greatly thinned lithosphere around the Bohai Sea. Generally, thickness of the lithosphere in this region decreased eastwards. 2. The attenuation of the lithosphere is attributed to the strongly uplift of the asthenosphere. In the area between the Taihang Mountains and the Tan-Lu Fault, there is a 'lever' with red low velocity belt, it is clearly defined, transverse continuity, depth between 100-150 km, local variations visible, and an upwards trend towards the Bohai Sea. Generally, the velocity structure in the mantle beneath the lithosphere displays irregular column-shape consisting of alternating high and low velocities, and when cold high velocity ancient lithosphere connects with the hot low velocity mantle materials forming precipitous compact structure. More heat pathways from the mantle occur towards the Tan-Lu Fault. 3. The strongly irregular characteristics of the contact between the asthenosphere and the lithosphere is induced by the long-term hot, chemical erosion and alteration on the contact. 4. There are still preserved high velocity lithosphedc root beneath Huabei with 'block-shape' distribution and surrounded by hot materials. Results of our studies indicate that the evolution models of the eastern China mantle are characterized by the direct contact between the uplifted lithosphere and the Huabei Craton accompanying the upwelling of the deep mantle materials. At the contact betwen the lithosphere and the asthenosphere, the upwelled mantle materials replaced and altered the lower lithosphere forming the metasome through the hot and chemical modifications impacted on the Craton lithosphere, and changed it into the lithosphere gradually, resulting in the lithospheric thinning. Thus, the lithospheric thinning is the result of the upwelling of the asthenosphere.

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.

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).

Manejo do pseudocaule no controle da broca-do-rizoma da bananeira.

A broca da bananeira ou moleque, Cosmopolites sordidus (Germar, 1824) (Coleoptera, Curculionidae), constitui-se na principal praga da bananeira, provocando perdas de até 80% na produção. As larvas são causadoras do dano por produzirem galerias no rizoma, enfraquecendo a planta e reduzindo o peso do cacho, que acaba tombando pela ação do vento. No entanto, por estarem protegidas dentro do rizoma, a verificação de sua presença é mais difícil e também o seu controle. Quando adulto, o besouro de coloração preta mede aproximadamente 1 cm de comprimento e é ativo no período noturno. O moleque se espalha facilmente pelo uso de mudas infestadas ou pelo caminhamento. Durante o dia, o besouro é encontrado entre as bainhas mais externas da bananeira e em restos de pseudocaule que permanecem sobre o solo após a colheita, os quais atuam como verdadeiros esconderijos para a broca.

A Performance Cosmology (Testimony from the Future, Evidence of the Past)

Gough, Richard, et al., A Performance Cosmology (Testimony from the Future, Evidence of the Past) (New York: Routledge, 2006), pp.xi+324 RAE2008

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

Missionary life among the cannibals : being the life of the Rev. John Geddie, D.D., first missionary to the New Hebrides : with a history of the Nova Scotia Presbyterian mission on that group / by George Patterson.

http://www.archive.org/details/cannibalmission00pattuoft

History of the Catholic missions among the Indian tribes of the United States, 1529-1854 / by John Gilmary Shea.

http://www.archive.org/details/historyofcatholi00sheaiala

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

The Missionary pioneer, or, A brief memoir of the life, labours, and death of John Stewart, (man of colour) founder, under God of the mission among the Wyandotts at Upper Sandusky, Ohio / Published by Joseph Mitchell.

http://www.archive.org/details/missionarypionee00stewrich

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.