Mobile robot path planning based on hierarchical hexagonal decomposition and artificial potential fields

In this article, a new algorithm based on an artificial potential field and hierarchical cell decomposition technique is developed to solve the find-path problem for a mobile robot. The complete map of the workspace including obstacle locations is assumed to be known a priori. The basic cell structure used for decomposition is a hexagon. The artificial potential field is based on an attractive force from the goal position and repelling forces from the obstacles. Computer simulations of the algorithm for various obstacle scenarios are also presented. © 1994 John Wiley & Sons, Inc.     

Thermal decoloration kinetics of spirooxazines in Ormocer coatings prepared via sol-gel processing

Two free and one silylated (silane-substituted) photochromic spirooxazines are doped into organically modified ceramics (Ormocer) coatings by sol-gel processing and the thermal decoloration kinetics of these coatings are investigated and compared with the corresponding ethanol solutions and PMMA coatings. The decoloration behaviour of the two free dyes (SO-1 and SO-2) in the Ormocer coatings is similar to that in ethanol solutions, obeying a first-order mechanism and possessing almost the same decoloration rates as in ethanol. This suggests that the dye molecules encapsulated within the pores of the solid matrix are as free as those in ethanol solutions. The silylated dye (SO-3) in the Ormocer coatings, however, exhibits a considerably lower decoloration rate than the corresponding free dye (SO-1) and evident deviation from the first-order mechanism. This indicates apparently that the degree of freedom of the dye molecules is reduced by the silylation. These results are discussed on the basis of solvent polarity, porous structure of the Ormocer coating, and the dye-to-matrix connectivity.     

两端简支圆柱体的轴对称振动

本文用三维弹性动力学理论研究圆柱体在两端简支约束下的轴对称自由振动问题。给出位移振型和应力振型的解析表达式，求得固有频率的精确解。研究结果表明：在圆柱体的径向还存在着不同的半波数的位移振型，这种性质在初等理论中是无法反映的     

非致冷焦平面热成象技术及其应用

９０年代以后，非致冷红外焦平面技术的实用化成为红外热成象技术中最引入注目的突破之一，基估军事和民用领域的广泛应用前景受到国内外的普遍重视。本文综述了非致冷红外焦平面技术的两大技术途径及其特点、发展趋势和应用情况，并了发展我国非致冷红外焦平面技术的途径。     

Interdiffusion behavior of Hg in HgTe/CdTe superlattices grown on Cd0.96Zn0.04 Te (211)B substrates by molecular beam epitaxy

Double-crystal x-ray rocking curve (DCRC) and secondary-ion mass-spectroscopy (SIMS) measurements have been performed to investigate the effect of rapid thermal annealing on the interdiffusion behavior of Hg in HgTe/CdTe superlattices grown on Cd_0.96Zn_0.04Te (211)B substrates by molecular beam epitaxy. The sharp satellite peaks of the DCRC measurements on a 100-period HgTe/CdTe (100Å/100Å) superlattice show a periodic arrangement of the superlattice with high-quality interfaces. The negative direction of the entropy change obtained from the diffusion coefficients as a function of the reciprocal of the temperature after RTA indicates that the Hg diffusion for the annealed HgTe/CdTe superlattice is caused by an interstitial mechanism. The Cd and the Hg concentration profiles near the annealed HgTe/CdTe superlattice interfaces, as measured by SIMS, show a nonlinear behavior for Hg, originating from the interstitial diffusion mechanism of the Hg composition. These results indicate that a nonlinear interdiffusion behavior is dominant for HgTe/CdTe superlattices annealed at 190°C and that the rectangular shape of HgTe/CdTe superlattices may change to a parabolic shape because of the intermixing of Hg and Cd due to the thermal treatment.     

Experimental densities for compressed R134a

This paper reports densities of compressed R134a (1,1,1,2-tetrafluoroethane) determined by using a contiuously weighed pycnometer at 20 K intervals between 180 and 380 K at pressures from slightly greater than the vapour pressure to 70 MPa. The results are accurate to within ±0.1%. Saturated liquid densities derived by extrapolation from the experimental values agree with other reported values to within ±0.3%.     

新增探明储量的经济可采储量计算方法

提出了新增探明储量有无经济可采储量的判别方法。在此基础上，通过对立已开发油田技术可采储量经济转化率与油藏空气渗透率的相关关系式和图版，根据储层的空气渗透率，计算新增探明储量的经济转化率和经济可采储量。该方法参数易取，计算简便，对于快速、准确计算新增探明储量的经济可采储量具有重要意义。     

水分对高碱值硫化烷基酚钙结构和清净性的影响

采用傅立叶红外光谱仪，分析了水分对清净剂高碱值硫化烷基酚钙结构组成的影响；采用热管氧化试验法和曲轴箱模拟试验法，考察了高碱值硫化烷基酚钙在加水前后清净性能的变化；采用四球试验机和高频往复试验机，分析了水分对高碱值硫化烷基酚钙润滑性能的影响。结果表明，油中的水含量对高碱值硫化烷基酚钙的水解安定性能影响较大，并且随着水含量的增加，油品的清净性能和抗磨性能变差。     

正丁基硫醇-正辛烷体系等压气液相平衡研究

利用双循环气液平衡釜测定了101.3 kPa下正丁基硫醇-正辛烷体系的气液平衡数据,并运用该实验结果,进一步获得组分的液相活度系数。实验数据经Herrington方法检验符合热力学一致性。用UNIQUAC热力学模型对该实验数据进行处理,计算结果与实验值的平均绝对偏差为0.050 5。