A Topological Implementation for Motion Planning of a Robotic Arm

An efficient path planning algorithm based on topologic method is presented in this paper.The collision free path planning for three-joint robotic arm consists of three parts:partition of C-space,construction of CN and search for a path in CN.We mainly solved the problems of partitioning the C-space and undging the connectivity between connected blocks,etc.For the motion planning of a robotic arm with a gripper,we developed the concepts of global planning and local planning,and discussed the basic factors for constructing the planning system.In the paper,some evaluation and analysis of the complexity and reliability of the algorithm are given,together with some ideas to improve the efficiency and increase the reliability.At last,some experimental results are pesented to show the efficency and accuracy of the algorithm.     

Dietary α-Tocopheryl Acetate Enhances Beef Quality in Holstein and Beef Breed Steers

The effect of long-term feeding (252 days) of three supplemental levels of α-tocopheryl acetate (actual 0, 360 and 1290 IU/head/day) on meat quality was evaluated in Holstein and beef breed steers. Tissue vitamin E concentrations were increased by each increment of supplementation. The color display life of fresh beef under simulated retail conditions was extended 2 to 5 days by vitamin E and lipid oxidation was markedly reduced. Microbial population was not affected by level of supplementation. No deterioration in sensory quality occurred for steaks from supplemented steers that were displayed until the time steaks from unsupplemented steers discolored.     

论城市可持续性发展与地下空间利用

本文分析了目前制约我国城市可持续发展的最主要因素是低效率的土地利用方式 ,若使地上、地面、地下空间协调发展 ,合理科学的规划好地下空间 ,珍惜地下空间资源 ,健全地下空间法律法规 ,统一地下空间管理机构 ,则可高效率的利用土地。     

柳沟庄—窟窿山油藏储集层裂缝类型及特征

根据岩心描述、薄片观察、X－CT扫描以及钻井、测井等资料，研究了酒西盆地青西坳陷柳沟庄－窟窿山油藏裂缝性储集层的类型及特征，分析了控制裂缝发育的地质因素及裂缝对油气的控制作用，认为储集层裂缝有3种基本类型，即构造裂缝、构造熔蚀缝和饼状破裂，主要受构造应力场及构造位置等因素的控制。根据裂缝形态、充填特征及其相互关系，裂缝的形成主要有3个期次，其中喜马拉雅运动晚期形成的第三期理解缝对油气运移和聚集最有效。研究结果表明，裂缝是柳沟庄－窟窿山油藏主要的储集空间和控制油气富集的因素。     

Effects of Salting, Drying, Cooking, and Smoking Operations on Volatile Compound Formation and Color Patterns in Pork

ABSTRACT: The traditional small-scale production of boucané, a cured smoked pork-belly product from Réunion, involves several unit operations that are performed in a single step. The aim of this study was to highligh the impact of 4 unit operations (salting, drying, cooking, and smoking) on stability, color, and flavor development in processed pork. These characateristics are the 3 main criteria of boucané's quality. Mass transfer, color, and volatile compounds were measured, analyzed, and compared in 4 products. Results indicated that a major quantity of volatile compounds detected in the processed meat were derived from the smoking process. Color variations were mainly explained by muscle pigment modification due to the cooking process, and by the input of volatile compounds of smoke.     

淹没水跃的数值模拟

本文通过求解时均N－S方程κ－ε紊流模型，数值模拟了淹没水跃由静止到最终稳定的全过程。采用隐式非正交同位网格有限体积法离散控制方程组，利用动网格技术跟踪自由表面，并由Orlanski开边界条件得到无反射的出口边界。文中给出了淹没水跃在不同时刻自由表面形状、内部流场结构和流速矢量的变化情况，并与试验资料进行了比较。结果表明，本文方法能够准确有效地描述淹没水跃这类复杂自由表面流动的紊动特性。     

瓷质抛光砖批量色差产生的原因与对策

从原料与生产工艺过程分析了瓷质势光砖批量色差产生的原因，并提出了相应对策，为生产质量佳化提供一定的参考。     

武山铜矿主井系统延深改造及效果浅析

武山铜矿主井延深时根据新的采、选工艺要求，在前期工程的基础上，对其箕斗提升系统进行改造，增设坑内破碎。针对该矿特粘的矿石性质和前期工程遗留问题，在具体设计和实施过程中采取特别措施保证系统通畅和安全并注意节省投资。同时对尚存在的问题也提出了新的思考。     

浅析2020年前美军事战略重点的转变--从装备发展看美国军事战略重点可能的变化

美国21世纪前期的军事战略重点将是争夺外空优势，夺取制天权和制信息权。分析了美国夺取外空优势的原因，及其为夺取外空优势在国家政策、航天发展和技术准备等方面采取的措施。     

A Sensitivity-Based Design Space Exploration Methodology for Embedded Systems

In this paper, we propose a system-level design methodology for the efficient exploration of the architectural parameters of the memory sub-systems, from the energy-delay joint perspective. The aim is to find the best configuration of the memory hierarchy without performing the exhaustive analysis of the parameters space. The target system architecture includes the processor, separated instruction and data caches, the main memory, and the system buses. To achieve a fast convergence toward the near-optimal configuration, the proposed methodology adopts an iterative local-search algorithm based on the sensitivity analysis of the cost function with respect to the tuning parameters of the memory sub-system architecture. The exploration strategy is based on the Energy-Delay Product (EDP) metric taking into consideration both performance and energy constraints. The effectiveness of the proposed methodology has been demonstrated through the design space exploration of a real-world case study: the optimization of the memory hierarchy of a MicroSPARC2-based system executing the set of Mediabench benchmarks for multimedia applications. Experimental results have shown an optimization speedup of 2 orders of magnitude with respect to the full search approach, while the near-optimal system-level configuration is characterized by a distance from the optimal full search configuration in the range of 2%.