移动机器人路径规划方法研究

移动机器人技术研究中的一个重要领域是路径规划技术，它分为基于模型的环境已知的全局路径规划和基于传感器的环境未知的局部路径规划。综述了移动机器人路径规划技术的发展现状指出了各种方法的优点与不足，最后对移动机器人路径规划技术的发展趋势进行了展望。     

初至走时层析成像的一个应用实例

利用基于最短路径树弯曲射线追踪的联合迭代重建层析成像(SIRT)技术进行井间地震层析成像,对胜利油田的一对井间实际资料进行了处理。层析成像结果表明,层析成像算法可靠稳定,收敛性好,层析成像结果的精度较高。     

如何使用Photoshop6.0美化图像边框

首先介绍了给图像周围加上美丽艺术花纹的方式，其次介绍了给图像周围加上美丽的像框的方式，这两种方式都能对图像周边加以修饰，其中使用了通道法，渐变法和路径法等等。读者还可以上面介绍的方法为启迪，充分发挥个人的想象力，创作出各种各样的、多姿多彩的图像边框。     

Capacity Efficiency and Restorability of Path Protection and Rerouting in WDM Networks Subject to Dual Failures

Resilient optical networks are predominately designed to protect against single failures of fiber links. But in larger networks, operators also see dual failures. As the capacity was planned for single failures, disconnections can occur by dual failures even if enough topological connectivity is provided. In our approach the design of the network minimizes the average loss caused by dual failures, while single failures are still fully survived. High dual failure restorability is the primary aim, capacity is optimized in a second step. For WDM networks with full wavelength conversion, we formulate mixed integer linear programming models for dedicated path protection, shared (backup) path protection, and path rerouting with and without stub-release. For larger problem instances in path rerouting, we propose two heuristics. Computational results indicate that the connectivity is of much more importance for high restorability values than the overall protection capacity. Shared protection has similar restorability levels as dedicated protection while the capacity is comparable to rerouting. Rerouting surpasses the protection mechanisms in restorability and comes close to 100% dual failure survivability. Compared to single failure planning, both shared path protection and rerouting need significantly more capacity in dual failure planning.     

二维多孔数控钻床加工路径的生成及优化

印刷电路板 PCB的加工是二维多孔数控钻的典型。实践表明加工同一零件不同的走刀路径其长度相差极大。为提高生产率 ,应使刀具的走刀路径尽量短 ,这其实是大型的 TSP问题。本文提出了几种路径的生成方法 ,分析了各自的适用场合。并用实例验证所提出的路径生成方法可极大地提高实际钻孔的加工效率。     

Neuroticism and depressive symptoms among spouse caregivers: Do health behaviors mediate this relationship?

This study examined the mediating role of health behaviors in the relationship between neuroticism and depressive symptoms among spouse caregivers. Path analysis was used to test a model of the caregiver stress process among 233 caregivers of people with dementia. Results indicate that neuroticism has a significant direct effect on depressive symptoms and also indirectly influences depressive symptoms through health behaviors and perceived stress. When individual health behaviors were examined in the path model, only physical activity served a significant mediating role. These findings suggest that neuroticism may lead to depressive symptoms among caregivers partly through declines in physical activity. (PsycINFO Database Record (c) 2010 APA, all rights reserved)     

VLSI Implementation of Forward Error Control Technique for ATM Networks

In asynchronous transfer mode (ATM) networks, fixed length cells of 53 bytes are transmitted. A cell may be discarded during transmission due to buffer overflow or a detection of errors. Cell discarding seriously degrades transmission quality. The quality degradation can be reduced by employing efficient forward error control (FEC) to recover discarded cells. In this paper, we present the design and implementation of decoding equipment for FEC in ATM networks based on a single parity check (SPC) product code using very‐large‐scale integration (VLSI) technology. FEC allows the destination to reconstruct missing data cells by using redundant parity cells that the source adds to each block of data cells. The functionality of the design has been tested using the Model Sim 5.7cXE Simulation Package. The design has been implemented for a 5 ° 5 matrix of data cells in a Virtex‐E XCV 3200E FG1156 device. The simulation and synthesis results show that the decoding function can be completed in 81 clock cycles with an optimum clock of 56.8 MHz. A test bench was written to study the performance of the decoder, and the results are presented.     

中国工程勘察设计咨询业产业整合的路径选择

产业是由具有相互联系、相互制约的若干组成部分结合在一起并且有特定动能的有机体,产业分工越合理,资金、人力资源和各种自然资源与物质资料在产业内发挥的功能越大;中国工程勘察设计业的产业结构“中间大,两头小”,产业内部资源分布极不合理;结构调整的最佳选择是以工程项目总承包和分包为分工协作的垂直一体化:分化重组中间的工程咨询单位,组建顶端的EPC工程公司,发展低端的专业咨询公司、事务所。     

Triple tangent flank milling of ruled surfaces

This paper presents a positioning strategy for flank milling ruled surfaces. It is a modification of a positioning method developed by Bedi et al. [Comput Aided Des 35 (2003) 293]. A cylindrical cutting tool is initially positioned tangential to the two boundary curves on a ruled surface. Optimization is used to move these tangential points to different curves on the ruled surface to reduce the error. A second optimization step is used to additionally make the tool tangent to a rule line, further reducing the error and resulting in a tool position, where the tool is positioned tangential to two guiding rails and one rule line. The resulting surface has 88% less under cutting than the method of Bedi et al.     

一种新的机器人手臂控制方法

从机器人手臂的关节电机力学出发，本文提出了一种独立于现行机器人关节控制器的离线补偿方法，通过对－２自由度机器人的数值研究，证明该法不仅能有效地克服由于惯性负载，关节间耦合与重力效应给控制系统带来的动态精度问题，而且还可以消除由于控制系统本身的固有特性所决定的系统的跟踪误差。