How to Control Robots Interacting with Dynamic Environment

The goal of this paper is to shed light on the control problem of constrained robot motion from the aspect of the dynamical nature of the environment with which the robot is in contact. Therefore, the criticism of traditional hybrid control which allows position/force feedback loops to split into independent control with respect to position and force, is not the main point we want to make. Reference to the papers written by the founders of hybrid control and their numerous followers served only to better understand the reason and motivation for suggesting a different approach to control of robots interacting with environment.The paper has a predominantly review character, based on recently published work. It also contains some new, unpublished results in the framework of the unified approach to the position/force control of robots, proposed by the present author and his co-workers. By pointing to the possibility of introducing an environment dynamics in the contact tasks of the machining type, the author emphasizes that the proposed dynamically interactive control can be applied to a completely different class of tasks, in which a contact is made between the system (constructions or structure) and very specific kinds of dynamic environments.     

西安绿色康居小区规划设计剖析

通过对西安绿色康居小区规划设计的实例分析，阐明了小康型住宅区的标准和要求，在旧城住宅区改造中的落实和运用，试图探索下一世纪旧城住宅区的改造之路．     

基于虚拟仪器功率测试分析系统

介绍基于虚拟仪器的功率测试分析系统的构成，软件设计以及数据采集、信号处理和整体结构。该系统已在实际应用中取得很好效果。     

家庭网络中JINI体系结构的实现

JINI规范的发布使得SOHO环境中设备的网络化及其网络互联变得快捷方便，分析了JINI技术的结构特点、提出了家庭网络中不同的JINI系统实现方案并对相关的规范进行了对比分析，为JINI技术在家庭网络中的应用提供了理论依据和工程实例。     

对ERP的认识——观念的转变

试图澄清国内对ERP、管理信息系统、数据库概念间的误解。强调了ERP中的管理思想和组织的特点，给出了作者的ERP观点，指出了实现了的ERP、实现中的ERP与ERP软件的不同，强调ERP软件实际上就是一个没有企业实体、但是有自己的组织结构、规模的运作流程，可以科学管理的虚拟企业。而ERP的实施过程可以看作是将实体企业装入虚拟企业的过程。     

营造温馨的家园--谈住宅设计中的一些认识与体会

本文通过住宅区总体规划与环境设计,居住户型的多样化,美观大方的住宅立面设计,方便安全的停车场所四个方面谈了自己对住宅设计的认识与体会.     

高效环保型水基洗井液室内研究与性能评价

以渤海最大稠油油田SZ36-1油田的油污为研究对象,采用多种表面活性剂复配,研制了高效环保型水基洗井液;并对该洗井液的油污 清洗性能,与原油、地层水配伍性以及储层保护和环保等性能进行了系统地评价.结果表明 ,高效环保型水基洗井液对稠油油污具有良好的清洗能力;与0#柴油相比较,不仅洗井成 本低、时间短,而且还具有防腐作用和环保性能好等优点;同时,该洗井液还具有良好的配伍性和储层保护性能.     

干旱区微咸水灌溉对地下水环境影响的研究

本研究利用MODFLOW模型和MT3DMS模型对内蒙河套地区的一个灌区微咸水灌溉条件下的地下水位、水量、水质和含盐量进行了系统的模拟分析。结果表明，在抽取地下水灌溉后地下水位略有下降，10年后水位降深量仅为0.057～0.11m，可达到动态平衡。两种灌溉水平下，含水层盐分有增加趋势，但增加幅度较小，在4％～9％之间。采用微咸水灌溉，淋洗灌溉定额比正常灌溉定额的方案对环境有利，虽然淋洗灌溉定额也使含水层盐分增加，但就增加的幅度看，在未来相当一段时间内不会造成严重的环境问题。     

Sky blue,but what blue? A new evaluation of the colors of the sky for artists and designers

This study describes a process of relating the perceptual analysis of the colors of the terrestrial atmosphere to currently available pigments used in artists' painting systems. This process sought to discover how the colors of the sky could be defined and simulated by these pigments. The author also describes how confusion over the bewildering choice of suitable pigments on offer in the market place can be clarified. © 2006 Wiley Periodicals, Inc. Col Res Appl, 32, 249–255, 2007     

Patient thermal comfort requirement for hospital environments in Taiwan

This study examines the comfort criteria of ASHRAE Standard 55-2004 for their applicability in hospital environments. Through an extensive field survey conducted in a university hospital in Taiwan, 927 sets of data have been collected. Above half of the measured samples failed to meet the specifications of Standard 55 comfort zone due to improper humidity control. Acceptability votes by patients exceeded the Standard's 80% criterion, regardless of whether the physical conditions were in or out of the comfort zone. Thermal neutrality, preference and comfort range are compared with other studies conducted in office environments and Standard 55 criteria. Results of chi-square tests revealed that patients’ physical strength significantly effected their thermal requirements. The net effect of health yields a marked difference in thermal neutrality and preference, and also in the comfortable temperature range.