Butyltin Species and Inorganic Tin in Water and Sediment of the Detroit and St. Clair Rivers

Water and sediment samples from 29 locations in the Detroit and St. Clair rivers were analyzed for the highly toxic tri-n-butyltin (Bu₃Sn⁺) species and for the less toxic di-n-butyltin (Bu₂Sn²⁺) and n-butyltin (BuSn³⁺) species and inorganic tin. In general, locations sampled in the St. Clair River were less contaminated with butyltin species than those in the Detroit River. Inorganic tin and BuSn³⁺ were detected in over 90% of all subsurface water samples, while Bu₂Sn²⁺ and Bu₃Sn⁺ were detected in 45 and 28% of the same samples, respectively. The highest concentration ofBu₃Sn⁺ in subsurface water, 5.9 × 10^?10 mol Sn/L, was at the mouth of the Ecorse River, a tributary of the Detroit River. The three butyltin species and inorganic tin were also detected in 23–46% of all sediment samples. The highest concentrations of Bu₃Sn⁺ in sediment were found close to the mouths of the River Rouge, another tributary of the Detroit River, and the Ecorse River, and were 6.2 × I0^–7 and 1.7 × I0^–7 mol Sn/kg dry weight, respectively, for the top 2 cm of sediment.     

Generation of adaptive gait patterns for quadruped robot with CPG network including motor dynamic model

This paper describes the generation of adaptive gait patterns using new Central Pattern Generators (CPGs) including motor dynamic models for a quadruped robot under various environments. The CPGs act as the flexible oscillators of the joints and adjust joint angles to required values. The CPGs are interconnected with each other and sets of their coupling parameters are adjusted by a genetic algorithm so that the quadruped robot can realize stable and adequate gait patterns. Generation of gait patterns results in the formation of the CPG networks suitable for the formation of not only a straight walking pattern but also of rotating gait patterns. Experimental results demonstrate that the proposed CPG networks are effective for the automatic adjustment of the adaptive gait patterns for the tested quadruped robot under various environments. Furthermore, the target tracking control based on image processing is achieved by combining the general gait patterns. © 2006 Wiley Periodicals, Inc. Electr Eng Jpn, 155(1): 35–43, 2006; Published online in Wiley InterScience ( www.interscience.wiley.com ). DOI 10.1002/eej.20225     

试谈我国紫菜资源的工业利用

介绍了我国紫菜工业在工艺改进、资源开发、综合利用和深度加工等方面的情况,提出了提高产率、降低物耗、增进效益和增加品种的途径。     

Echolocation — From range to outline segments

A ring of ultrasonic sensors mounted on a mobile robot is used to map a room. The sensors are modelled with an arc model: the object causing the reflection lies on an arc with radius equal to the range and arc angle equal to twice the beam angle. By fusing sensing with motion, a surface is displayed as a sequence of arcs. In this paper, the algorithm for obtaining outline segments from the arcs is presented.     

A helical drive in-pipe robot based on compound planetary gearing

The modern society is fuelled by very comprehensive grids of gas and liquid pipelines. In recent years, various in-pipe robots have been developed for inspection and maintenance tasks inside such pipes. In this paper, a novel in-pipe robot is proposed and developed for gas/oil well interventions at thousands of meters downhole. Due to the nature of such intervention, in-pipe robot design must be capable of carrying a very large payload, as large as 2500?N inside a pipe with diameter as small as 54?mm. The proposed design concept is based on a compound planetary gearing system. One of the major novelties of this design is the use of pipe wall as a ring gear for one stage of the compound planetary gear system; the other novelty is the generation of helical angle when the planetary gears are expanded to press on the pipe wall. The proposed concept is compact, efficient, and has never been reported before. In this paper, the helical angle, the velocity, and load capability of the proposed system will be analyzed. The load transportation capability of the proposed robot is also measured based on an experiment. Initial data have shown great potential in carrying large payloads.     

台湾化学工业概况

介绍了台湾几家同业公会和化工企业以及台湾工业研究院所、化学研究所的基本情况，谈了几点收获。     

中国信息服务业空间集聚研究

通过产业集聚的EG指数对中国各省份信息服务业的空间集聚程度进行研究,得出集聚程度比较显著.在此基础上,找到这一服务业的两个相关指标,利用产业集中度CRn判断出信息服务业主要集中于北京、广东等六个地区,然后对两指标数据进行无量纲化处理,加权求和得到新的综合指标,最后对这一新指标进行了系统聚类分析,得知这一产业主要集中在北京和广东两个地区.     

Design and analysis of turnover platform for welding robot北大核心CSCD

A turnover platform for welding robot was designed for the application of welding robot with lower accuracy requirement, which was of low cost and higher position accuracy. In this turnover platform, the pneumatic motor was used as the power output, and the indexing mechanism with high accuracy was the transmission system with high transmitting ratio based on worm and wheel. The position information was acquired by using the photoelectric encoder, and the turnover motion with high accuracy was realized through the closed-loop controller. Simulation results showed that the maximum speed of the welding platform approached 14 r/min, and the platform could meet the requirements of most welding products. Such a turnover platform can offer the application program of the welding robot with low cost for the middle and low level products, and reduce the cost of welding robot and improve welding productivity.     

论株洲产业结构的调整与优化

从株洲产业结构的现状与特征出发,对如何进一步调整优化株洲的产业结构进行了探讨,提出了调整优化的产业结构的基本方针和对策。     

"震网"引发网络安全新思考

本文概述了近期发生的"震网"事件.同时分析了"震网"的特点和行为特征.并根据我国的具体情况给出了安全警示和安全防范建议.