Effect of obstacles on the detonation diffraction and subsequent re-initiation

The DCRFoam solver (density-based compressible solver) built on the OpenFOAM platform is used to simulate the reflection and diffraction processes that occur when detonation waves collide with various objects. Static stoichiometric hydrogen–oxygen mixtures diluted with 70% Ar are used to form stable detonation waves with large cells, with initial conditions of 6.67 kPa pressure and 298 K temperature. The diameters of the cylindrical obstacle range from 6 mm to 22 mm, with x = 230 mm, x = 244 mm, and x = 257 mm being the chosen position. Cylindrical, square, triangular, and inverted triangular obstacles are used, and the quenched detonation re-initiation processes behind them are investigated. In the detonation diffraction process, four triple points exist at the same time due to the effect of cylindrical obstacles of smaller diameters. The re-initiation distance of the detonation wave increases with the increase of cylindrical obstacle diameter. Both the Mach reflection angle and the decoupled angle decrease as the diameter increases. When the location of the cylindrical obstacles is changed, the detonation wave dashes into the obstacles with its different front structures, it is easier to realize the detonation re-initiation when the weak incident shock at the front of a detonation wave strikes the obstacles, and the re-initiation distance decreases by 17.1% when compared with the longest re-initiation distance. The detonation re-initiation distance is shortest under the action of cylindrical obstacles, however the quenched detonation cannot be re-initiated when the inverted triangle and square obstacles are used. The suppression effects of inverted triangle and square obstacles on detonation waves are more evident.     

煤矿地面轨道运输矿车自动避障技术研究

介绍了煤矿地面轨道运输矿车自动避障技术。首先介绍了基于雷达的矿车前方障碍物检测技术及其相关算法,然后详细介绍了基于机器视觉的矿车前方障碍物检测系统和常用的图像处理方法以及相关的算法,最后介绍了雷达和机器视觉融合的障碍物检测技术在煤矿地面轨道运输矿车自动避障过程中的应用。     

Interferometric monitoring of satellite longitudes

This paper proposes a technique for monitoring the longitudinal motion of geosynchronous satellites. A two‐antenna interferometer is used, with the baseline orientation adjusted to a particular horizontal azimuth. The interferometer then becomes insensitive to the north–south motion of the satellite, and this enables direct measurement of the satellite's longitudinal motion. Longitudes are monitored continuously, with no delay when orbital manoeuvres occur. The proposed technique is particularly useful when two or more satellites are operating in close proximity and their longitudes must be precisely monitored for safety control. Copyright © 2005 John Wiley & Sons, Ltd.     

基于多信道预约可冲突避免的多址接入协议

本文为多跳分布多无线网络提出了一套灵活而有效的自适应获取冲突避免（AACA）的多址接入协议。在该协议中，各节点竞争公共信道，利用RTS/CTS对话形式来预约各业务信道，成功预约后的分组传输不会受到其他节点的干扰。它使用任意确定数目信道，以异步方式工作，并且使得各节点利用半双工无线电台就可以灵活、简便地实现资源预约。分析和比较结果说明，所提出的多信道预约协议可以有效地解决隐藏终端、暴露终端以及侵入终端的问题。     

Personality and the predisposition to engage in risky or problem behaviors during adolescence.

Longitudinal data from a representative sample of 1,978 Black and White adolescents were used to examine the role of personality in multiple risk or problem behaviors. Results indicate that covariation among diverse behaviors (educational underachievement, delinquent behavior, substance use, sexual behavior) can be adequately modeled by a single higher order factor, and that impulsivity and avoidance coping serve as generalized risk factors for involvement in these behaviors. Whereas none of the personality variables examined explained change in problem behaviors once established, avoidance coping prospectively predicted involvement among a subgroup of adolescents with little or no prior involvement. Results suggest that dysfunctional styles of regulating emotions and emotionally driven behaviors are core features of risky or problem behaviors during adolescence. (PsycINFO Database Record (c) 2010 APA, all rights reserved)     

Response of captive lowland gorillas (Gorilla gorilla gorilla) to different housing conditions: Testing the aggression-density and coping models.

Several studies have suggested that primates react differently to spatial reduction. In this article, the authors tested some general hypotheses on primate response to spatial reduction by studying the Apenheul lowland gorillas (Gorilla gorilla gorilla; Apeldoorn, the Netherlands). The frequency of conflicts did not greatly change between the 2 housing settings, thus not supporting the density- aggression model. Indoor, gorillas performed touching behavior more often and increased their level of reconciliation. These findings support the coping model. Indoor, the gorillas also maintained broader interindividual distances by increasing the levels of sitting alone, avoidance, and dismissing behaviors. In conclusion, the Apenheul gorillas modified selectively the distribution of some patterns typical of their behavioral repertoire in response to a high-density condition. Both avoidance and coping tactics were used, thus revealing high levels of behavioral flexibility in this species. (PsycINFO Database Record (c) 2010 APA, all rights reserved)     

A visual tool for computer supported learning: The robot motion planning example

We introduce an effective computer aided learning visual tool (CALVT) to teach graph-based applications. We present the robot motion planning problem as an example of such applications. The proposed tool can be used to simulate and/or further to implement practical systems in different areas of computer science such as graphics, computational geometry, robotics and networking. In the robot motion planning example, CALVT enables users to setup the working environment by creating obstacles and a robot of different shapes, specifying starting and goal positions, and setting other path or environment parameters from a user-friendly interface. The path planning system involves several phases. Each of these modules is complex and therefore we provide the possibility of visualizing graphically the output of each phase. Based on our experience, this tool has been an effective one in classroom teaching. It not only cuts down, significantly, on the instructor’s time and effort but also motivates senior/graduate students to pursue work in this specific area of research.     

Model checker aided design of a controller for a wafer scanner

For a case-study of a wafer scanner from the semiconductor industry it is shown how model checking techniques can be used to compute (1) a simple yet optimal deadlock avoidance policy, and (2) an infinite schedule that optimizes throughput. in the absence of errors. Deadlock avoidance is studied based on a simple finite state model using Smv, and for throughput analysis a more detailed timed automaton model has been constructed and analyzed using the Uppaal tool. The Smv and Uppaal models are formally related through the notion of a stuttering bisimulation. The results were obtained within 2 weeks, which confirms once more that model checking techniques may help to improve the design process of realistic, industrial systems. Methodologically, the case study is interesting since two models were used to obtain results that could not have been obtained using only a single model. Supported by the European Community Project IST-2001-35304 (Ametist), http://ametist.cs.utwente.nl/.     

Planning collision-free trajectories in time-varying environments: a two-level hierarchy

We propose a two-level hierarchy for planning collision-free trajectories in time varying environments. Global geometric algorithms for trajectory planning are used in conjunction with a local avoidance strategy. Simulations have been developed for a mobile robot in the plane among stationary and moving obstacles. Essentially, the robot has a global geometric planner that provides a coarse global trajectory (the path and velocity along it), which may be locally modified by the low-level local avoidance module if local sensors detect any obstacles in the vicinity of the robot. This hierarchy makes effective use of the complementary aspects of the global trajectory planning approaches and the local obstacle avoidance approaches.     

虚拟环境下自主水下航行器的避障研究

为了在虚拟环境下模拟自主水下航行器的水平面避障过程，基于软件平台MultiGen Creator和Vega，在HP工作站上开发了自主水下航行器避障视景仿真系统。提出了一种前视声纳的仿真方法，利用Vega提供的碰撞矢量函数和自定义的Volume碰撞方式，模拟前视声纳的功能，并根据声纳所测得的障碍物相对于自主水下航行器的位置关系设计一个模糊推理系统来求解其避障角度，实现了虚拟环境下自主水下航行器的水平面避障。仿真结果表明，该视景仿真能够使仿真系统更加逼真和接近于实际情况，并且满足系统仿真的实时性要求。