Mobile robot path planning based on hierarchical hexagonal decomposition and artificial potential fields

In this article, a new algorithm based on an artificial potential field and hierarchical cell decomposition technique is developed to solve the find-path problem for a mobile robot. The complete map of the workspace including obstacle locations is assumed to be known a priori. The basic cell structure used for decomposition is a hexagon. The artificial potential field is based on an attractive force from the goal position and repelling forces from the obstacles. Computer simulations of the algorithm for various obstacle scenarios are also presented. © 1994 John Wiley & Sons, Inc.     

Chemical mechanical polishing of polymer films

Strategies to reduce capacitance effects associated with shrinking integrated circuit (IC) design rules include incorporating low resistivity metals and insulators with low dielectric values, or “low-κ” materials. Using such materials in current IC fabrication schemes necessitates the development of reliable chemical mechanical polishing (CMP) processes and process consumables tailored for them. Here we present results of CMP experiments performed on FLARE™ 2.0 using a specialized zirconium oxide (ZrO₂) polishing slurry. FLARE™ 2.0 is a poly(arylene) ether from AlliedSignal, Inc. with a nominal dielectric constant of 2.8. In addition, we provide insight into possible removal mechanisms during the CMP of organic polymers by examining the performance of numerous abrasive slurries. Although specific to a limited number of polymers, the authors suggest that the information presented in this paper is relevant to the CMP performance of many polymer dielectric materials.     

Coliphage prevalence in high school septic effluent and associated ground water

At the present time, somatic and male-specific coliphage and human enterovirus groups are being considered as indicators of possible pathogenic human enteric virus contamination from fecal contamination. A primary attribute for any indicator of fecal contamination is its prevalence at the source and in associated ground water. It must be consistently found in the source material at concentrations that are measurable with available techniques. Over a period of ten months, male-specific and somatic coliphage ranged from 7000 to 4,000,000 PFU/L in the effluent from a multi-user septic-tank. Unlike the values determined for septic-tank effluent, coliphage concentrations measured in ground water over this same period only varied by five-fold. Coliphage concentration in ground water under the down-gradient edge of the drainfield contained 1000 PFU/L. This concentration decreased at −1 log₁₀/5 m during 17.4 m of ground-water transport. From these data, coliphage concentrations in septic-tank effluent seem sufficient to allow their use as indicators of fecal contamination in ground water.     

Characterization of rheological properties of systems containing sugar substitutes and carrageenan

The effects of addition of κ-carrageenan to solutions containing 40% (w/w) sugar substitute on the rheological properties of these systems were investigated at 25 °C using a rotational viscometer at rotational speeds of 6, 12, 30, and 60 rev min⁻¹. The flow behaviour of the solutions was adequately described by the power law model with or without yield stress. The consistency index ( K ) and the flow behaviour index ( n ) were determined from shear stress vs. shear rate data. The flow parameters of the solutions depended on the carrageenan concentration. The apparent viscosities of the systems decreased with increasing shear rate, indicating pseudoplastic behaviour. The final carrageenan concentration was found to be an effective factor controlling the degree of sliminess of the model food systems studied.     

城市加油站的防火与消防管理

介绍汽车加油站在防火设计与消防管理方面需注意的问题，主要包括站址选择、总平面布置、油罐设置、管线布置、卸油方式等方面，同时对加油站的日常操作与防火消防管理提出了要求。     

Reliability and performance analysis of time – space – time switching networks with multiple separated space switches

Since electronic switching systems usually require very strict reliability requirements as well as good performance objectives, we need to jointly analyse the performance and reliability of switching systems. In this paper, we compare conventional time–space–time switches with single space switches with those with multiple separated space switches, from the viewpoints of reliability and performance. We consider time–space–time switching networks which consist of N incoming time switches, i.e. one NxN space switch, two (N/2)x(N/2) space switches, and four (N/4)x(N/4) space switches. We introduce a Markov reliability model to study the effect of failures and analyse the reliability and performance of three different types of switching networks in terms of average blocking probability and the mean time to unreliable operation, as we vary the offered traffic. As a result, T–S–T switching networks with multiple separated space switches exhibit better performance and reliability than those with single space switches.     

基于空间矩的灰度边缘亚像元度量精度分析

灰度图像中边缘定位受采样密度限制，亚像元精度度量方法在需要高精度的应用中受到重视，要想知识到底需要多高的分辨率才能达到定精度指标，就有必要分析特征定位方法的最坏情况的精度，文中用分析和实验的方法给出了基于空间矩的边缘定位方法，对于边缘点，边缘直线以及直边缘区域的最坏情况定位精度分析。分析和讨论的结果不但可以用来确定已知形状位置估计的最大误差，而且还可用于对准的形状几何参数，以获得较高的精度。     

Studies on the interactions of metal oxides and Na2 SO4 at 1100 and 1200 K in oxygen

The interaction of different metal oxides such as Co₃O₄, NiO, Al₂O₃, Cr₂O₃, Fe₂O₃ and SiO₂ with Na₂SO₄ at a temperature of 1100 and 1200 K in flowing oxygen has been studied. The thermogravimetric studies for each system were carried out as a function of Na₂SO₄ in the mixture. The presence of different constituents in the reaction products were identified by X-ray diffraction analysis and the morphologies of the reaction products were characterized using metallography and scanning electron microscopy (SEM). The formation of products was also investigated by thermodynamic computation of free energies of the reactions and the study of relevant equilibrium phase diagrams. The soluble species in the aqueous solutions of the reaction products were determined quantitatively using atomic absorption spectrophotometry. The high temperature interaction products usually contain a 3-phase structure namely, Na₂O·M₂O _x , M₂O _x and metal sulphide and/or metal sulphate. The formation of Na₂O·M₂O _x depends upon the solid state solubility of metal oxide in the molten salt at high temperatures. Under limited solubility conditions Na₂O·M₂O _x is invariably formed, but as soon as this condition is relaxed the oxide. M₂O _x , precipitates and forms a separate phase.     

Fabrication of Functionally Graded SiAlON Ceramics by Tape Casting

Functionally graded SiAlON ceramics (FG-SiAlONs) were successfully prepared by the tape casting and lamination approach. Non-aqueous SiAlON slurries with five different α to β-SiAlON ratios (85α:15β, 70α:30β, 55α:45β, 40α:60β, and 25α:75β) were prepared by a 66 methyl ethyl ketone/34 ethanol (vol%) mixture. Phase and microstructure analyses incorporation with hardness measurements clearly show that the FG-SiAlONs, prepared by tape casting, exhibit a continuous and gradual change in composition and hardness. Thus, the tape casting approach is a viable method to produce FG-SiAlONs with a precisely controlled composition, and subsequently properties, as a function of position.     

简单网络 解脱众多——传感器连线束缚

有了合适的协议以后(如ZigBee),无需经常与外界交流的传感器就不会消耗过多能量。有时,一节碱性电池就可以为它们提供长达十年的能量。