Task Planning For A Mobile Robot In An Indoor Environment Using Object-oriented Domain Information

For a mobile robot to be practical, it needs to navigate in dynamically changing environments and manipulate objects in the environment with operating ease. The main challenges to satisfying these requirements in mobile robot research include the collection of robot environment information, storage and organization of this information, and fast task planning based on available information. Conventional approaches to these problems are far from satisfactory due to their requirement of high computation time. In this paper, we specifically address the problems of storage and organization of the environment information and fast task planning in the area of robotic research. We propose an special object-oriented data model (OODM) for information storage and management in order to solve the first problem. This model explicitly represents domain knowledge and abstracts a global perspective about the robot's dynamically changing environment. To solve the second problem, we introduce a fast task planning algorithm that fully uses domain knowledge related to robot applications and to the given environment. Our OODM based task planning method presents a general frame work and representation, into which domain specific information, domain decomposition methods and specific path planners can be tailored for different task planning problems. This method unifies and integrates the salient features from various areas such as database, artificial intelligence, and robot path planning, thus increasing the planning speed significantly     

宣钢1260 m3高炉扩容大修改造设计

宣钢l260m^3高炉大修改造时将炉容扩大到l350m^3，对高炉本体系统设备及冷却系统、自动控制及检测系统进行了全面的改造更新，在炉腹、炉腰及炉身下部高热负荷区域采用铜冷却壁，取消炉身中上部铸铁冷却壁凸台，并采用薄内衬等先进、适用、可靠、成熟的技术。     

应用ITO膜作电荷收集极的位置灵敏探测器

首次尝试将ITO（Indium Tin Oxide）膜与微通道板（Microchannel Plate）结合用作位置灵敏探测器，并对该探测器的线性、位置分辨及探测效率作了测试，得到了令人满意的结果。     

生态城市与水利现代化

对天津及其滨海新区生态城市水利建设进行了分析。研究了在淡水资源极度匮乏的条件下,有效开发利用非常规水资源的必要性、重要性和现实性。认为天津市对水资源应遵循节水、治污、高效配置,妥善处理生活、生产、生态之间的关系,力求平衡调配。供水水源应是多元的,增加非常规水资源(污水、海/咸水、雨/洪水)的利用,同时增加可用地下水,外调来水等,逐步进入可持续发展配置。     

Microstructure study of Sm,Mn-modified PbTiO3 piezoelectric ceramics by XRD profile-fitting technique

By using the X-ray diffraction profile-fitting technique, the microstructures of Sm, Mn-modified PbTiO₃ piezoelectric ceramic discs, including ferroelectric domain sizes, microstrains, and their variations with the poling strength have been quantitatively investigated. The results manifest that the modified PbTiO₃ ceramics contain a high density of domain walls due to the presence of finely-divided coherent domain structures (tens of nanometres in dimension). The poling treament can evidently influence the domain-size distribution, with a more homogeneous microstructure being developed; however, it simultaneously causes high anisotropic microstrains within the structure which, together with the high density of domain walls, is expected to be responsible for the unusual high electromechanical coupling properties possessed by this material.     

Synthesis of p‐aminophenol from the hydrogenation of nitrobenzene over metal–solid acid bifunctional catalyst

BACKGROUND: A single‐step conversion of nitrobenzene (NB) to p‐aminophenol (PAP) through catalytic hydrogenation is a widely used synthesis route for PAP. The main shortcoming of this route is the use of sulfuric acid for rearrangement of the phenylhydroxylamine (PHA) intermediate. In this paper, S₂O₈^2?/ZrO₂ (PSZ) solid acid and Pt‐S₂O₈^2?/ZrO₂ (Pt‐PSZ) bifunctional catalysts were prepared for the synthesis of PAP in non‐acid medium. RESULTS: Calcination temperature has a substantial effect on the acidity, structure and activity for PHA rearrangement of PSZ. The highest PAP yield was 33.8% over PSZ calcined at 823 K when the reaction was carried out in water at 423 K. A high PAP yield of 23.9% was achieved by a single‐step reaction of nitrobenzene over Pt‐PSZ bifunctional catalysts. CONCLUSION: PSZ solid acid exhibits high activity for PHA rearrangement. Perfect tetragonal ZrO₂ and much stronger acid sites play important roles in catalytic activity. Inhibiting the hydrogenation activity by reducing the amount of Pt loading on Pt‐PSZ can improve the competition of PHA rearrangement on acid sites with hydrogenation of PHA on metal active sites, resulting in better selectivity to PAP. Copyright © 2008 Society of Chemical Industry