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.     

新型重整催化剂的研究——Pt／L中沸石酸碱性的作用

Ｐｔ／ＫＬ、Ｐｔ／ＢａＫＬ及Ｐｔ／ＨＬ上的铂与沸石的酸碱位发生相互作用，导致催化剂上存在不同电子状态和粒度分布的铂位，从而产生有着完全不同催化作用、不同抗硫性能的两类催化剂，即以碱性沸石为载体的“单功能”催化剂和以酸性沸石为载体的“双功能”催化剂。在Ｐｔ／ＫＬ、Ｐｔ／ＢａＫＬ催化剂上，存在着对硫敏感的具有环化脱氢功能和对硫不敏感的仅具有脱氢功能的两类铂活性位。     

Thermal decoloration kinetics of spirooxazines in Ormocer coatings prepared via sol-gel processing

Two free and one silylated (silane-substituted) photochromic spirooxazines are doped into organically modified ceramics (Ormocer) coatings by sol-gel processing and the thermal decoloration kinetics of these coatings are investigated and compared with the corresponding ethanol solutions and PMMA coatings. The decoloration behaviour of the two free dyes (SO-1 and SO-2) in the Ormocer coatings is similar to that in ethanol solutions, obeying a first-order mechanism and possessing almost the same decoloration rates as in ethanol. This suggests that the dye molecules encapsulated within the pores of the solid matrix are as free as those in ethanol solutions. The silylated dye (SO-3) in the Ormocer coatings, however, exhibits a considerably lower decoloration rate than the corresponding free dye (SO-1) and evident deviation from the first-order mechanism. This indicates apparently that the degree of freedom of the dye molecules is reduced by the silylation. These results are discussed on the basis of solvent polarity, porous structure of the Ormocer coating, and the dye-to-matrix connectivity.     

用迁移率和载流子浓度研究碲镉汞中的深能级

获得了一种研究碲镉汞深能级的方法。通过分析迁移率 载子浓度与温度的关系，可以得到关于深能级的重要依据。     

多晶 Na-β″-Al_2O_3的 Ag~+交换及性能研究

研究了多晶 Na-β″-Al_2O_3的 Ag 离子交换动力学,采用一维双面扩散模型处理,求得离子交换过程中 Na~+、Ag~+的互扩散系数.样品的形貌和结构采用 EPMA、SEM、XRD 等分析技术进行观察和分析.测试了 Na-β″-Al_2O_3和 Ag-β″-Al_2O_3及部分 Ag~+交换的 Na/Ag-β″-Al_2O_3样品的电导率,并进行了理论分析.     

Interdiffusion behavior of Hg in HgTe/CdTe superlattices grown on Cd0.96Zn0.04 Te (211)B substrates by molecular beam epitaxy

Double-crystal x-ray rocking curve (DCRC) and secondary-ion mass-spectroscopy (SIMS) measurements have been performed to investigate the effect of rapid thermal annealing on the interdiffusion behavior of Hg in HgTe/CdTe superlattices grown on Cd_0.96Zn_0.04Te (211)B substrates by molecular beam epitaxy. The sharp satellite peaks of the DCRC measurements on a 100-period HgTe/CdTe (100Å/100Å) superlattice show a periodic arrangement of the superlattice with high-quality interfaces. The negative direction of the entropy change obtained from the diffusion coefficients as a function of the reciprocal of the temperature after RTA indicates that the Hg diffusion for the annealed HgTe/CdTe superlattice is caused by an interstitial mechanism. The Cd and the Hg concentration profiles near the annealed HgTe/CdTe superlattice interfaces, as measured by SIMS, show a nonlinear behavior for Hg, originating from the interstitial diffusion mechanism of the Hg composition. These results indicate that a nonlinear interdiffusion behavior is dominant for HgTe/CdTe superlattices annealed at 190°C and that the rectangular shape of HgTe/CdTe superlattices may change to a parabolic shape because of the intermixing of Hg and Cd due to the thermal treatment.     

无明胶重铬酸盐全息记录软片的正性光抗蚀特性

对无明胶重铬酸盐全息记录软片（ＮＧＤ）的光正性抗蚀特性进行了分析研究，通过对溶解度的分析及红外光谱的测定，首次提出ＮＧＤ是一种新型的紫外正性光抗蚀材科，给出了实验及分析结果。     

Experimental densities for compressed R134a

This paper reports densities of compressed R134a (1,1,1,2-tetrafluoroethane) determined by using a contiuously weighed pycnometer at 20 K intervals between 180 and 380 K at pressures from slightly greater than the vapour pressure to 70 MPa. The results are accurate to within ±0.1%. Saturated liquid densities derived by extrapolation from the experimental values agree with other reported values to within ±0.3%.