Motion Planning for Redundant Manipulators Using a Floating Point Genetic Algorithm

This paper deals with the trajectory planning problem for redundant manipulators. A genetic algorithm (GA) using a floating point representation is proposed to search for the optimal end-effector trajectory for a redundant manipulator. An evaluation function is defined based on multiple criteria, including the total displacement of the end-effector, the total angular displacement of all the joints, as well as the uniformity of Cartesian and joint space velocities. These criteria result in minimized, smooth end-effector motions. Simulations are carried out for path planning in free space and in a workspace with obstacles. Results demonstrate the effectiveness and capability of the proposed method in generating optimized collision-free trajectories.     

大型空分设备循环冷却水处理方法的对比研究

武钢氧气公司在大型空分设备循环冷却水系统中,采用化学法和物理法进行水处理效果的实践探索,从原理和监测数据上进行了对比、分析研究,确认物理法具有高效除垢、防垢、杀菌灭藻、缓蚀以及净化等功能,可以取代化学法进行循环水处理。     

Deposition and Properties of Superconducting MgB2 Thin Films

The recently discovered superconductor MgB₂ with T _c at 39 K has great potential in superconducting electronics. In this paper, we review the deposition techniques used for MgB₂ thin films in the light of a thermodynamic study of the Mg-B system with the calculation of phase diagrams (CALPHAD) modeling technique. This thermodynamic study identifies a growth window in the pressure–temperature phase diagram, in which the magnesium pressure is very high for likely in situ growth temperatures. A Hybrid Physical–Chemical Vapor Deposition (HPCVD) technique that successfully achieves such a high Mg pressure is shown to produce in situ epitaxial MgB₂ thin films with bulk superconducting properties.     

Psychological impact of colorectal cancer screening.

This article examines the psychological impact of participating in sigmoidoscopy screening for colorectal cancer prevention. The 1st study examined psychological well-being at 3 months, in relation to screening outcome, in 4,153 individuals. The 2nd study used longitudinal data to examine changes in psychological functioning from before to after screening in relation both to screening outcome and baseline indicators of vulnerability. There were few psychological differences between those who had received negative results or had polyps detected. These findings were confirmed in the longitudinal study, which also found no evidence for vulnerability to adverse effects among those who were initially most anxious or who perceived their risk of cancer to be higher. The longitudinal data suggested that screening might produce transient positive effects. (PsycINFO Database Record (c) 2010 APA, all rights reserved)     

粘接技术在油罐堵漏中的应用

介绍了粘接技术的种类、原理及其技术要领，并引用实例说明了该技术的优点。粘接堵漏技术将成为油罐渗漏维修的一种重要方法。     

电厂MIS设计中常见问题的归纳研究

按照2000年示范电厂的思路，电厂MIS已经作为电厂建设的一部分被列入基建程序。面对电力行业重组的新局面，为了提高电厂MIS设计水平，更好地为业主服务，以适应当前日益激烈的竞争，适时地总结电厂MIS设计中的共性问题是很有必要的。文中叙述的内容不是探讨如何设计电厂MIS，而是就设计中容易出现的问题进行研讨。     

超深亚微米非对称Halo LDD低功耗新器件的研究分析

提出了一种新的器件结构——非对称Halo L DD低功耗器件,该器件可以很好地抑制短沟效应,尤其可以很好地改善DIBL效应、热载流子效应以及降低功耗等,是低功耗高集成度电路的优选结构之一.分析了非对称HaloL DD器件的主要特性,并将其与常规结构、非对称L DD结构、非对称Halo结构的器件进行了比较并进行了参数优化分析.     

Longitudinal Wave Propagation in Dielectric Waveguide Array

Based on the established rigorous theory for two-dimensionally periodic (2DP) medium, Longitudinal propagation in Dielectric Waveguide Array (DWA) was analyzed in detail. Firstly, given longitudinal wave vector (k _z), Brillouin dispersion relations between transversal wave vectors were analyzed. Interactions between space harmonics were also studied. Secondly, on condition that transversal wave vector k _x equaled k _y, dispersion relations between longitudinal and transversal wave vectors were analyzed in detail. Because of interactions between space harmonics increasingly getting stronger with k _z or modulation coefficients increasing, stop-bands could be distinctly displayed and thus longitudinal propagation in DWA could be comprehensively analyzed. The applications about longitudinal propagation in DWA were also discussed.     

网上查询选课系统及XML

从不同的角度来阐述新一代的Web语言－XML。