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.     

Structure and Properties of Electroless Ni Deposits

The changes in structure and the hardness of two electroless deposited Ni-P alloy coatings (with P content of 1.5 and 9.5 wt pct) with heat treatment have been studied by XRD and TEM. The deposits containing 1.5 wt pct P can be represented as an fcc NiP supersaturated solid solution of 5~10 nm microcrystallites. whereas the deposits containing 9.5 wt pct P are amorphous. The heat treatment process induces crystallization of amorphous Ni to Ni phosphides and fcc Ni.Both of the deposits reach maximum hardness after annealing at 400℃ for 1 h. All coated steel specimens are inferior in fatigue strength to uncoated steel specimens mainly due to the poor fatigue resistance of the coating itself     

Viterbi译码器的硬件实现

介绍了一种Vkerbi译码器的硬件实现方法。设计的基于硬判决的Viterbi译码器具有约束长度长（9)、译码深度深（64)的特点。为了兼顾硬件资源与电路性能两个方面，在设计中使用了4个ACS单元，并根据Xilinx Virtex系列FPGA的结构特点．利用FPGA内部的BlockRAM保存汉明距离和幸存路径，提高了译码速度。     

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.     

粘土矿物对低渗透储层性质的影响——以鄂尔多斯盆地三叠系低渗透储层为例

粘土矿物是低渗砂岩储层的主要胶结物，对储层物性及开发过程中储层物性变化趋势有着重要的影响和控制作用。另外，粘土矿物也蕴含着大量沉积环境介质的物理化学信息，认识其自然规律，可以有效地指导预测有利储层，认识和改造油层。以鄂尔多斯盆地砂岩储层中的粘土矿物为研究对象，探讨分析粘土矿物对低渗储层性质的影响，该研究对含油气盆地低渗储层有效开发具有一定的参考价值。     

维修手记(一)——NC800柔性制造单元

俄罗斯产NC800柔性制造单元,采用日本FANUC-0MC数控系统,X、Y、Z三轴联动,交流伺服主轴。链式刀库可安装100把刀具,一个装卸台,一个旋转台站上有6个交换台板,一个B回转工作台(分度转台,每3度等分)。刀库、旋转台站、B台伺服电机的旋转采用PLC控制,融合了计算机技术、电气、机械、液压、气动系统,机械结构复杂,维修难度比较大。为了便于维修,对该机床的电机、电器元件数量作了统计,具体数目如下:a.交流进给伺服电机:6台;b.交流主轴伺服电机:1台;c.普通交流电机:11台;d.机械式限位开关:16只;e.感应式接近开关:46只;f.直流继电器(DC 24…     

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。     

CMOS电路中抗Latch-up的保护环结构研究

闩锁是CMOS集成电路中的一种寄生效应,这种PNPN结构一旦被触发,从电源到地会产生大电流,导致整个芯片的失效。针对芯片在实际测试中发现的闩锁问题,介绍了闩锁的测试方法,并且利用软件Tsuprem4和Medici模拟整个失效过程,在对2类保护环(多子环/少子环)作用的分析,以及各种保护结构的模拟基础之上,通过对比触发电压和电流,得到一种最优的抗Latch up版图设计方法,通过进一步的流片、测试,解决了芯片中的闩锁失效问题,验证了这种结构的有效性。     

论提高罐式法海绵铁质量的途径

通过对原料的选择、热工制度的控制及操作等因素进行分析和论述，探讨了提高海绵铁质量的途径。