Formation control of mobile robots with obstacle avoidance based on GOACM using onboard sensors

This paper deals with the problem of formation control for nonholonomic mobile robots under a cluttered environment. When the obstacles are not detected, the follower robot calculates its waypoint to track, based on the leader robot’s state. The proposed geometric obstacle avoidance control method (GOACM) guarantees that the robot avoids the static and dynamic obstacles using onboard sensors. Due to the difficulty for the robot to simultaneously get overall safe boundary of an obstacle in practice, a safe line, which is perpendicular to the obstacle surface, is used instead of the safe boundary. Since GOACM is executed to find a safe waypoint for the robot, GOACM can effectively cooperate with the formation control method. Moreover, the adaptive controllers guarantee that the trajectory and velocity tracking errors converge to zero with the consideration of the parametric uncertainties of both kinematic and dynamic models. Simulation and experiment results present that the robots effectively form and maintain formation avoiding the obstacles.     

Thermal properties measurements of renatured gelatin using conventional and temperature modulated differential scanning calorimetry

The thermal properties of amorphous gelatin films and gelatin films with renatured structural order were measured by using conventional and temperature modulated differential scanning calorimetry (DSC). Different amounts of gelatin structural order associated with a melting enthalpic change in the DSC measurement were prepared based on different gelatin drying conditions. Two consecutive heating and cooling DSC measurements on the gelatin films showed that there was no change in the glass‐transition temperature (T_g) for the amorphous gelatin but there was a decrease in the T_g for the structural gelatin on the second DSC scan. This decrease was attributed to the plasticizing effect from the release of originally hydrogen‐bonded water associated with the structural gelatin. In addition, a reversing endotherm observed upon melting of the structural gelatin during a temperature modulated DSC measurement indicated that the transition of bound water to free water occurred as the partial triple‐helix gelatin melted. © 2005 Wiley Periodicals, Inc. J Appl Polym Sci 99: 1795–1801, 2006     

Synthesis and kinetic studies of UV‐curable urethane‐acrylates

The UV‐curable urethane‐acrylates based on 2‐hydroxyethyl methacrylate (HEMA)‐terminated polyurethane (PU) for lithographic and coating applications are investigated in this study. Series of PU prepolymers were made from 4,4‐diphenyl methane diisocyanate (MDI), poly(propylene oxide) glycol (PPG 400), poly(butylene adipate)glycol (PBA 500), or poly(tetramethylene oxide) glycol (PTMO 1000) and are terminated with HEMA. The 2,2‐azobisisobutyronitrile (AIBN) was used as a UV‐initiator under air atmosphere. The curing kinetics of HEMA‐terminated PU film were studied. The curing analysis, using FTIR and reaction kinetics, indicate the reaction rate equation correlates well with the film thickness [T], initiator concentration [I], unreacted double bond concentration [C?C], and exposed energy [E] of the reaction system. The kinetic rate equation for the UV‐curable reaction can be written as © 2004 Wiley Periodicals, Inc. J Appl Polym Sci 91: 3162–3166, 2004     

聚醚砜的磺化与热性能

以浓硫酸为溶剂 ,氯磺酸为磺化剂对聚醚砜 (PES)进行了磺化 ,制备了不同磺化度的磺化聚醚砜 (SPES)。探讨了反应的影响因素 ,分析了 SPES的热稳定性。结果表明 SPES的 Tg较 PES升高 ,随着磺化度的增加 ,SPES的降解温度降低。     

Win7控制面板三大功能应用技巧

每个市场客户的需求是不一样的,使用情况也有差异.Win7的推出也是褒贬不一.Win7系统是微软开发的操作系统,在桌面、主题、功能、安全上相对于上一代系统有着很大的改进.以功能的强大及全面、存储空间小、操作系统简单和新增功能的人性化而受到用户的喜爱,且智能性上来说,Win7比XP要好很多.但是通过调查研究地发现,很多的用户对于Win7系统的使用仅仅停留在了表面阶段,对于系统中很多新的、提高便捷性的功能了解不足.因此,笔者通过这篇文章来研究和探讨win7系统的控制面板中三大功能的应用技巧,让win7系统能更好的为用户服务.     

控制燃煤硫的污染与动力煤全硫比价划分

讨论了中国煤炭资源中全硫分布的特点，指出加强动力煤洗选，降低硫含量的重要性；采用ＩＧＣＣ工艺和热煤气脱硫技术，可以实现高硫煤的有效利用。并提出制定合理的动力煤全硫比价问题。     

A301型氨合成催化剂在NC—1020合成塔内件中的应用

根据Ａ３０１型催化剂的具体特点，介绍了该催化剂在兴平化肥厂ＮＣ－１０２０合成塔内件中的装填，还原情况及应用效果。     

新膜及膜过程的研究现状及发展动向

本文综述了双极性膜及其电渗析、膜蒸馏、膜萃取、无机膜等新膜及膜过程，简要说明其研究状况，应用前景和发展动向。     

Molecular aspects of the transport and toxicity of ochratoxin a

Ochratoxins are a class of naturally occurring compounds produced by several fungi. The most toxic is ochratoxin A (OTA), and occurrence of some human nephropathies and tumors correlate with enhanced OTA exposure. In this Account, the following areas are examined: molecular details of the binding of OTA to human serum albumin (HSA), the influences of binding to HSA on the trans-port of OTA across epithelial cell membranes by organic anion transport proteins, the oxidative activation of OTA, and the formation of OTA adducts with biological molecules. These studies are beginning to provide a detailed chemical model for the trans-port, accumulation, and genotoxic and carcinogenic effects of OTA.     

城市化进程中失地农民的利益保障——以经济社会学理论为分析视角

随着经济和社会的发展,我国城市化和工业化进程不断加快.在这个过程中,农村集体土地不可避免地被大量征用,导致众多文化素质不高,劳动技能单一的失地农民成为最弱势、最缺乏保障和最边缘化的群体.在经济社会学的视角下,可以从经济资本、社会资本和人力资本三个方面解析造成失地农民贫苦境地的原因,并进一步为该问题的解决提供了一个可行之道,以实现让农民公平地分享城市化发展的社会成果,保证其得到可持续生计.