多自由度缓冲包装系统的平均能量设计法

利用系统的能量方程，通过控制系统的平均能量来控制系统的振动强度。     

Learning Concepts from Sensor Data of a Mobile Robot

Machine learning can be a most valuable tool for improving the flexibility and efficiency of robot applications. Many approaches to applying machine learning to robotics are known. Some approaches enhance the robot's high-level processing, the planning capabilities. Other approaches enhance the low-level processing, the control of basic actions. In contrast, the approach presented in this paper uses machine learning for enhancing the link between the low-level representations of sensing and action and the high-level representation of planning. The aim is to facilitate the communication between the robot and the human user. A hierarchy of concepts is learned from route records of a mobile robot. Perception and action are combined at every level, i.e., the concepts are perceptually anchored. The relational learning algorithm GRDT has been developed which completely searches in a hypothesis space, that is restricted by rule schemata, which the user defines in terms of grammars.     

Characterization of laccases and peroxidases from wood-rotting fungi (family Coprinaceae)

Panaeolus sphinctrinus, Panaeolus papilionaceus, and Coprinus friesii are described as producers of ligninolytic enzymes. P. papilionaceus and P. sphinctrinus both produced a laccase. In addition, P. sphinctrinus produced a manganese peroxidase. C. friesii secreted a laccase and two peroxidases similar to the peroxidase of Coprinus cinereus. The purified laccases and peroxidases were characterized by broad substrate specificities, significant enzyme activities at alkaline pH values, and remarkably high pH optima. The two peroxidases of C. friesii remained active at pH 7.0 and 60 degrees C for up to 60 min of incubation. The peroxidases were inhibited by sodium azide and ethylene glycol-bis (beta-aminoethyl ether)-N,N,N',N'-tetraacetic acid (EGTA), whereas the laccases were inhibited by sodium azide and N,N-diethyldithiocarbamic acid. As determined by native polyacrylamide gel electrophoresis and isoelectric focusing, all three fungi produced laccase isoenzymes.     

A comparison between low-magnitude voucher and buprenorphine medication contingencies in promoting abstinence from opioids and cocaine.

This study compared the relative efficacy of low-magnitude, contingent monetary vouchers, contingent buprenorphine medication, and standard counseling in promoting abstinence from illicit opioids and cocaine among opioid-dependent adults. Following an 8-week baseline period during which participants received buprenorphine maintenance treatment with no contingencies in place, 60 participants were randomly assigned to one of 3 treatment groups for 12 weeks: (a) Participants in the voucher group earned vouchers for each opioid- and cocaine-negative urine sample, in accordance with an escalating schedule. Continuous abstinence resulted in voucher earnings equivalent to a total of $269, which participants could exchange for material reinforcers of their choice. (b) Participants in the medication contingency group received half their scheduled buprenorphine dose for clinic attendance and the other half for remaining abstinent from opiates and cocaine. Thus, they received only half of their scheduled dose on submission of an opioid- and/or cocaine-positive urine sample. (c) Participants in standard treatment did not receive programmed consequences contingent on urinalysis results. All participants were maintained with buprenorphine according to a 3-times-per-week dosing regimen and participated in behavioral drug counseling. Retention rate did not significantly differ across the groups; however, participants in the medication contingency group achieved significantly more weeks of continuous abstinence from opiates and cocaine compared with participants in the voucher group (Ms = 5.95 and 2.90, respectively). Results suggest that the use of medication-based contingencies in combination with behavioral therapy in promoting drug abstinence may have clinical utility. Limitations of the study are discussed. (PsycINFO Database Record (c) 2010 APA, all rights reserved)     

Do cognitive models help in predicting the severity of posttraumatic stress disorder, phobia, and depression after motor vehicle accidents? A prospective longitudinal study.

The study investigated the power of theoretically derived cognitive variables to predict posttraumatic stress disorder (PTSD), travel phobia, and depression following injury in a motor vehicle accident (MVA). MVA survivors (N = 147) were assessed at the emergency department on the day of their accident and 2 weeks, 1 month, 3 months, and 6 months later. Diagnoses were established with the Structured Clinical Interview for DSM-IV. Predictors included initial symptom severities; variables established as predictors of PTSD in E. J. Ozer, S. R. Best, T. L. Lipsey, and D. S. Weiss's (2003) meta-analysis; and variables derived from cognitive models of PTSD, phobia, and depression. Results of nonparametric multiple regression analyses showed that the cognitive variables predicted subsequent PTSD and depression severities over and above what could be predicted from initial symptom levels. They also showed greater predictive power than the established predictors, although the latter showed similar effect sizes as in the meta-analysis. In addition, the predictors derived from cognitive models of PTSD and depression were disorder-specific. The results support the role of cognitive factors in the maintenance of emotional disorders following trauma. (PsycINFO Database Record (c) 2010 APA, all rights reserved)     

Size effects in ferroelectric PbTiO3 nanomaterials observed by multi-frequency electron paramagnetic resonance spectroscopy

Lead titanate (PbTiO3) micro- and nanocrystalline powders have been prepared from metallo-oranic precursor through combined polymerisation and pyrolysis (CPP). The enhanced liquid-precursor based version of the cpp route in combination with soft milling enables an adjustment of the mean particle size up to 5 nm. A multi-frequency (X, Q, and W band) electron paramagnetic resonance study of Cr-doped micro- and nanocrystalline PbTiO3 samples was performed. Three Cr3+ centers (C1, C2, and C3) with different axial Zero Field Splitting (ZFS) parameters were identified in microcrystalline samples. The center C1 is similar to that observed in previous X band single crystal and ceramic sample measurements. The superposition model by Newman and Urban was applied to translate the ZFS data of these centers into local Cr3+ displacements inside the distorted oxygen octahedra of the microcrystalline PbTiO3 lattice. In the nanocrystalline powders only the center C1 was observed. Its EPR spectra in dependence on the mean particle size were fitted using a spin-Hamiltonian in which a Gaussian distribution of ZFS terms was assumed. The variation of the mean value of ZFS parameter D and distribution width deltaD was determined and the critical particle size of the size-driven phase (tetragonal-cubic) transition was estimated. In nanocrystalline powders with mean particle size d < d(cr) the tetragonal C1 spectrum is not more detectable. A new Cr3+ center spectrum, C4, consisting of a single line with an isotropic g-factor is detectable allowing the cubic phase in the nanomaterials to be quantified. Further, temperature dependent EPR measurements were made which allowed the variation in Curie temperature with mean particle size to be determined.     

Removal of pharmaceuticals and fragrances in biological wastewater treatment

The removal of seven pharmaceuticals and two fragrances in the biological units of various full-scale municipal wastewater treatment plants was studied. The observed removal of pharmaceuticals was mainly due to biological transformation and varied from insignificant (<10%, carbamazepine) to>90% (ibuprofen). However, no quantitative relationship between structure and activity can be set up for the biological transformation. Overall, it can be concluded that for compounds showing a sorption coefficient (K(d)) of below 300 L kg(-1), sorption onto secondary sludge is not relevant and their transformation can consequently be assessed simply by comparing influent and effluent concentrations. The two fragrances (HHCB, AHTN) studied were mainly removed by sorption onto sludge. For the compounds studied, comparable transformation and sorption was seen for different reactor types (conventional activated sludge, membrane bioreactor and fixed bed reactor) as well as for sludge ages between 10 and 60-80 days and temperatures between 12 degrees C and 21 degrees C. However, some significant variations in the observed removal currently lack an explanation. The observed incoming daily load of iopromide and roxithromycin in medium-sized municipal wastewater treatment plants (up to 80,000 population equivalents) is generated by only a small number of patients: the consequences for representative 24h composite sampling are discussed. Generally, the paper presents a method for setting up mass balances for micropollutants over entire wastewater treatment plants, including an estimation of the accuracy of the quantified fate (i.e. removal by sorption and biological transformation).     

纯方位角定位的单步最优观测轨迹算法

纯方位角无源定位时,观测平台的运动轨迹对目标最终的定位精度有重要影响。针对之前在求取观测平台最优轨迹时限制条件多、算法可能只是局部最优的问题,提出了一种观测平台的单步最优轨迹算法。计算机仿真算例表明:与通常的最优观测平台轨迹算法相比,该算法在求解最优轨迹时只需已知观测平台的初始状态,同时算法不受观测次数和终止条件的限制,具有较强的工程实用性。