How to Control Robots Interacting with Dynamic Environment

The goal of this paper is to shed light on the control problem of constrained robot motion from the aspect of the dynamical nature of the environment with which the robot is in contact. Therefore, the criticism of traditional hybrid control which allows position/force feedback loops to split into independent control with respect to position and force, is not the main point we want to make. Reference to the papers written by the founders of hybrid control and their numerous followers served only to better understand the reason and motivation for suggesting a different approach to control of robots interacting with environment.The paper has a predominantly review character, based on recently published work. It also contains some new, unpublished results in the framework of the unified approach to the position/force control of robots, proposed by the present author and his co-workers. By pointing to the possibility of introducing an environment dynamics in the contact tasks of the machining type, the author emphasizes that the proposed dynamically interactive control can be applied to a completely different class of tasks, in which a contact is made between the system (constructions or structure) and very specific kinds of dynamic environments.     

Quantum phase transitions in 2D antiferromagnets

Quantum Monte Carlo results for the T = 0 order-disorder transition of two-dimensional dimerized quantum Heisenberg antiferromagnets are presented. For a two-layer model, with the dimers having one member on each plane, the finite-size scaling of the staggered structure factor and the staggered susceptibility is consistent with the 3D classical Heisenberg universality class, as required if the transition is described by the 2+1-dimensional non-linear sigma-model. However, for models with the dimers in a single plane, the behavior does not appear to be consistent with this universality class.     

塔河油田特殊钻井条件下的录井技术

该文阐述了定向井、水平井和欠平衡钻井技术对传统录井方法的影响:钻时偏大、失真,岩屑细、代表性差,荧光常达12级、无意义,全烃值一般在5%以上,难以有效划分油气层;指出在特殊钻井条件下掌握设计指导思想,卡准重要层位是录井工作的关键,重点要参考组分分析数据、定量荧光分析数据和综合录井其它信息才能准确识别油气层。     

光隔离器及其相关的磁光材料

本文简要介绍了磁光隔离器的理论、结构和分类 ,并提出了该器件今后发展的几个问题 ,最后介绍了几种磁光材料     

偏振模色散统计特性的研究

利用动态方程研究了偏振模色散矢量的统计特性 ,分别用统计系综和频率系综两种方法进行数值模拟。数值结果表明 ,统计系综和频率系综两种方法的结果一致。在大归一化距离条件下 ,均方根时延的平方随归一化距离线性变化 ;偏振模色散矢量的各个分量服从高斯分布 ,差分群时延服从麦克斯韦分布 ;偏振模色散矢量弥散于整个邦加球     

Pad effects on material-removal rate in chemical-mechanical planarization

The role of a porous pad in controlling material-removal rate (MRR) during the chemical-mechanical planarization (CMP) process has been studied numerically. The numerical results are used to develop a phenomenological model that correlates the forces on each individual abrasive particle to the applied nominal pressure. The model provides a physical explanation for the experimentally observed domains of pressure-dependent MRR, where the pad deformation controls the load sharing between active-abrasive particles and direct pad-wafer contact. The predicted correlations between MRR and slurry characteristics, i.e., particle size and concentration, are in agreement with experimentally measured trends reported by Ouma¹ and Izumitani.²     

Nonepitaxial Orientation in Sol–Gel Bismuth Titanate Films

Control over crystallographic orientation in ceramic thin films is important for highly anisotropic structures. Layered perovskites, like Bi₄Ti₃O₁₂, have interesting properties associated with their ferroelectric nature, which may be fully exploited only when films are highly textured. Textured films of this titanate were fabricated via a sol–gel technique without using epitaxial growth. Orientation in the film is confirmed by XRD and SEM, and supported by refractive index and dielectric measurements. In an attempt to explain the orienting effect, light scattering experiments were conducted to yield information about the molecular size, shape, and conformation of macromolecules as the sol–gel solution ages and condensation reactions proceed. These experiments clearly show an increase in the size of molecular clusters with time. We believe that it is the organization of these large clusters during spin coating, and the relationship of the backbone chemistry to the crystal structure of Bi₄Ti₃O₁₂, that are responsible for the observed orientation.     

中国台湾电信市场现状

台湾电信市场的开放大致分四个阶段,从1995年起,陆续开放了移动通信、卫星通信及固定通信等多种业务。固网市场,2001年新世纪资通、台湾固网和力霸宽频电信的加入打破了中华电信的独家垄断,开始形成四强竞争的新局面。移动领域,1997年底6家运营商8张民营执照的发放开始了该领域史无前例的竞争。在2001年1月,台湾大哥大、远致电信、亚太行动宽频、联邦电信和中华电信获得了3G执照,累计竞标金额达488.99亿元(新台币)。     

OSEK/VDX——汽车电子系统的开放式平台

介绍了当前在国际汽车工业界日益占据主导地位的汽车电子系统开放式平台--OSEK/VDX体系.详细地论述了这种体系的由来、运行机制和最新的发展动向,以及它对汽车电子技术发展的深远影响.