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.     

Data mining of resilience indicators

In recent years, the Asia-Pacific region has experienced several financial setbacks, including speculative attacks in 1998 and the SARS outbreak in 2003. Financial stresses of this nature are unanticipated, and not all of the dangers can be predicted by the examination of market information and macroeconomic indicators. The Early Warning System (EWS) that has been adopted by the International Monetary Fund may not be able to predict future financial crises for all possible scenarios, because shocks come in many different forms. To supplement the EWS, this paper proposes a data mining framework to measure the resilience of an economy. The resilience framework does not predict a crisis, but rather assesses the current state of health of an economy and its ability to withstand a financial shock should one occur. The framework is based on a feedback system consisting of two stages. The first stage assigns a resilience score to each economy based on a fuzzy logic scoring scheme that is built on the ambiguous reasoning of experts. The second stage uses the classification tree approach to estimate thresholds for each economic indicator, and examines the quality of the fuzzy score. The result from the second stage is then passed back to the first stage as feedback. The final result is obtained when the feedback system reaches its equilibrium state. The proposed resilience framework is applied to the external-sector and the public-sector economies of several countries to illustrate its applicability.     

炼油厂废水的最小化

石油炼厂作为用水大户，在水资源逐渐短缺、环境污染日益严重的情况下，实施废水最小化改造具有重要的现实意义。笔者以石油炼厂整个水分配系统年度费用最小为目标函数，提出采用回用、再生回用和再生循环3种措施减少新鲜水用量和废水排放量。利用超结构建模求解所得优化的水分配系统不但要满足各用水过程的需求，而且使排放的废水达标。给出的实例证明，所提出的方法更全面地考虑了废水最小化的机会，且所得结果可行、有效。     

应用摩擦改进剂提高燃料经济性

介绍了摩擦改进剂的类型及作用机理，比较了不同类型的摩擦改进剂。阐述了应用摩擦改进剂减少边界润滑和混合润滑状态下的摩擦损失，从而提高燃料经济性。     

催化技术在降低汽油机排放方面的应用

本文介绍了当前催化技术在改善和降低汽油机排放方面的应用情况，指出：催化技术是改善汽油机排放的一种有效措施和重要手段。     

中压电动机传统起动方式的危害性

本通过对中压电动机的几种传统起动方式的探讨分析，阐述了使用这些方法对电网和周围其他用电设备产生的不利影响，提出了改进措施。     

Convergence of simultaneous perturbation stochastic approximation for nondifferentiable optimization

We consider simultaneous perturbation stochastic approximation for function minimization. The standard assumption for convergence is that the function be three times differentiable, although weaker assumptions have been used for special cases. However, all work that we are aware of at least requires differentiability. We relax the differentiability requirement and prove convergence using convex analysis.     

溶胶-凝胶生物玻璃多孔材料显微结构和生物活性的扫描电镜及红外光谱分析

本文利用溶胶．凝胶法制备了CaO-P2O5-SiO，系统生物活性玻璃，并以其为原料制备了用于骨修复及骨组织工程支架的块状生物活性材料。利用体外实验方法(invitro)结合x射线衍射(XRD)、扫描电子显微镜(SEM)和傅立叶变换红外光谱分析(FTIR)技术对不同烧结工艺制备的材料结构、晶相和生物活性的影响进行了分析研究。研究表明，经800℃和1100℃烧结5min的两种材料均有硅磷酸钙Ca5(PO4)2SjO4微晶相析出。烧结温度越高，析出微晶相的体积比例越大，材料的生物活性则越低。在模拟生理溶液中碳酸羟基磷灰石(HCA)只在烧结体中的玻璃颗粒表面形成，而在其硅磷酸钙Ca5(PO4)2SiO4微晶相表面未发现HCA形成。     

EPON媒体接入控制的关键技术研究

文章简要介绍了基于以及太网的无源光网络（EPON）这种新型的接入网技术，将其与基于ATM技术的无源光网络（APON）的优缺点进行了比较，并对其媒体接入控制（MAC）的关键技术测距及上行接入进行了讨论，初步提出了光网络单元（ONU）的软、硬件实现方案。     

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。