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.     

糖厂现用连续离心机的研究及生产实践

在各糖厂现用连续离心机原有生产实践基础上，对其机械吸震、加温、布温、机索结构、物料密封、机座等部件做了进一步改进，并取得可观的实效。     

一种适用于ATM的语音处理方案

以ＡＴＭ实现分组话音通信，需要解决两个基本问题：传输时延和分组丢失。针对这两个基本问题，本文着重讨论了ＡＴＭ分组话音通信中３２ｋｂ／ｓＡＤＰＣＭ话音分组丢失的重建技术－－于模式匹配的波形替代技术和静默重建技术，分别用以补偿由于网络阻塞造成的分组话音信息丢失而产生的失真和改善重建话音的自然性。     

聚苯醚磺酸锂／共聚醚复合物的离子导电性研究

合成了３种不同磺化度的聚苯醚磺酸锂（ＳＰＰＯＬｉ）与Ｐ（ＭＥＯ１６－ＡＭ）／ＳＰＰＯＬｉ复合物。研究了复合物的离子导电性与磺化度，组成比及增塑剂含量的关系。含４０％（ｍａｓｓ）增塑剂的复合物具有单离子导电特征，锂离子迁移数高达０．９７，室温电导率达２×１０－５Ｓ／ｃｍ。     

氧化铝/锌合金复合材料界面的SEM观察

利用挤压铸造制备氧化铝／锌合金复合材料，在扫描电镜（ＳＥＭ）上观察复合材料的界面。结果表明，在复合材料中纤维与基体间存在致密界面层，合金元素通过适当的化学反应可改善纤维与基体间的结合；在凝固过程中，纤维／基体界面上的硅在共晶体的共生生长过程中起了领先相作用，导致复合材料的共晶转变是由铝硅共晶转变和锌铝共晶转变两者组成。     

无线电引信多普勒信号增速器的研究

论述了无线电引信多普勒信号增速器的实现原理及意义，介绍了采用ＴＭＳ３２０Ｃ３０作为ＣＰＵ、多片大容量静态ＲＡＭ芯片构成海量存储体的信号增速器硬件结构和软件设计，并提出了今后的研究方向。     

四种别藻蓝蛋白三聚体的时间分辨荧光光谱研究

研究了从Ａｎａｂａｎａｖａｒｉｂｉｌｉｓ中提取的４种别藻蓝蛋白ＡＰＣＩ，ＡＰＣＩＩ，ＡＰＣＩＩ及ＡＰＣＢ三聚体的稳态光谱和皮秒荧光光谱。采用Ｍｏｎｔｅ－Ｃａｒｌｏ方法对瞬态荧光光谱进行拟合，实验结果表明：ＡＰＣＩ荧光有两个带，其中第一个带位于６６２ｎｍ，有两个时间组分：３５．８ｐｓ和１．６７ｎｓ；第二个带位于６８０ｎｍ，有两个时间组分：３４．２ｐｓ和１．６４ｎｓ；ＡＰＣＩＩ瞬态荧光位于６６０ｎｍ，有两个时间组分：２０．４ｐｓ和１．６４ｎｓ；ＡＰＣＩＩ瞬态荧光位于６６０ｎｍ，有两个时间组分：２３．８ｐｓ和１．７６ｎｓ；ＡＰＣＢ瞬态荧光有两个带，其中第一个带位于６６２ｎｍ，有两个时间组分：３６．６ｐｓ和１．４５ｎｓ；第二个带位于６８０ｎｍ，有两个时间组分：２５．８ｐｓ和１．６２ｎｓ。实验结果一方面说明了藻胆体核内４种别藻蓝蛋白形成能量传递的两条途径；另一方面瞬态荧光解叠结果揭示了ＡＰＣＩ和ＡＰＣＢ三聚体内能量传递的超快过程。     

可编程控制器在包装机上的应用

本文介绍了可编程控制器（PLC）在包装机上的应用．介绍了系统的硬件设计与软件开发．     

C／O测井响应随源距变化的理论研究

针对井内介质分别为水、油，地层分别为３５％孔隙度饱和水砂和油砂的４种情况，采用蒙特卡罗方法模拟外径φ８９碳氧比测井仪不同源距处的非弹性散射伽马能谱。通过分析地层或井内介质不同时的Ｃ／Ｏ差值随源距变化的关系，为设计仪器推荐源距参数。     

Effects of lacidipine on serum oxygen free radicals and fasting levels of insulin in patients with essential hypertension

Thirty patients with mild to moderate essential hypertension had received four weeks treatment with Lacidipine and serum lipid peroxide (LPO), superoxide dismutase (SOD) and insulin levels were measured before and after treatment. The results showed: (1) there were decreased in SOD activity and increased Lpo content the patients group (P < 0.01); (2) after treated with Lacidipine, the SOD acitvity increased and Lpo content decreased (P < 0.01); (3) Lacidipine had obvious antihypertensive effect with no significant changes in heart rate; (4) Lacidipine had no significant effects on insulin, blood glucose and lipids. The results suggest that lacidipine is a safe and effective antihypertensive agent and can improve the metabolic balances in free radical system.