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.     

Chemical mechanical polishing of polymer films

Strategies to reduce capacitance effects associated with shrinking integrated circuit (IC) design rules include incorporating low resistivity metals and insulators with low dielectric values, or “low-κ” materials. Using such materials in current IC fabrication schemes necessitates the development of reliable chemical mechanical polishing (CMP) processes and process consumables tailored for them. Here we present results of CMP experiments performed on FLARE™ 2.0 using a specialized zirconium oxide (ZrO₂) polishing slurry. FLARE™ 2.0 is a poly(arylene) ether from AlliedSignal, Inc. with a nominal dielectric constant of 2.8. In addition, we provide insight into possible removal mechanisms during the CMP of organic polymers by examining the performance of numerous abrasive slurries. Although specific to a limited number of polymers, the authors suggest that the information presented in this paper is relevant to the CMP performance of many polymer dielectric materials.     

Tracking Control and Synchronization for Two-Dimension Discrete Chaotic Systems

1　ＩｎｔｒｏｄｕｃｔｉｏｎＳｉｎｃｅ 1 990 ,ｃｈａｏｔｉｃｓｙｎｃｈｒｏｎｉｚａｔｉｏｎ[1～ 4] ａｎｄｃｈａｏｔｉｃｃｏｎｔｒｏｌｌｉｎｇ[5～6] ｈａｖｅｒｅｃｅｉｖｅｄａｇｒｅａｔｄｅａｌｏｆａｔｔｅｎｔｉｏｎ[7～1 1 ] ,ａｎｄｃｈａｏｔｉｃｓｙｎｃｈｒｏｎｉｚａｔｉｏｎｉｓａｐｈｅｎｏｍｅｎｏｎｏｆｉｎｔｅｒｅｓｔｉｎｆｉｅｌｄｓｆｒｏｍｅｌｅｃｔｒｏｎｉｃｓｔｏｃｏｍｍｕｎｉｃａｔｉｏｎ[1 2 ] ,ａｎｄｆｒｏｍｂｉｏｐｈｙｓｉｃｓｔｏｎｅｕｒｏ ｓｃｉｅｎｃｅ[1 3] .Ｉｆｃｈａｏｔｉｃｓｙｎｃ…     

通用串行总线(USB)数据传输模型

USB作为一种数据传输接口，了解它的通信传输机制是正确利用USB利用数据传输的基础，分层次结构对USB数据传输模型加以分析，可以使读者建立起USB体系结构、通信模型和总线事务的框架和概念，并最终对USB传输工作流程有一个清晰的认识。     

HIPS-g-MA共聚物对HIPS/PC共混物相容性、形态和拉伸性能的影响

研究了HIPS／PC共混物的相容性及HIPS－MA对HIPS（30）／PC（70）共混物的相容性、形态和拉伸性能的影响。DSC研究结果表明，HIPS／PC共混物中PS的玻璃化转变温度（Tg)不随组成而变化，而PC的Tg随其质量分数的降低逐渐向低温移动，说明HIPS／PC是部分相容体系。通过DSC、扫描电镜形态观察和拉伸性能测试结果发现，当HIPS－g-MA的含量低于7．5％时，共混物的相容性改善不明显，当其含量达到7．5％时，对共混物有明显的乳化作用，说明饱和的界面浓度在7．5％左右。HIPS－g-MA接枝共聚物在HIPS（30）／PC（70）共混物中的增容作用可能是酯交换反应原位生成的嵌段共聚物所致。     

槽孔式水力驱动控制棒槽孔阻力系数实验研究

对槽孔式水力驱动控制棒槽对孔阻力系数进行了大量实验研究，获得了槽孔式水力驱动控制棒槽对孔阻力系数和其随槽对孔位移的变化规律，分析了槽对孔阻力系数与控制棒槽对孔结构参数之间的关系。结果表明：随槽对孔位移的增加，槽对孔阻力系数从某一较大的定值迅速降低到某一较小的定值，然后再迅速反回到初始的定值，形成一个对称的宽幅波谷；槽高使阻力系数曲线波谷幅宽发生变化，也使完全不重合段的阻力系数发生变化；随内套孔径的增大，阻力系数有所降低，其对阻力系数的影响也进一步减弱。孔径增大到一定程度，阻力系数基本不受孔径参数的影响。     

高发射率节能涂料及其应用

讨论了高发射率涂料节能的条件，了一种在1000℃仍保持高发射率的优质涂料，并解决了涂料与金属基体的粘结工艺，用此涂料制成增强辐射电阻带和复合炉衬，得到的新炉比旧炉节能20－40％。     

Reliability and performance analysis of time – space – time switching networks with multiple separated space switches

Since electronic switching systems usually require very strict reliability requirements as well as good performance objectives, we need to jointly analyse the performance and reliability of switching systems. In this paper, we compare conventional time–space–time switches with single space switches with those with multiple separated space switches, from the viewpoints of reliability and performance. We consider time–space–time switching networks which consist of N incoming time switches, i.e. one NxN space switch, two (N/2)x(N/2) space switches, and four (N/4)x(N/4) space switches. We introduce a Markov reliability model to study the effect of failures and analyse the reliability and performance of three different types of switching networks in terms of average blocking probability and the mean time to unreliable operation, as we vary the offered traffic. As a result, T–S–T switching networks with multiple separated space switches exhibit better performance and reliability than those with single space switches.     

油气两相压降数值试井模型及其典型曲线的规律

提出油气两相流动压降试井数字模型的数值解法，用此解法对均质油藏中油气两相流动试井的规律进行了研究，根据实例计算结果，分析油气两相流下典型压降试井曲线的特征，以及油、气的初始饱和度分布，两相黏度比，饱和度梯度、相对渗透率关系对试井曲线的影响和相应的作用机理，首次发现气体的存在会使油气两相试井的压力导数曲线表现出类似于单相流双重介质试井的压力导数曲线的“下凹”特征。     

浅谈程序设计中一题多解的教学方法

中等职业学校一般开设VB、VC及数据库等涉及程序设计的计算机课程。本文拟就程序设计中一题多解的教学方法进行探讨。