双机器人协调作业下碰撞算法及仿真研究

本文立足于关节水平，从双机器人碰撞研究入手，提出了机器人协同作业下碰撞检测 、干涉空间的算法，解决了机器人与周边环境任意障碍物碰撞问题．建立了连杆与连杆，连 杆与平面，连杆与任意三维实体避障理论模型，给出了相应的计算方法及计算机仿真结果．     

Mapping Conjugate Gradient Algorithms for Neutron Diffusion Applications onto SIMD, MIMD, and Mixed-Mode Machines

The performance of conjugate gradient (CG) algorithms for the solution of the system of linear equations that results from the finite-differencing of the neutron diffusion equation was analyzed on SIMD, MIMD, and mixed-mode parallel machines. A block preconditioner based on the incomplete Cholesky factorization was used to accelerate the conjugate gradient search. The issues involved in mapping both the unpreconditioned and preconditioned conjugate gradient algorithms onto the mixed-mode PASM prototype, the SIMD MasPar MP-1, and the MIMD Intel Paragon XP/S are discussed. On PASM , the mixed-mode implementation outperformed either SIMD or MIMD alone. Theoretical performance predictions were analyzed and compared with the experimental results on the MasPar MP-1 and the Paragon XP/S. Other issues addressed include the impact on execution time of the number of processors used, the effect of the interprocessor communication network on performance, and the relationship of the number of processors to the quality of the preconditioning. Applications studies such as this are necessary in the development of software tools for mapping algorithms onto either a single parallel machine or a heterogeneous suite of parallel machines.     

The First Report on Scheme Revisited

Higher-Order and Symbolic Computation -     

NJTxtr—A Computer Program Based on LASER to Monitor Asphalt Segregation

Abstract: This paper describes the research funded by the New Jersey Department of Transportation to develop an automated technology to monitor segregation during construction of hot-mix asphalt concrete pavements. A Laser-based system was used to measure surface texture and to detect segregation. Two segregated test sections and a control test section were tested to evaluate the applicability of Laser texture method to detect and quantify segregation. Laser texture data were gathered from all three sections. Ratios of texture in segregated areas to that in nonsegregated areas were set as the basis for detection of different levels of segregation. By combining the level of segregation and extent of segregation, an AREA index was developed to determine the acceptability of a pavement section. Based on AREA index, pay adjustment factors were proposed to reduce the payment to account for loss of pavement life due to segregation. Further remedial actions were proposed to correct segregated pavement sections with acceptable AREA index. Based on the above concepts, Windows-based computer program NJTxtr was developed to detect and quantify segregation. This computer program uses the Laser-equipment-collected pavement texture data and determines whether the pavement section is acceptable or unacceptable based on the level of segregation within a pavement section, and provides bonus or penalties to the contractor. The paper describes a novel technology using laser and associated software for construction quality control of asphalt concrete pavements. The proposed methodology was applied to detect segregation in an interstate highway section in New Jersey, and this section was repaved based on visual observation and recommendation from this study.     

Personalcasting: Tailored Broadcast News

Broadcast news sources and newspapers provide society with the vast majority of real-time information. Unfortunately, cost efficiencies and real-time pressures demand that producers, editors, and writers select and organize content for stereotypical audiences. In this article we illustrate how content understanding, user modeling, and tailored presentation generation promise personalcasts on demand. Specifically, we report on the design and implementation of a personalized version of a broadcast news understanding system, MITRE’s Broadcast News Navigator (BNN), that tracks and infers user content interests and media preferences. We report on the incorporation of Local Context Analysis to both expand the user’s original query to the most related terms in the corpus, as well as to allow the user to provide interactive feedback to enhance the relevance of selected newsstories. We describe an empirical study of the search for stories on ten topics from a video corpus. By personalizing both the selection of stories and the form in which they are delivered, we provide users with tailored broadcast news. This individual news personalization provides more fine-grained content tailoring than current personalized television program level recommenders and does not rely on externally provided program metadata.     

Compact diffractive interferometric displacement sensor in reflection

A displacement measurement technology of diffractive interferometry has been developed in the objective of miniaturization. The interference principle has been implemented in the form of a miniature read head prototype according to a novel device configuration after a discussion on the fabrication and mouting tolerances has been made conducting to a high resolution micro-optical encoder. A read-out grating acting simultaneously as a subwavelength and a two order grating enables the miniaturization of a diffractive interferometric optical displacement sensor of the reflection type.     

Multilayer PZT 95/5 Antiferroelectric Film Energy Storage Devices with Giant Power Density

A new type of energy storage devices utilizing multilayer Pb(Zr_0.95Ti_0.05)_0.98Nb_0.02O₃ films is studied experimentally and numerically. To release the stored energy, the multilayer ferroelectric structures are subjected to adiabatic compression perpendicular to the polarization direction. Obtained results indicate that electrical interference between layers (10–120 layers) during stress wave transit through the structures has an effect on the generated current waveforms, but no impact on the released electric charge. The multilayer films undergo a pressure‐induced phase transition to antiferroelectric phase at 1.7 GPa adiabatic compression and become completely depolarized, releasing surface screening charge with density equal to their remnant polarization. An energy density of 3 J cm^?3 is successfully achieved with giant power density on the order of 2 MW cm^?3, which is four orders of magnitude higher than that of any other type of energy storage device. The outputs of multilayer structures can be precisely controlled by the parameters of the ferroelectric layer and the number of layers. Multilayer film modules with a volume of 0.7 cm³ are capable of producing 2.4 kA current, not achievable in electrochemical capacitors or batteries, which will greatly enhance the miniaturization and integration requirements for emerging high‐power applications.     

Effect of gypsum on free and restrained shrinkage behaviour of slag-concretes subjected to various curing conditions

The effect of gypsum in slag-blended cement on free and restrained shrinkage of concrete subjected to various curing conditions is presented in this paper. Added gypsum in slag-blended cements was found to increase the autogenous shrinkage of concrete up to 56 days. However, added gypsum caused small reduction in the long-term shrinkage when the concrete was exposed to drying. Slag concretes with 3% added gypsum content, when exposed to drying at the age of 24 h, exhibited more cracking tendency than comparable concrete with 0% added gypsum. This is attributed to the increased shrinkage evolution of slag concrete with 3% gypsum content at early ages. However, if moist cured for 7 days, increasing the amount of gypsum from 3 to 5% in slag-blended cement reduced the cracking tendency. It is concluded that the beneficial effect of increasing gypsum in reducing cracking tendency in slag concrete is only favourable if moist cured for 7 days.     

DIDS: rapidly prototyping configuration design systems

The domain independent design system (DIDS) provides a set of tools for rapidly constructing new configuration design systems from a library of reusable software elements called mechanisms. A DIDS user begins by creating a model of the problem domain and the task to be automated. This includes describing a library of parts from which new artifacts could be configured, optimization and preference criteria, and functionality constraints. DIDS analyzes this input and automatically builds an operational prototype system by selecting and combining mechanisms. DIDS' ability to automate this process is derived from its model of configuration design, which enables reusable mechanisms to be identified and automatically selected based on a problem's characteristics. The use of DIDS is illustrated by showing how DIDS solved an elevator-configuration problem.