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.     

非电量微机采集系统

实现水电厂电量快速微机巡回检测，温度采集较其它信号更为困难，本文着重讨论温度信号转换及与微机系统的连接。且介绍某水电厂微机控系统中非电量检测装置的硬件结构和软件编制。     

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。     

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。     

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.     

B－ISDN与现有网络互连的研究

本文主要围绕Ｂ－ＩＳＤＮ与现有各种网络（如ＰＳＰＤＮ、ＰＳＴＮ、ＬＡＮ等）的互连问题展开讨论，并针对不同的应用场合提出了相应的互连解决方案。     

地表热释光找油机理的探讨

油气藏的微渗漏造成的上方放射性元素的局部富集（或贫化）影响地表沙土的天然热释光量，据此探讨了热释光找油的机理。     

直流电动机参数测定

根据直流电机的可逆原理并利用常规的实验仪表，可以简便、准确地测出直流电动机的主要参数－电磁转矩、输出转矩和效率．     

用Calyculin A诱导的染色体凝聚研究辐射的剂量效应关系

采用不同剂量（0，0.25,0.5,1.0,2.0,3.0Gy)的60Coγ射线照射离体人血，于照后46h加入CalyculinA，观察其诱导的染色体凝聚，并与常规染色体畸变法进行比较，结果表明，Calyculin A法PCC与常规秋水仙素阻滞法及融合法PCC相比可获得更高的分裂指数，Calyculin A法PCC的断片数与剂量之间呈良好的线性关系。