Global Level Path Planning for Mobile Robots in Dynamic Environments

This paper presents a self-adapting approach to global level path planning in dynamic environments. The aim of this work is to minimize risk and delays in possible applications of mobile robots (e.g., in industrial processes). We introduce a hybrid system that uses case-based reasoning as well as grid-based maps for decision-making. Maps are used to suggest several alternative paths between specific start and goal point. The casebase stores these solutions and remembers their characteristics. Environment representation and casebase design are discussed. To solve the problem of exploration vs. exploitation, a decision-making strategy is proposed that is based on the irreversibility of decisions. Forgetting strategies are discussed and evaluated in the context of case-based maintenance. The adaptability of the system is evaluated in a domain based on real sensor data with simulated occupancy probabilities. Forgetting strategies and decision-making strategies are evaluated in simulated environments. Experiments show that a robot is able to adapt in dynamic environments and can learn to use paths that are less risky to follow.     

Response Selection in Visual Search: The Influence of Response Compatibility of Nontargets.

The authors used visual search tasks in which components of the classic flanker task (B. A. Eriksen & C. W. Eriksen, 1974) were introduced. In several experiments the authors obtained evidence of parallel search for a target among distractor elements. Therefore, 2-stage models of visual search predict no effect of the identity of those distractors. However, clear compatibility effects of the distractors were obtained: Responses were faster when the distractors were compatible with the response than when they were incompatible. These results show that even in parallel search tasks identity information is extracted from the distractors. In addition, alternative interpretations of the results in terms of the occasional identification of a distractor before or after the target was identified could be ruled out. The results showed that flat search slopes obtained in visual search experiments provide no benchmark for preattentive processing. (PsycINFO Database Record (c) 2010 APA, all rights reserved)     

聚酰亚胺渗透汽化膜的研究(Ⅰ)膜的制备和结构对动态吸附特性的影响

以2种二酐，3种二胺为单体，两步法制备了6种不同结构的聚酰亚胺均质膜，通过红外光谱和元素分析证实了其重复单元的分子结构，测定了这几种膜的物理性质和对水蒸气的动态吸附性能，并计算出其反常扩散指数dw。实验表明，随着聚合物二胺单元分子结构的变化，按MDA、ODA、PDA的顺序，密度逐渐变大，链间距逐渐减小，链堆砌变得紧密，水蒸气在膜中的吸附和扩散也变慢，并出现从正常扩散到反常扩散的过渡现象。     

The Flynn Effect and U.S. Policies: The Impact of Rising IQ Scores on American Society Via Mental Retardation Diagnoses.

Over the last century, IQ scores have been steadily rising, a phenomenon dubbed the Flynn effect. Because of the Flynn effect, IQ tests are periodically renormed, making them harder. Given that eligibility for mental retardation (MR) services relies heavily on IQ scores, renormed tests could have a significant impact on MR placements. In longitudinal IQ records from 9 sites around the country, students in the borderline and mild MR range lost an average of 5.6 points when retested on a renormed test and were more likely to be classified MR compared with peers retested on the same test. The magnitude of the effect is large and affects national policies on education, social security, the death penalty, and the military. This paper reports the perceptions of professionals as they relate to IQ score fluctuations in normal, borderline, and/or MR populations. (PsycINFO Database Record (c) 2010 APA, all rights reserved)     

Palogue油田复合油藏动态响应及特征描述

以简单的复合油藏模型理论和方法为基础,以Palogue油田的实际测试井为例,介绍了复合油藏模型的试井动态识别与模型拟合,及与地质静态资料相结合的油藏综合描述过程.该描述方法将会对实际试井解释和油藏综合描述工作有所借鉴和帮助.     

1 000 t/d湿磨干烧生产线工艺特点和调试

湿法生产线的技术更新改造有异地新建新型干法生产线和原地改成湿磨干法生产线二种。浙江虎山集团(?)3.0 m×88.68 m湿法线的改造,经方案比较和生产原料的状况,采用了湿磨干烧方案。其中,料浆脱水采用了真空吸滤法,浇成系统采用了南京院专有技术。改造投产后,获得了优质、高产、低耗和安全生产的技改效果。     

斜拉桥动力特性的参数分析

建立了斜拉桥动力分析的三维有限单元模型 ,研究了单元类型和参数变化对斜拉桥动力特性的影响。详细地讨论了斜拉桥非线性来源 ,并运用 6节点薄壁单元和 4节点索单元分别考虑了斜拉桥弯曲构件和索的非线性特性。通过对一斜拉桥的数值分析 ,得到了关于斜拉桥动力参数敏感性的一般结论。     

动态陶瓷微滤膜净化沐浴污水实用研究

利用自制的动态陶瓷微滤膜对沐浴污水进行了处理,根据处理水质指标及膜操作参数的比较,发现在0.15MPa以下时,膜通量随压力的升高明显增加,大于0.15MPa时,压力对膜通量的影响不明显。合适的操作压力是0.1～0.15MPa,稳定通量为90～110L/m2·h。不同压力出水CODCr去除率达87%～98%、浊度从120°降到3°以下,处理后颜色为无色。并根据实验结果进行了工程化工艺初步设计和经济分析。     

Extending the color gamut and dynamic range of an sRGB image using a residual image

Image sources, such as digital camera captures and photographic negatives, typically have more information than can be reproduced on a photographic print or a video display. The information that is lost during the tone/color rendering process relates to both the extended dynamic range and color gamut of the original scene. In conventional photographic systems, most of this additional information is archived on the photographic negative and can be accessed by adjusting the way the negative is printed. However, most digital imaging systems have traditionally archived only a rendered video RGB image. As a result, it is not possible to make the same sorts of image manipulations that historically have been possible with conventional photographic systems. This suggests that there would be an advantage to storing images using an extended dynamic range/color gamut color encoding. However, because of file compatibility issues, digital imaging systems that store images using color encoding other than a standard video RGB representation (e.g., sRGB) would be significantly disadvantaged in the marketplace. In this article, we describe a solution that has been developed to maintain compatibility with existing file formats and software applications, while simultaneously retaining the extended dynamic range and color gamut information associated with the original scenes. With this approach, the input raw digital camera image or film scan is first transformed to the scene‐referred ERIMM RGB color encoding. Next, a rendered sRGB image is formed in the usual way and stored in a conventional image file (e.g., a standard JPEG file). A residual image representing the difference between the original extended dynamic range image and the final rendered image is formed and stored in the image file using proprietary metadata tags. This provides a mechanism for archiving the extended dynamic range/color gamut information, which is normally discarded during the rendering process, without sacrificing interoperability. Appropriately enabled applications can decode the residual image metadata and use it to reconstruct the ERIMM RGB image, whereas applications that are not aware of the metadata will ignore it and only have access to the sRGB image. The residual image is formed such that it will have negligible pixel values for those portions of the image that lie within the sRGB gamut, and will therefore be highly compressible. Tests on a population of 950 real customer images have demonstrated that the extended dynamic range scene information can be stored with an average file size overhead of about 8% compared to the sRGB images alone. © 2003 Wiley Periodicals, Inc. Col Res Appl, 28, 251–266, 2003; Published online in Wiley InterScience (www.interscience.wiley.com). DOI 10.1002/col.10160