Safe and effective navigation of autonomous robots in hazardous environments

The development of autonomous mobile machines to perform useful tasks in real work environments is currently being impeded by concerns over effectiveness, commercial viability and, above all, safety. This paper introduces a case study of a robotic excavator to explore a series of issues around system development, navigation in unstructured environments, autonomous decision making and changing the behaviour of autonomous machines to suit the prevailing demands of users. The adoption of the Real-Time Control Systems (RCS) architecture (Albus, 1991) is proposed as a universal framework for the development of intelligent systems. In addition it is explained how the use of Partially Observable Markov Decision Processes (POMDP) (Kaelbling et al., 1998) can form the basis of decision making in the face of uncertainty and how the technique can be effectively incorporated into the RCS architecture. Particular emphasis is placed on ensuring that the resulting behaviour is both task effective and adequately safe, and it is recognised that these two objectives may be in opposition and that the desired relative balance between them may change. The concept of an autonomous system having “values” is introduced through the use of utility theory. Limited simulation results of experiments are reported which demonstrate that these techniques can create intelligent systems capable of modifying their behaviour to exhibit either ‘safety conscious’ or ‘task achieving’ personalities.     

Unconventional Charge Density Wave Arising from Electron–Phonon Interaction

We report of a theoretical study on quasi-one dimensional unconventional charge density wave (UCDW) driven by electron–phonon interaction. Within mean field theory, we find that the wavevector dependence of the coupling leads to a momentum dependent single particle gap on the Fermi surface. The presence of small energy single particle excitations around the gap nodes significantly changes the optical conductivity compared to the conventional CDW result. In addition to that, the collective phase excitation arising from fluctuation of the order parameter leads to further qualitative changes of the conductivity and results in an effective mass that is nonmonotonic in temperature.      

电厂热力系统耗差分析系统实现的研究与发展

总结了电厂热力系统耗差分析几种实现方式，回顾了国内在该领域的发展过程。电厂热力系统耗差分析实现方式分别经历了独立的耗差分析系统、基于DCS的耗差分析系统、基于MIS的耗差分析系统。并在不同的分析方式上进行了评价，指出了耗差分析系统的发展方向。     

自由口通信模式下计算机读写PLC存储区的程序设计

本文介绍了在自由口通信模式下，用计算机读写S7—200PLC存储区内相邻的多个字节数据的通信程序设计方法，程序设计中采用了多种可靠性措施。     

江苏省县级电力信息网的3种组网方案

对江苏省县级电力信息网工程采用的利用ATM设备、SDH设备和WDM设备的3种组网方案进行了阐述，并分析了各种方案的优缺点。     

数字多媒体广播技术现状及前景

数字多媒体广播（DMB）是从数字音频广播（DAB）基础上发展起来的一种新型广播技术。数字音频广播是在调幅AM和调频FM之后的第三代广播技术。通过对数字多媒体技术的介绍较全面地阐述了其技术系统、功能、现状及发展前景。     

乙烯装置失效模式分析及基于风险的检验

简述了乙烯装置的工艺流程,分析了装置中常见的几种失效模式及其分布;以乙烯裂解装置为例,简述了RBI的执行过程和结果,从基于风险的检验理念,对制订设备检验策略提出了几点建议。     

线性分组码的神经网络译码

介绍了神经网络与线性分组码之间的关系，并在文献[1]的基础上证明了软判决译码与求解能量函数最大值之间的等价性，然后以(7，4，3)汉明码为例介绍了神经网络在循环码硬判决、软判决译码中的应用。     

An intelligent decision theoretic approach to producibility optimization in conceptual design

Product optimization involves selecting design, manufacturing, and support attributes that can produce the best system. Producibility or manufacturability is the term often used to describe the relative ease of manufacturing a product. In complex systems, productibility optimization is a very difficult process, particularly when the values of many attributes are restricted by constraints. One challenge is to develop more universal producibility metrics for the conceptual design phase when design information is limited and drawings are nondimensional. This paper develops a new method for producibility optimization in conceptual design based on a combination of both decision theoretic and expert system techniques. Decision theoretic techniques provide the means to model the design for producibility problem in a manner that can deal with risk, uncertainty, and user (or corporate) preferences, and can effectively integrate diverse factors to provide a measure of the overall worth of a design. The particular decision theoretic approach employed is based on multi-attribute utility theory. An illustrative example of the methodology is applied to the conceptual design of a structural composite part.     

用模糊综合评判法评估钢制储罐的寿命

针对影响钢制储罐寿命的因素具有复杂性、非确定性以及时变性的特点,提出了用动态二级模糊综合评判的方法对其寿命进行评估,建立了评估的数学模型和评估流程。在对某石油库油罐的寿命分析中,考虑到保留所有评判因素的影响,采用了乘、加型模糊算子,并用层次分析法来确定评价指标权重。计算结果表明,该方法能够解决储罐寿命评估中的一些复杂因素的处理问题,具有一定的实际工程意义。