How to Control Robots Interacting with Dynamic Environment

The goal of this paper is to shed light on the control problem of constrained robot motion from the aspect of the dynamical nature of the environment with which the robot is in contact. Therefore, the criticism of traditional hybrid control which allows position/force feedback loops to split into independent control with respect to position and force, is not the main point we want to make. Reference to the papers written by the founders of hybrid control and their numerous followers served only to better understand the reason and motivation for suggesting a different approach to control of robots interacting with environment.The paper has a predominantly review character, based on recently published work. It also contains some new, unpublished results in the framework of the unified approach to the position/force control of robots, proposed by the present author and his co-workers. By pointing to the possibility of introducing an environment dynamics in the contact tasks of the machining type, the author emphasizes that the proposed dynamically interactive control can be applied to a completely different class of tasks, in which a contact is made between the system (constructions or structure) and very specific kinds of dynamic environments.     

西安绿色康居小区规划设计剖析

通过对西安绿色康居小区规划设计的实例分析，阐明了小康型住宅区的标准和要求，在旧城住宅区改造中的落实和运用，试图探索下一世纪旧城住宅区的改造之路．     

营造温馨的家园--谈住宅设计中的一些认识与体会

本文通过住宅区总体规划与环境设计,居住户型的多样化,美观大方的住宅立面设计,方便安全的停车场所四个方面谈了自己对住宅设计的认识与体会.     

Sky blue,but what blue? A new evaluation of the colors of the sky for artists and designers

This study describes a process of relating the perceptual analysis of the colors of the terrestrial atmosphere to currently available pigments used in artists' painting systems. This process sought to discover how the colors of the sky could be defined and simulated by these pigments. The author also describes how confusion over the bewildering choice of suitable pigments on offer in the market place can be clarified. © 2006 Wiley Periodicals, Inc. Col Res Appl, 32, 249–255, 2007     

Patient thermal comfort requirement for hospital environments in Taiwan

This study examines the comfort criteria of ASHRAE Standard 55-2004 for their applicability in hospital environments. Through an extensive field survey conducted in a university hospital in Taiwan, 927 sets of data have been collected. Above half of the measured samples failed to meet the specifications of Standard 55 comfort zone due to improper humidity control. Acceptability votes by patients exceeded the Standard's 80% criterion, regardless of whether the physical conditions were in or out of the comfort zone. Thermal neutrality, preference and comfort range are compared with other studies conducted in office environments and Standard 55 criteria. Results of chi-square tests revealed that patients’ physical strength significantly effected their thermal requirements. The net effect of health yields a marked difference in thermal neutrality and preference, and also in the comfortable temperature range.     

润滑油资源与环境

解释了资源及环境的概念,讨论了润滑油资源与环境的关系,评述了润滑油如何适应环境保护的要求.     

环境资源负外部性与产权理论的新进展

环境资源共有产权的特性使得社会成员只能通过自身感知和理解确定对环境资源的产权边界，并且产权的实施是非排他的，所以与环境资源有关的负外部性较其他具有直接因果关系的外部性特殊。在治理这类负外部性的过程中，产权理论也有了新的发展。本文从分析环境资源产权的特殊性入手，对于产权弱化、产权分割、创建新产权和自愿合作基础上认知产权调整等负外部性内部化理论进行了分析。     

企业管理新模式——质量、环境综合管理体系

高度的企业管理现代化、规范化需要建立一个综合管理体系。本文具体分析了企业按照ISO9000质量管理系列标准和ISO14000环境管理系列标准建立综合管理体系的可能性，提出了建立综合管理体系的方法。     

液控式修井井下开关的研制

为实现采油井的无污染作业 ,研制了液控式修井井下开关。这种开关除具备自控式井下开关的所有功能外 ,又增加了液控功能。当油井进行检泵作业时 ,在地层压力较大的情况下井下开关能自动关闭 ,作业完毕关井稳压 ,当阀体上下压力达到平衡时 ,阀体下落 ,开关可自动打开 ;当地层压力较小时 ,井下开关不能自动关闭 ,作业过程中井口会产生溢流 ,这时可通过地面加液压将开关关闭 ,作业完毕再向井内加液压可将开关打开 ,油井即可恢复正常生产。该工具的推广应用不仅降低了采油成本 ,而且对防止油层污染 ,保护环境均具有重大意义。     

莫莫格湿地生态演变及水源解决途径探析

湿地的生态演变是区域性生态演变的前奏，而水是生态环境的控制性因素。