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.     

HPVC／PP共混改性研究：Ⅲ低分子量反应性化合物作相容剂

采用低分子量反应性化合物作相容剂，即化学交联体系来改善ＨＰＶＣ／ＰＰ共混物的相容性。考察了在不同共混比下，不同化学交联体系对共混物力学性能的影响，并观察了共混物的微观形态。结果表明，采用低分子量反应性化合物作相容剂，共混物的拉伸强度提高，但冲击强度无改善。分散相尺寸减小，相间粘接得到改善。并比较了３种增容方法的效果，发现ＣＰＥ是ＨＰＶＣ／ＰＰ共混物的最佳相容剂。     

采用荷载平衡的概念表达预应力度及在初步设计中的应用

利用荷载平衡法的概念，将预应力度用等效荷载与外荷载的比值表达，设计可利用其比值确定预应力度，便其更简捷，明确，同时，提出了预应力度的真实值问题。     

电致伸缩陶瓷微位移器非线性的数值方法补偿

本文通过对电致伸缩陶瓷材料的非线性进行分析。找到了补偿电致伸缩陶瓷非线性的数值方法，并对不同回程大小的电滞回线进行了分段处理，使补偿结果更为精确。     

The minimum squared euclidean distance of multi-h phase codes

The minimum squared Euclidean distance(MSED) of binary multi-h phase codes is presented. The signal segregation degree(SSD) has been put forward to determine MSED of multi-h phase codes. In order to maximize MSED, SSD should be as large as possible. The necessary and sufficient conditions of maximizing SSD are derived. Finally, SSD and the exact formulae for MSED of binary 2-h phase codes are also presented.     

多级复合布尔函数性能研究

本文研究了加法复合布尔函数和乘法复合布尔函数,在平衡性、k次项系数、K次扩散准则(PC)、相关免疫 性(CI)、Walsh谱、代数次数、小项分布等方面得到了一批新结果。     

液碱纯度对阴床再生运行情况分析

从理论上分析了液碱对阴树脂再生度的影响。通过两种不同纯度的液碱再生阴树脂的实际运行经济指标统计分析，说明用高纯度液碱再生阴树脂，可提高树脂的工作交换容量和周期制水量，有很好的经济效益。     

在以纯碱为原料的非强酸性水溶液体系中采用酸碱滴定分析的误差来源及分析方法的改进

以三聚磷酸钠生产过程为例,论述了在以纯碱为原料的非强酸性水溶液体系中,由于反应不完全导致反应物中存在少量的碳酸盐,这部分碳酸盐干扰了用酸碱滴定法测量的中和度,并据此提出中和度分析改进方法.由此可以推广到其它以纯碱为原料的非强酸性水溶液体系中.     

K-230B镗床万向护板的设计

介绍了大型机床地坑移动盖板的一般设计思想,根据机床原有功能和结构特点,设计兼顾防尘防屑和美观大方两大特点的活动盖板,为同类设计提供一些参考。     

高砂比压裂技术研究

应用由美国ＮＳＩ公司引进的“ｓｔｉｍｐｌａｎ”拟三维压裂设计软件，对影响裂缝内支撑剂铺置浓度的诸因素进行了灰色关联度分析，从中找出了主要的影响因素。并以高砂比压裂的技术指标为依据，研究了在目前压裂工艺水平下，进行高砂比压裂所必须遵循的原则。文中还对国内的高砂比压裂进行了实例分析，进一步论证了文中的观点。