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 It also contains some new, unpublished results in the framework of the unified approach to the position/force control of robots, proposed by the present author and his co-workers.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.     

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通过对J.J.Arps方程的推导,提出了油气藏产量递减曲线分析的最佳拟合法。用该法可直接求出递减指数N、初始递减率D1及油气递减前的稳定产量Qi,避免了使用试差法的大量运算过程,大大提高了油气藏工程中指标预测的精度。     

挖掘机工作装置实验样本长度确定方法及程序系统

本文通过对某液压挖掘机工作装置实验样本长度的研究,详细讨论了样本长度的确定方法,重点分析了趋势曲线拟合法,提出了样本长度精度区间分析的方法,并在处理大量实验数据的基础上,从载荷分布及寿命估算的角度做了实际的验证.编制了应用程序,使样本长度确定至寿命估算整个过程程序化.     

Extraction of Singular Points from Dense Motion Fields: An Analytic Approach

In this paper we propose a new method to extract the vortices, sources, and sinks from the dense motion field preliminary estimated between two images of a fluid video. This problem is essential in meteorology for instance to identify and track depressions or convective clouds in satellite images. The knowledge of such points allows in addition a compact representation of the flow which is very useful in both experimental and theoretical fluid mechanics. The method we propose here is based on an analytic representation of the flow. This approach has the advantage of being robust, simple, fast and requires few parameters.     

Teachers' brief nonverbal behaviors in defined instructional situations can predict students' evaluations.

Can a few seconds of high school teachers' nonverbal (NV) behavior predict students' ratings of these teachers (SRT)? Yes, but NV-SRT relations varied among various instructional situations. NV behaviors while administering the class and using the board were unrelated to SRT. Positive judgments of NV behavior while disciplining the class and interacting with students were positively related to SRT. NV behaviors in frontal teaching were negatively related to SRT. The most negative NV-SRT relations were found for teachers' differential NV behavior toward high- versus low-achieving students. Teacher differentiality and SRT have rarely been investigated in high school. The structure of SRT seems to differ between high school and college, and students' anger about teachers' differentiality strongly predicted their evaluations. (PsycINFO Database Record (c) 2010 APA, all rights reserved)     

Prediction of fire classification for wood based products. A multivariate statistical approach based on the cone calorimeter

Wood has long traditions as a building material, and is often used in construction elements, and as interior and exterior surfaces in the Nordic countries. In most applications, there are reaction to fire requirements to products used as surfaces, e.g. in escape routes and larger public spaces. Most wood products will therefore have to be treated with fire retardant (FR) agents to fulfil the strict requirements to properties connected to heat release and flame spread. Unfortunately, FR agents usually also increase the smoke production, as they cause a more incomplete combustion of the wood. The wood product manufacturers seek to find the optimal amount of FR additives where both heat release and smoke production in the classifying test are within the requirements given in the building regulations. This paper describes models for prediction of the European reaction to fire classes of wood products. The models are based on multivariate statistical analysis, and use test results from the cone calorimeter test as input. The presented models are, with very good precision, able to predict which Euroclass and additional smoke class a wood based product would obtain if it were to be tested in the single burning item test. Copyright © 2006 John Wiley & Sons, Ltd.     

A visual tool for computer supported learning: The robot motion planning example

We introduce an effective computer aided learning visual tool (CALVT) to teach graph-based applications. We present the robot motion planning problem as an example of such applications. The proposed tool can be used to simulate and/or further to implement practical systems in different areas of computer science such as graphics, computational geometry, robotics and networking. In the robot motion planning example, CALVT enables users to setup the working environment by creating obstacles and a robot of different shapes, specifying starting and goal positions, and setting other path or environment parameters from a user-friendly interface. The path planning system involves several phases. Each of these modules is complex and therefore we provide the possibility of visualizing graphically the output of each phase. Based on our experience, this tool has been an effective one in classroom teaching. It not only cuts down, significantly, on the instructor’s time and effort but also motivates senior/graduate students to pursue work in this specific area of research.     

Optimal predictor for a singular random process

An optimal predictor is developed for a singular random process generated by a known system driven by a white noise sequence. The properties of the predictor are compared with those of the optimal predictor for a nonsingular random process.     

节理岩体的代表单元集合体模型及弹性参数预测

本文明确提出了节理岩体“代表单元集合体”的概念和模型，通过对节理岩体的“代表单元集合体”进行数值模拟，研究了节理岩体的“代表单元集合体”的变形特性，建立了节理岩体的弹性模型，提出了预测节理岩体宏观等效弹性参数的计算机模拟方法，并将其应用于岩体工程稳定性分析中。     

Mechanics of Autonomous Gas-Dynamic Torpedo Motion in Loose Medium

A new technology is considered for realizing the motion of solid body in the loose material due to alternating pulse ejections of compressed gas in the regime of traveling wave near the outer surface of the body. The dimensionless parameters are determined for scale modeling. The relation between the action factors and the value of motion is established empirically.