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.     

煤基链篦机-回转窑一步法直接还原设备改造及技术操作要点

本文主要论述了煤基链篦机-回转窑一步法直接还原关键设备改造及有关技术操作要点，并提出了进一步提高产量，稳定操作，延长作业周期，降低生产成本的技术改造方案。     

二甲基甲酰胺溶剂回收装置焦油塔减压改造方案

实验研究了纯二甲基甲酰胺(DMF)水溶液和焦油塔进料在不同减压压力条件下的水解变化规律,确定了焦油塔减压操作的适宜操作压力和减压操作方案。     

Validity of Three Measures of Communication for Predicting Relationship Adjustment and Stability Among a Sample of Young Couples.

The goal of this study was to examine whether data from 3 different measures of communication (i.e., self-report, quasi-observational, and observational) can predict relationship adjustment and stability 1 year later when used conjointly in a sample of 62 young couples. The 3 measures of communication were the Communication Skills Test-Revised (CST-R), the Communication Box (CB), and the Demand/Withdraw Pattern Questionnaire (DWPQ). Through hierarchical multiple regression analyses, results revealed that the CST-R and the DWPQ predict both genders' relationship adjustment 1 year later when used conjointly. Logistic regression analyses revealed that none of the measures of communication significantly predicted relationship stability. In conclusion, the combination of the CST-R and the DWPQ appears to be useful for longitudinally predicting relationship adjustment. (PsycINFO Database Record (c) 2010 APA, all rights reserved)     

PHS数据通信技术的发展及业务运营探讨

文章概述了个人手持电话系统(PHS)的发展过程,对其最新技术进行了介绍,并在对PHS数据通信业务的发展及运营策略进行深入分析和探讨的基础上,展望了该业务的应用前景.     

COPART:一种面向约束条件的自适应软硬件划分算法

本文介绍一种将自适应算法、遗传算法和列表调度算法结合起来应用于软硬件划分问题的算法COPARTART，并提出了一种基于约束条件的开销系数自适应调整方法，该方法所获得的划分结果能够良好体现设计目标。     

开发有线电视收费管理系统需注意的问题

分析有线电视业务及用户管理中出现的问题与解决办法，为系统的开发建立数据模型，以确保有线电视网络公司和用户的利益。     

具有迭代结构的时频分布计算方法

本文讨论了时频分布中的迭代算法的问题.通过选择特殊的计算窗口,时频分布的迭代运算形式能够有效地利用前面数据段的分析结果,从而避免了重复性的运算,使得计算效率得到提高.本文对原有的利用单边窗口的时频分布迭代算法的性能进行了分析,提出了采用对称型窗口的迭代计算形式.与单边窗口相比,双边形式的计算窗口不但可以有效地提高时频表示精度,同时还能够更为准确的表示信号的瞬时频率.文章对各项理论分析结果提供了相应的仿真实验结果.     

MPEG-4流媒体技术及其实现方法

详细地介绍了一种基于MPEG-4压缩的嵌入式网络流媒体采集、传输和控制应用系统的设计与实现技术。该嵌入式平台采用203 MHz的ARM920T内核处理器S3C2410B,嵌入式操作系统采用Linux操作系统,用户可在这个系统平台上进行自主软件开发。视频采集模块采用TI公司的TVP5145,视频压缩芯片采用硬压缩W IS GO7007B进行处理,将Y:Cb:Cr格式的视频流转换为MPEG-4编码。     

小浪底水库坝前漏斗区泥沙测验分析

小浪底水库坝前漏斗区的形成和发展,直接影响到枢纽建筑物的安全运行。为了保持塔前“门前清,”掌握坝前漏斗区的形成和发展,保证水库进入拦沙后期和正常运用期的正常运用,对坝前漏斗区进行了泥沙测验分析。结果表明:目前漏斗区范围内纵向坡度较缓,尚没有明显的漏斗形成,仅在坝前和塔前200m×1000m范围形成了漏斗雏形。