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 It also contains some new, unpublished results in the framework of the unified approach to the position/force control of robots, proposed by the present author and his co-workers.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

云南省水环境状况及问题分析

根据2000年云南省主要河流水质监测评价结果，全省评价河段总长9280km中，水质为Ⅰ－Ⅲ类的河长占76．3％，总体上，云南省内各大水系水质良好，但水污染总体上正在加重，从1985－2000年，Ⅰ类河长年均减少2．3％，V类河长年均增长0．6％，废污水直接排入江河是引起污染的重要原因。水环境问题已成为社会经济可持续发展的关键问题，要切实加强水资源的保护，科学地开发利用水土资源，为了有效地改善水环境的质量，污染控制应从源头开始并采取综合治理措施。     

Electrochemical impedance spectroscopy of a free-standing oxide film

The corrosion of low carbon steel in natural sea-water is characterized by the formation and growth of compact and thick layers composed of oxides, insoluble salts and organic materials. These layers are the result of corrosion processes induced by local environmental conditions, water oxygen supply; ionic species; bacteria and organic matter. The exchange of various species (ions, molecules, gas) between sea-water and the rust layers or the metal depends both on the kinetics of the Faradaic reactions of the entities with either the oxides or the metal, as well as on their transport properties through the different strata of the rust layers. In this work, an impedance study was carried out using the 4-electrodes cell arrangement with corrosion products picked up on steel sheet piling immersed for 25 years and analyzed as free standing membranes. This new approach is a good way to reach the specific transport and transfer properties of the oxide without being blurred by the metal influence. The physical model developed in this work was based on a transmission line, and accurately described the experimental diagrams. The electronic resistivity of the oxide layer, its porosity, the mean pore size and the reaction kinetics parameters could be determined from the fittings.     

中国的主要水问题及水文学的机遇

从水资源开发利用与保护、水旱灾害防治等方面论述中国当前存在的主要水问题：水危机和水浪费同时存在、水污染日趋严重、防洪减灾任重道远、生态环境破坏严重、全球气候变暖产生不利影响；进而论述水文学研究面临的新课题：水文现象的不确定性、人类活动对水文的影响、水位频率计算、水资源开发利用的最佳效应、水资源供需分析、农业节水灌溉机理及水旱灾害的防治，并指出必须加强对这些新课题的研究