Global Level Path Planning for Mobile Robots in Dynamic Environments

This paper presents a self-adapting approach to global level path planning in dynamic environments. The aim of this work is to minimize risk and delays in possible applications of mobile robots (e.g., in industrial processes). We introduce a hybrid system that uses case-based reasoning as well as grid-based maps for decision-making. Maps are used to suggest several alternative paths between specific start and goal point. The casebase stores these solutions and remembers their characteristics. Environment representation and casebase design are discussed. To solve the problem of exploration vs. exploitation, a decision-making strategy is proposed that is based on the irreversibility of decisions. Forgetting strategies are discussed and evaluated in the context of case-based maintenance. The adaptability of the system is evaluated in a domain based on real sensor data with simulated occupancy probabilities. Forgetting strategies and decision-making strategies are evaluated in simulated environments. Experiments show that a robot is able to adapt in dynamic environments and can learn to use paths that are less risky to follow.     

聚酰亚胺渗透汽化膜的研究(Ⅰ)膜的制备和结构对动态吸附特性的影响

以2种二酐，3种二胺为单体，两步法制备了6种不同结构的聚酰亚胺均质膜，通过红外光谱和元素分析证实了其重复单元的分子结构，测定了这几种膜的物理性质和对水蒸气的动态吸附性能，并计算出其反常扩散指数dw。实验表明，随着聚合物二胺单元分子结构的变化，按MDA、ODA、PDA的顺序，密度逐渐变大，链间距逐渐减小，链堆砌变得紧密，水蒸气在膜中的吸附和扩散也变慢，并出现从正常扩散到反常扩散的过渡现象。     

Palogue油田复合油藏动态响应及特征描述

以简单的复合油藏模型理论和方法为基础,以Palogue油田的实际测试井为例,介绍了复合油藏模型的试井动态识别与模型拟合,及与地质静态资料相结合的油藏综合描述过程.该描述方法将会对实际试井解释和油藏综合描述工作有所借鉴和帮助.     

斜拉桥动力特性的参数分析

建立了斜拉桥动力分析的三维有限单元模型 ,研究了单元类型和参数变化对斜拉桥动力特性的影响。详细地讨论了斜拉桥非线性来源 ,并运用 6节点薄壁单元和 4节点索单元分别考虑了斜拉桥弯曲构件和索的非线性特性。通过对一斜拉桥的数值分析 ,得到了关于斜拉桥动力参数敏感性的一般结论。     

动态陶瓷微滤膜净化沐浴污水实用研究

利用自制的动态陶瓷微滤膜对沐浴污水进行了处理,根据处理水质指标及膜操作参数的比较,发现在0.15MPa以下时,膜通量随压力的升高明显增加,大于0.15MPa时,压力对膜通量的影响不明显。合适的操作压力是0.1～0.15MPa,稳定通量为90～110L/m2·h。不同压力出水CODCr去除率达87%～98%、浊度从120°降到3°以下,处理后颜色为无色。并根据实验结果进行了工程化工艺初步设计和经济分析。     

Extending the color gamut and dynamic range of an sRGB image using a residual image

Image sources, such as digital camera captures and photographic negatives, typically have more information than can be reproduced on a photographic print or a video display. The information that is lost during the tone/color rendering process relates to both the extended dynamic range and color gamut of the original scene. In conventional photographic systems, most of this additional information is archived on the photographic negative and can be accessed by adjusting the way the negative is printed. However, most digital imaging systems have traditionally archived only a rendered video RGB image. As a result, it is not possible to make the same sorts of image manipulations that historically have been possible with conventional photographic systems. This suggests that there would be an advantage to storing images using an extended dynamic range/color gamut color encoding. However, because of file compatibility issues, digital imaging systems that store images using color encoding other than a standard video RGB representation (e.g., sRGB) would be significantly disadvantaged in the marketplace. In this article, we describe a solution that has been developed to maintain compatibility with existing file formats and software applications, while simultaneously retaining the extended dynamic range and color gamut information associated with the original scenes. With this approach, the input raw digital camera image or film scan is first transformed to the scene‐referred ERIMM RGB color encoding. Next, a rendered sRGB image is formed in the usual way and stored in a conventional image file (e.g., a standard JPEG file). A residual image representing the difference between the original extended dynamic range image and the final rendered image is formed and stored in the image file using proprietary metadata tags. This provides a mechanism for archiving the extended dynamic range/color gamut information, which is normally discarded during the rendering process, without sacrificing interoperability. Appropriately enabled applications can decode the residual image metadata and use it to reconstruct the ERIMM RGB image, whereas applications that are not aware of the metadata will ignore it and only have access to the sRGB image. The residual image is formed such that it will have negligible pixel values for those portions of the image that lie within the sRGB gamut, and will therefore be highly compressible. Tests on a population of 950 real customer images have demonstrated that the extended dynamic range scene information can be stored with an average file size overhead of about 8% compared to the sRGB images alone. © 2003 Wiley Periodicals, Inc. Col Res Appl, 28, 251–266, 2003; Published online in Wiley InterScience (www.interscience.wiley.com). DOI 10.1002/col.10160     

Fodor and Pylyshyn on connectionism

Fodor and Pylyshyn (1988) have argued that the cognitive architecture is not Connectionist. Their argument takes the following form: (1) the cognitive architecture is Classical; (2) Classicalism and Connectionism are incompatible; (3) therefore the cognitive architecture is not Connectionist. In this essay I argue that Fodor and Pylyshyn's defenses of (1) and (2) are inadequate. Their argument for (1), based on their claim that Classicalism best explains the systematicity of cognitive capacities, is an invalid instance of inference to the best explanation. And their argument for (2) turns out to be question-begging. The upshot is that, while Fodor and Pylyshyn have presented Connectionists with the important empirical challenge of explaining systematicity, they have failed to provide sufficient reason for inferring that the cognitive architecture is Classical and not Connectionist.     

极大代数意义下幂矩阵的周期性特征

在分析一类离散事件动态系统的运行周期性及稳定性时,必须求解极大代数意义下矩阵的特征值。这一直被认为是十分困难的工作。直至目前为止,尚无一种能确定任一方阵全部特征值及特征向量的简易方法。本文对极大代数意义下任一方阵的幂矩阵的周期性特征进行了深入分析。本文的结果为寻求计算特征值及特征向量的新算法提供了十分有效的途径。     

聚氨酯/聚(甲基丙烯酸甲酯-甲基丙烯酸丁酯)互穿聚合物网络聚合物的阻尼性能

采用本体聚合法合成出一系列阻尼性能良好的聚氨酯/聚(甲基丙烯酸甲酯-甲基丙烯酸丁酯)(PU/P(MMA-BMA))互穿聚合物网络(IPN)聚合物,通过动态力学分析方法表征了PU/P(MMA-BMA)IPN聚合物的阻尼性能。探讨了加入催化剂、高温后处理、交联剂用量及PU与P(MMA-BMA)的质量比对PU/P(MMA-BMA)IPN聚合物阻尼性能的影响。实验结果表明,经高温后处理后,以二月桂酸二丁基锡为催化剂、交联剂二乙烯基苯用量(占MMA和BMA的摩尔分数)为1.5%、PU与P(MMA-BMA)的质量比接近1或小于1时,PU/P(MMA-BMA)IPN聚合物具有良好的阻尼性能。     

正压冲固基础海洋平台冰激振动动力响应

正压冲固基础海洋平台是一种新型平台桩基结构形式。采用三维有限元的数值分析方法,建立了正压冲固平台的三维有限元模型。基于冰激强迫振动理论提出动冰载荷的计算方法,根据海冰破碎长度和冰速确定冰载周期,冰强度限制的水平冰力作为冰力峰值,得到的动冰载荷用于正压冲固平台的动力响应分析,并依照规范计算了6倍桩径处刚性固定时的动力响应。三维有限元方法计算得到的动力响应大于6倍桩径刚性固定时的计算结果,结构安全性评估偏于安全。