A Topological Implementation for Motion Planning of a Robotic Arm

An efficient path planning algorithm based on topologic method is presented in this paper.The collision free path planning for three-joint robotic arm consists of three parts:partition of C-space,construction of CN and search for a path in CN.We mainly solved the problems of partitioning the C-space and undging the connectivity between connected blocks,etc.For the motion planning of a robotic arm with a gripper,we developed the concepts of global planning and local planning,and discussed the basic factors for constructing the planning system.In the paper,some evaluation and analysis of the complexity and reliability of the algorithm are given,together with some ideas to improve the efficiency and increase the reliability.At last,some experimental results are pesented to show the efficency and accuracy of the algorithm.     

井场信息系统建设体系结构

对井场钻井数据实时远程传输的研究和实践进行了总结,从数据远传作用、数据远传通信方式、数据通信网络体系结构、未来发展等几个方面对井场数据远程传输进行了探讨。     

COATES GRAPH APPROACH FOR GENERATING SYMBOLIC NETWORK FUNCTION

In this paper, symbolic code matrix ,constant matrix and count matrix are defined .The first twomatrices are used to describe the elemental expression of augmented matrix and the nede admittance equa-tion is thus obtained. The third matrix is used to obtain the incoming degree matrix, and according to thematrix all the 1- factors of the Coates graph are given. By using the data code, the determinant is expandedand the same items in the expansion are merged. Thus the symbolic network function in which no term can-cellation occurs is generated.     

Design and Implementation of a Flexible Manufacturing Control System Using Neural Network

Design and implementation of a sequential controller based on the concept of artificial neural networks for a flexible manufacturing system are presented. The recurrent neural network (RNN) type is used for such a purpose. Contrary to the programmable controller, an RNN-based sequential controller is based on a definite mathematical model rather than depending on experience and trial and error techniques. The proposed controller is also more flexible because it is not limited by the restrictions of the finite state automata theory. Adequate guidelines of how to construct an RNN-based sequential controller are presented. These guidelines are applied to different case studies. The proposed controller is tested by simulations and real-time experiments. These tests prove the successfulness of the proposed controller performances. Theoretical as well as experimental results are presented and discussed indicating that the proposed design procedure using Elman's RNN can be effective in designing a sequential controller for event-based type manufacturing systems. In addition, the simulation results assure the effectiveness of the proposed controller to outperform the effect of noisy inputs.     

浅谈如何搞好加油站的风险评价

阐述了加油站实施HSE管理，进行加油站风险评价的必要性，介绍了评价方法及其应用范围，评价组织的建立和工作流程及注意事项，指出：进行加油站风险评价，在选择评估方法时应从加油站的生产实际出发，针对不同的区域，采用适当的，可操作的方法；找出身边存在的危害因素，采取适当的措施来控制和化解风险，提高加油站安全管理水平，才能适应加入WTO后所面临的挑战。     

网络安全中的防火墙技术

介绍了防火墙的原理、分类及其应用     

新疆伊犁托海水电站拱坝坝体变形监测分析

根据托海拱坝5号坝段、7号坝段例垂线实测资料分析，说明了新疆寒冷地区坝体采取聚胺脂喷涂施工措施后对坝体变形的影响，以及右坝肩渗漏对右坝肩岩体的影响，分析结果为托海水电站通过国家电力公司大坝安全监察中心大坝安全首次定检提供了科学依据。     

引黄工程首次试通水期间泵站安全监测资料的分析

介绍了引黄工程泵站建筑物的结构特性、监测情况以及首次试通水期间 安全监测量的变化特点，指出了监测资料反映出的一些工程实际问题。通过定量分析，揭示 了建筑物承受的主要荷载以及监测量的变化规律，发现了工程问题发生和发展的原因，较为 系统、深入地从安全监测的角度研究了引水工程泵站地下洞室群的工作性态。     

网络展开图与符号网络分析

采用封闭网络模型,按照电路元件参数,采用开路、短路和着色运算,将电路图逐层分解,得到网络展开图.给出网络展开图的概念和运算规则,指出网络展开图中从根到末稍每个路径的值就是网络行列式展开式中的一个有效项,从而由网络展开图得到符号网络函数.该方法直接对电路图进行运算,不需要建立任何形式的电路方程和行列式,适用于一般的有源电路,而且能生成各种类型的网络函数.     

宽带无源光网络(BPON)关键技术的发展与研究

宽带无源光网络（BPON）是实现宽带、多业务接入的理想物理平台，本文介绍了BPON网络的发展，重点讨论了将ATM技术和PON技术相结合的APON系统及其升级系统SuperPON的基本结构和关键技术，对最近兴起的将以太技术和PON技术相结合的EPON系统的基本概念和工作原理也进行了阐述，并对未来BPON技术的发展进行了展望。