Real-World Robotics: Learning to Plan for Robust Execution

In executing classical plans in the real world, small discrepancies between a planner's internal representations and the real world are unavoidable. These can conspire to cause real-world failures even though the planner is sound and, therefore, proves that a sequence of actions achieves the goal. Permissive planning, a machine learning extension to classical planning, is one response to this difficulty. This paper describes the permissive planning approach and presents GRASPER, a permissive planning robotic system that learns to robustly pick up novel objects.     

反向回转双激振器振动机控制同步的理论研究

本文对两激振器作反向回转的振动机控制同步进行了理论研究和计算机仿真。推导出了考虑质心偏移时两主轴的转矩差方程，在此基础上建立了控制系统的数学模型，设计了具有鲁棒性的非线性变结构滑模控制器．仿真结果表明，控制同步不仅可以消除由质心偏移、电机特性差等原因引起的稳态相位差，同时还能大大降低瞬态相位差，从而使机体的振动方向保持不变，减小起、制动过程中机体的摇摆振动．     

太钢4号高炉喷煤站应用MFD—Ⅲ型布袋除尘器的实践

太钢４号高炉喷煤站从１９９０年起采用ＭＦＤ－Ⅲ型脉动反吹式布袋除尘器。这种除尘器采用脉动式反吹清灰设施，合理布置布袋间距，布袋支撑骨架及选用针呢材质的布袋，过滤面积大，反吹清灰效果好，设备运行平稳，除尘效率高达９９．８％，排放浓度小于１０ｍｇ／ｍ＾３，故障率低。     

Machine assignment and part-families formation using group technology

The conventional way of solving the group technology (GT) problem is to start from an assignment of parts to machines and try to find a partitioning of machine cells and part families. The similarity between parts is measured based on commonality of the machines assigned to them. However, parts are assigned to machines based on their operation requirements and the operation capabilities of machines. Similarity between parts should be based on their required operations. In this paper, the authors attempt to solve or facilitate solving the GT problem at the assignment level. An algorithm for assigning parts to machines is provided which utilizes the types of operations required by parts and applies GT principles in producing the assignment. This leads to better partitioning of machine cells and part-families. Furthermore, operation sequences required by parts in determining the similarity between parts have been considered. An algorithm to form part-families based on the operation sequence similarity coefficient has been developed. The resulting families are then used by the assignment algorithm to produce machine assignments to part-families. The use of the algorithm is demonstrated by examples.     

Advancing controlled release packaging through smart blending

Researchers from Rutgers University and Clemson University have collaborated to develop a concept of using smart blending to generate functional packaging films for the controlled release of active compounds such as antimicrobials, antioxidants and flavour compounds to extend the shelf‐life of food. In this paper, literature results are reviewed to justify the significance of controlled release packaging (CRP) and the research gaps for further development are identified. A major research gap is the lack of packaging materials that can provide the release of active compounds at rates suitable for a wide range of food packaging applications. Smart blending is a promising technology for bridging this research gap. To fully realize the potentials of smart blending, a systematic approach for developing CRP using smart blending is also presented. Copyright © 2005 John Wiley & Sons, Ltd.     

落脚河水电站引水发电系统的调节保证计算分析

水轮发电机组在运行中遇到启动、正常停机、增减负荷、事故甩负荷等工况变化时，经常会引起引水发电系统的水力过渡过程，所以在设计中必须通过调节保证计算以选择合适的导叶调节规律及其调节时间，从而优化压力引水系统的运行工况，使水电站的水工建筑物布置既经济合理又安全可靠。     

球头碗球面加工组合机床设计

根据球面形成原理,利用铣刀和工件的两个圆运动,合成球头碗的不完整内球面。采用组合机床,结构简单,调整、维护方便,主轴弹性卡头便于工件装卸。对零件尺寸、形状和位置误差进行了分析。通过对铣刀和主轴电机的变频调速,找出最佳切削参数,实现了内球面的高效率高精度加工。     

画龙点睛一包

皮包对于每一位女士而言都具有双重价值，即使用价值与装饰价值。选择一款款式、颜色与衣服相得益彰的皮包，对自己的整体魅力而言，确实是点睛之笔。