一种基于区域分割的多级环境建模方法

针对现有移动机器人路径规划中各种环境建模方法存在使用范围有限、复杂问题处理能力不足和运行效率低、缺乏灵活性等问题，结合二维半描述和知识利用原理，提出了一种可以比较圆满地解决诸如建筑物内不同楼层连接、室内室外环境交替出现等实用结构性空间问题的基于区域分割的多级环境建模方法。     

代数应力模式的分析解及其在充分发展旋转管流中的应用

本文通过求解雷诺应力在代数应力模式中与平均速度梯度之间的分析关系，研究了代数应力模式在涡旋流动特别是在充分发展旋转管流中存在的内在缺陷，这些缺陷的主要表现为：（１）在不考虑固壁对湍流影响的代数应力模式中，分析解给出Ｗ∝ｒ和ｖｗ＝０的错误结论；（２）若在代数应力模式中考虑固壁对湍流影响，在对称轴上会有ｖ＾２不等于ｗ＾２的非物理解。与诺应力输运模式相比，代数应力模式的缺陷归限结底在于该模式的基本假设不     

多媒体音频设备驱动程序的结构和原理

本文以波形音频输入输出为样本，剖析了Ｗｉｎｄｏｗｓ音频设备驱动程序的结构和原理。Ｗｉｎｄｏｗｓ设备驱动程序为应用提供了可扩展，设备无关，一致的接口。本文给出了数字波形数据Ｉ／Ｏ的处理过程，以及应用程序，驱动程序和音频硬件的层次关系。     

Evaluation of Textile Bobbins Drying Processes: Experimental and Modelling Studies

Drying of textile bobbins was carried out on two kinds of laboratory-scale dryers: in a cross circulation drying rig, atmospheric pressure heating air is used, while in the through circulation drying apparatus, the heating air is pressurized before the drying process takes place. In both cases, a bobbin was fitted with seven thermocouples, placed in a plane normal to the bobbin axis but at different radial distances, in order to provide temperature data during the drying process. In cross circulation drying, plots of temperature against time indicated the presence of two moving fronts, one starting from inside the bobbin, another from the outside, while in through circulation drying, similar plots showed the presence of an evaporation front, moving from inside the bobbin to the outside. In both canes, numerical models were developed to simulate the drying processes.     

Accurate estimation of environment parameters from ultrasonic data

This paper describes a robust and accurate ultrasonic sensing system for a mobile robot. The system continuously updates a local map of the environment in which obstacles are represented by straight lines or points in a robot centered coordinate frame. The presented algorithms use a Kalman filter for the reduction of the noise in the ultrasonic data and use a systematical error correction (‘bundle correction’) to reduce the uncertainty in obstacle direction. Experiments are carried out in simulation and with a real mobile robot system. Results show that the accuracy with which line parameters can be estimated is in the order of 1 degree for the orientation and about 2 cm for the position. The effect of the bundle correction is significant and maximal when the robot approaches walls under a small angle.     

A computational model for analysing interactive buckling and delamination growth in composite structures

In this paper, a unified method is presented: (i) to model delaminated stiffened laminated composite shells; (ii) for synthesising accurate multiple post-buckling solution paths under compressive loading; and (iii) for predicting delamination growth. A multi-domain modelling technique is used for modelling the delaminated stiffened shell structures. Error-free geometrically nonlinear element formulations — a 2-noded curved stiffener element (BEAM2) and a 3-noded shell element (SHELL3) — are used for the finite element analysis. An accurate and simple automated solution strategy based on Newton type iterations is used for predicting the general geometrically nonlinear and postbuckling behaviour of structures. A simple method derived from the 3-dimensionalJ-integral is used for computing the pointwise energy release rate at the delamination front in the plate/shell models. Finally, the influence of post-buckling structural behaviour and the delamination growth on each other has been demonstrated.     

Gildes model studies of aqueous chemistry. III. Initial SO2-induced atmospheric corrosion of copper

The GILDES computer model, incorporating Stumm's concept of proton- and ligand-promoted dissolution, has been used to simulate the exposure of copper at room temperature to 210 ppb sulfur dioxide and 80% relative humidity. The agreement is good between the calculations and laboratory exposures performed under these exposure conditions. Surface reactions are relatively more important at lower relative humidities and the dominant corrosion products formed are solid state Cu₂SO₃, CuSO₃ and Cu₂U. Free-radical redox processes are important participants and control the relative distribution of Cu(I)- and Cu(H)-containing corrosion products.     

核电厂放射性监测系统仿真的数学物理模型

较详细地介绍了在北京核电厂模拟培训中心的模拟器上建立ＲＭＳ仿真系统的工作。首先对仿真的原型进行分析和简化，建立数学物理模型，并对包括ＲＣＳ、ＰＺＲ、ＳＧ、ＣＶＣＳ等的近２０个核电厂系统进行了动态仿真建模，确定ＲＭＳ各监测点放射性水平仿真读数的计算方法，最后，给出部分仿真实验结果，以验证数学物理模型的可靠性和适用性。     

Dynamics Modelling of Hexaslides using the Decoupled Natural Orthogonal Complement Matrices

In this paper, dynamic model of a class of parallel systems, namely, the hexaslides, is proposed. The model developed is based on the concept the decoupled natural orthogonal complement (DeNOC) matrices, introduced elsewhere. The dynamic model of hexslides, though complex due to the existence of multi-loop kinematic chains, is required for actuator power estimation, computed-torque control, optimum tool trajectory generation, etc. The use of DeNOC offers many physical interpretations, recursive algorithms, and parallel computations. Using the proposed dynamic model, a parallel inverse dynamics algorithm has been presented to compute the actuator forces. This is useful to choose suitable motors for an application. An illustration is provided using an existing machine tool based on hexaslides, namely, the HexaM, while it is carrying out a circular contouring. Secondly, the effect of leg and slider inertias is also studied, which clearly suggests that neither of these can be neglected while finding the actuator forces.