有环境约束时完成一族跟踪任务的力控制

本文为工业机器人提出了一种极点配置控制法，这种控制方法的优点有：一是它的积分作用消除了机器人的微小扰动和稳态误差；二是能任意设置系统的极点，因此能保证闭环系统的稳定性和规定状态变量的暂态响应；三是加入了加速度反馈，抑制了由电枢电感所引起的机械手的振动，最后，给出了ＰＵＭＡ５６２机器人的计算机仿真和实验结果验证了此控制法的有效性。     

一种实现目标定位与跟踪的新方法

本文介绍了一种采用圆周阵对目标声源进行被动定位和跟踪的方法，与线阵不同，圆四可对目标进行全方位跟踪，且测距精度不受目标方位变化的影响，文中给出了圆周阵的测距，测向公式，并从理论上分析了测距性能，计算机仿真结果验证了理论分析的正确性。     

泥浆制备中工艺改造的研究

根据室条件下粉磨试验结果，发现球磨过程中筛上料变化存在的突变范围，提出两次加料一次加水可改变泥浆颗粒分布，并找出适宜的加料种类与时间。另外给予测粒度分布提供了宝贵的试验基础数据。     

Software for dynamic reconfigurable order picking systems

This paper describes an approach, conceptual framework, and software architecture for dynamic reconfiguration of the order picking system. The research and development project was sponsored by the Material Handling Research Center (MHRC), a National Science Foundation sponsored Cooperative Industry/University Research Center. The storage configuration is assumed to be an in-the-aisle order picking system in which stockkeeping units (SKUs) can occupy variable capacity storage locations and stock-splitting is allowed among zones (clusters). The product mix may include multiple product families with different life cycles, correlated demand within families and commonality of demand across families.     

Editorial.

With this volume, the 47-year old Canadian Journal of Psychology takes a new name and makes a renewed commitment. In retitling the journal the Canadian Journal of Experimental Psychology, the intention is to reflect more clearly what has always been the major goal of the journal--to publish the best new research in experimental psychology, both Canadian and international, in both French and English. I am honoured to become the tenth editor of the major journal for experimental psychology in Canada. CJP has served the field very well; my primary goal is to ensure that CJEP continues to do so. (PsycINFO Database Record (c) 2010 APA, all rights reserved)     

Finances and Well-Being: A Dynamic Equilibrium Model of Resources.

This study of 513 Dutch farmers tested a dynamic equilibrium model of resources (an extension of the conservation of resources theory; S. E. Hobfoll, 1989, 1998, 2001). With structural equation modeling, the advantages of a 3-wave longitudinal design were comprehensively used, such as addressing bidirectional causal effects and within-individual vs. between-individual change. This allowed for a careful analysis of the management function of resources in the stress process. Results showed that well-being had stronger within-person stability than finances. Increased levels of financial problems temporarily increased psychological distress but not self-reported illness. Conversely, farmers with higher stable baselines of psychological distress also had higher baselines of self-reported illness and experienced more negative changes in their financial situation. (PsycINFO Database Record (c) 2010 APA, all rights reserved)     

Lake-Level Change and Water Balance Analysis at Lake Qinghai,West China during Recent Decades

Lake Qinghai, the largest saline lake with an area of 4,260 km² (2000) and average depth of 21 m (1985) in West China, has experienced severe decline in water level in recent decades. This study aimed to investigate water balance of the lake and identify the causes for the decline in lake level. There was a 3.35-m decline in water level with an average decreasing rate of 8.0 cm year⁻¹ between 1959 and 2000. The lake water balance showed that mean annual precipitation between 1959 and 2000 over the lake was 357 ± 10 mm, evaporation was 924 ± 10 mm, surface runoff water inflow was 348 ± 21 mm, groundwater inflow was 138 mm ± 9 and the change in lake level was −80 ± 31 mm. The variation of lake level was highly positively correlated to surface runoff and precipitation and negatively to evaporation, the correlation coefficients were 0.89, 0.81 and −0.66, respectively. Water consumption by human activities accounts for 1% of the evaporation loss of the lake, implying that water consumption by human activities has little effect on lake level decline. Most dramatic decline in lake level occurred in the warm and dry years, and moderate decline in the cold and dry years, and relatively slight decline in the warm and wet years, therefore, the trend of cold/warm and dry climate in recent decades may be the main reasons for the decline in lake level.     

Experimental data and approximate estimation for dissociation time of hydrate plugs

New experimental data coupled with a numerical model and an approximate solution are proposed to predict dissociation time of hydrate plugs in oil sub-sea pipelines. The experimental hydrate plugs are dissociated by the method of symmetric depressurisation, both in a specially designed apparatus and a classical batch reactor. The agreement between the estimation of the model and the experimental data and the simplicity of the approximate equation presents an advantage in estimating the time of hydrate plug dissociation in pipelines.     

Apollonius tenth problem via radius adjustment and Möbius transformations

The Apollonius Tenth Problem, as defined by Apollonius of Perga circa 200 B.C., has been useful for various applications in addition to its theoretical interest. Even though particular cases have been handled previously, a general framework for the problem has never been reported. Presented in this paper is a theory to handle the Apollonius Tenth Problem by characterizing the spatial relationship among given circles and the desired Apollonius circles. Hence, the given three circles in this paper do not make any assumption regarding on the sizes of circles and the intersection/inclusion relationship among them. The observations made provide an easy-to-code algorithm to compute any desired Apollonius circle which is computationally efficient and robust.     

Hazardous waste management problem: The case for incineration

We define the hazardous waste management problem as the combined decisions of selecting the disposal method, siting the disposal plants and deciding on the waste flow structure. The hazardous waste management problem has additional requirements depending on the selected disposal method. In this paper we focus on incineration, for which the main additional requirement is to satisfy the air pollution standards imposed by the governmental restrictions. We propose a cost-based mathematical model in which the satisfaction of air pollution standards is also incorporated. We used the Gaussian Plume equation in measuring the air pollution concentrations at population centers. A large-scale implementation of the proposed model within Turkey is provided.