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.     

一种基于TDA16846的新型有源功率校正电路设计

介绍一种由集成电路芯片TDA16846完成的利用电荷泵(Charge Pump)实现的有源功率因数校正(APFC)技术。这种APFC电路的突出优点就是结构简单,通过对常规缓冲电路进行合理调整,可以很容易变成具有PFC功能的高性能开关电源。分析了APFC的工作原理,应用专用芯片TDA16846设计了电路图,并阐述了主要元件的功能。经实验证明,推荐电路设计合理,应用前景广阔。     

山西引黄工程南干线7# 隧洞衬砌外水压力研究

本文采用综合修正系数取代规范建议的单一折减系数,用渗流场分析方法确定作用在引黄入晋南干线7#隧洞衬砌上的外水压力。由己知钻孔水位及泉水位反演出各地层的渗透张量及地表入渗强度求得初始渗流场。衬砌外水压力分析中考虑了衬砌混凝土的渗透性以及排水、灌浆等工程措施的影响。根据分析结果,提出了系统排水孔布置的建议,得出了在相应的排水减压措施下衬砌厚度由原设计35cm减至25cm,这一建议已被采用,取得了巨大经济效益。     

基于i860的存储器子系统设计

微处理机系统中的存储器子系统设计对整个系统性能的高低有重要的影响，尤其当微处理器的主频越来越高时。本文结合实际例子，给出了一个基于ｉ８６０处理器（４０ＭＨｚ）的主存设计方案，讨论了实际中需仔细考虑的因素。该设计可为其它高性能ＲＩＳＣ系统设计提供参考。     

不含4圈的最大简单图边数的下界

证明了具有不小于6个顶点的不包含4圈的简单图的最大可能边数的下界是2n-5。     

Results of the ASTM field test of tristimulus weighting functions

In 1993, the American Society for Testing and Materials carried out a field test of newly calculated tristimulus weighting factors. These weighting factors had been calculated by a method proposed by Venable. the test also included a method of correction for bandpass dependence put forth by Stearns. the purpose of the trial was to assess the possible reduction in bandpass dependence introduced by each of these sets of weights. A large number of sets of spectral data were gathered from the cooperators in the field test. Results of integration by the various sets of tristimulus weighting factors were calculated. A total of 15 120 color differences were calculated and statistics were derived to test the probable error resulting from each method of correction. Errors attributable to bandpass dependence were on the order of a few tenths to as much as one CIELAB unit when uncorrected weight sets were used. These errors could be reduced to a few hundreths of a CIELAB unit, and in some cases to a few thousandths of a unit, by employing one correcting strategy or the other. an overall mix of strategies was ultimately chosen to minimize the bandpass dependence over the entire range of weight sets. Utilizing this mixed strategy, the median error introduced into 10-nm integration by bandpass dependence was only 0.004 CIELAB units. © 1995 John Wiley & Sons, Inc.     

分析卤化银微晶的EDS方法探讨

本文探讨了用Ｘ射线能谱仪（ＥＤＳ）分析卤化银微晶的空间分辨率和吸收修正问题。对ＳＥＭ－ＥＤＳ和ＳＴＥＭ－ＥＤＳ两种不同分析模式的空间分辨率进行计算，表明ＳＴＥＭ－ＥＤＳ是研究单个卤化银微晶内碘的含量及分布的有效方法。并对定量分析数据和吸收修正参数进行了讨论，结果证明微晶不同区域厚度的差异，对碘含量的定量测定的影响可以忽略。     

野外观测系统的检验与校正

在地震资料处理中常常发现野外观测系统不准,其后果极为严重。为了避免重复施工,改善处理效果,笔者在IBM3081系统上编制了利用初至波对野外观测系统进行检验和校正的程序。文中介绍了两种校正方法:其一是只作炮检距校正。根据工区的小折射、井口时间、反射记录等资料提供一条或几条比较准确的初至时距曲线,作为标准曲线,然后将从实际共炮点道集中拾取的初至曲线与标准初至时距曲线相比较,确定出实际初至曲线所对应的炮检距,并对各个地震道的空间属性进行修改。对某三维工区的处理结果表明,该方法的效果良好。其二是先用迭代方法加误差约束条件计算炮点和检波点的坐标,然后计算炮检距,再进行校正。这种校正处理的效果也是明显的。但实验表明,对于观测系统误差较大的数据,不宜作坐标计算,只作炮检距校正尚可完成部分校正。处理中要根据数据的性质选取校正方法。     

叠前地震数据的规则化

本文通过对动校正前积分法DMO原理的探讨，在借鉴Canning(1996)提出的利用DMO实现三维数据规则化的方法和Biondi(1998)提出的三维叠前地震数据方位角校正方法的基础上，从方位角校正的角度入手，利用DMO和DMO^-1相结合的处理流程对地震数据进行规则化，以得到新的规则的观测系统下具有所需特定方位角的观测数据。此方法可用于解决叠前地震数据道插值、陆上地震勘探中不规则观测数据的规则化和海上地震勘探中的羽状现象校正等问题，可将已有地震观测数据转变为特定观测系统的叠前地震数据，以便于某些处理方法的应用。此方法原理简单并具有广泛的适用性。     

用COEFGN程序实现Eclips系统对RFT仪器的温度校正

Eclips测井系统对阿特拉斯生产的FMT仪器进行温度校正的20个主刻度数据都是浮点数据，利用COEFGEN程序产生的浮点校正数据输入到Eclips测井系统中对RFT进行温度校正，把RFT仪器的温度压力关系的十进制主刻度数据转换成Eclips测井系统对FMT仪器进行温度压力校正的浮点数据，对RFT仪器所测的泥浆柱压力值和地层压力值进行了实时测井校正，并分析了校正前后的误差。