A Ray-Tracing Analysis of ICRH in Tokamaks

Power deposition profiles generated by Ion Cyclotron Resonance Heating （ICRH） in non-circular tokamaks are studied using a ray-tracing technique. The simulation results for the Experimental Advanced Superconductor Tokamak （EAST） D-shaped plasma are presented. It is indicated that the spatial distributions of plasma parameters （plasma density, species temperature, minority ion concentration, etc.） have an significant influence on the power deposition profiles. The findings may be highly useful to the planned plasma heating and experiments in EAST.     

一维弹道修正模块设计与仿真

简要介绍了一种用于维弹道修正引信的执行机构。通过数学模型，结合MDT三机械设计软件和Working Model动力学仿真软件，对机构的受力情况和工作过程进行了数字仿真和系统分析，并通过对飞行弹道的模拟，得出了一维时间控制射程修正规律。     

Minimum-Energy Translational Trajectory Generation for Differential-Driven Wheeled Mobile Robots

Mobile robots can be used in many applications, such as exploration, search and rescue, reconnaissance, security, and cleaning. Mobile robots usually carry batteries as their energy source and their operational time is restricted by the finite energy available from the batteries. Therefore, energy constraints are critical to the service time of mobile robots. This paper investigates the minimum-energy control problem for translational trajectory generation, which minimizes the energy drawn from the batteries. Optimal control theory is used to find the optimal velocity trajectory in analytic form. To demonstrate energy efficiency obtainable, we performed simulations of minimum-energy velocity control and compared the results with loss-minimization control and energy-optimal trapezoidal velocity profiles. Simulation results showed that significant energy savings can be achieved, of up to 9% compared with loss-minimization control and up to 10% compared with energy-optimal trapezoidal velocity profile. We also performed an actual robot experiment using Pioneer 3-AT platform to show the validity of the proposed minimum-energy velocity control. The experimental results revealed that the proposed minimum-energy velocity control can save the battery energy up to 10% compared with loss-minimization control. Categories (3): Robot control, (5): RobotMotion Planning     

田5-斜19五段制剖面定向井钻井技术

五段制剖面定向井施工难度较大，主要介绍了田5—斜19井的井眼轨迹控制、相关安全钻井及钻井液技术，并对施工中发生的复杂情况进行了分析，总结了一些经验，对五段制剖面类型定向井施工具有一定的参考价值。     

云南东川泥石流沟与非泥石流沟~(137)Cs示踪法物源研究

运用1 37Cs示踪法调查云南东川小江流域 6条泥石流沟、6条非泥石流沟和主河的泥沙来源。泥沙主要来源于冲沟侵蚀和滑坡崩塌堆积、坡耕地和草地。坡耕地和草地表层土壤1 37Cs平均含量分别为 0 9Bq m2 和1 98Bq m2 ,冲沟沟壁和滑坡崩塌堆积土体1 37Cs。作者通过 3种源地土体1 37Cs含量的比较 ,分析了细粒泥沙(<0 0 1mm)的来源。 6条泥石流沟冲沟侵蚀和重力侵蚀 (滑坡崩塌 )的相对产沙量变化于 90 2 %～ 1 0 0 % ,平均值为 95 1 % ,6条非泥石流沟的相对产沙量变化于 74 5 %～ 83 3% ,平均值为 78 9%。小江主河为 81 4 %。     

无线光接入技术

无线光通信系统以其高带宽、低成本和安装迅捷等优势成为非常有竞争力的光接入新技术。对无线光通信系统的关键技术、主要优势和存在的问题及国内外相关产品的发展状况和主要特点进行了论述和介绍。     

An efficient hierarchicaltraversal algorithm for ray tracing

Ray tracing has been shown to be an excellent technique for rendering realistic images. However, it is important to reduce the lengthy computation time resulting from the brute-force nature of the original ray-tracing algorithms. In this paper, two ideas are proposed to speep up the well-known hierarchical subdivision method. First, a new hierarchy traversal scheme is described to reduce the number of raybounding volume intersection tests for secondary rays. Then, a plane-sweep method is proposed to make fewer intersection checks for eye rays. Experiments and discussions are presented to prove the feasibility of our methods.     

用于X光激光实验的反射式线聚焦光学系统的设计和分析

基于三维光线追迹的象差计算,对卢瑟福实验室用离轴球面反射线聚焦系统作了分析。然后,首次提出了用于X光激光实验的两类新的反射式线聚焦构型,即反射式光楔列阵和光锥列阵系统,并作了计算。最后,对所得结果作了比较和讨论。     

自控温电伴热材料在仪表测量管线上的应用

文章就化工自动化仪表测量管线的伴热问题,介绍了自控温电伴热材料的特点、伴热设计、施工方案以及运行中的注意事项。     

The Influence of Gravity on Trajectory Planning for Climbing Robots with Non-Rigid Legs

In this paper questions related to the occurrence of departures of a legged climbing robot from the given trajectory are considered. The basic idea of the paper is to show that, if there are slackness and non-rigidities, the legged climbing robot moving upon an inclined or vertical plane, departs systematically from the planned trajectory. It is demonstrated that these departures result from the gravity and are of systematic character. It is also shown how the inclusion of torsion effect changes substantially the nature of systematic errors arising from robot's movement along the inclined surface.