The World robot summit disaster robotics category – achievements of the 2018 preliminary competition

The World Robot Summit is a robot Olympics and aims to be held in a different country every four years from 2020. The concept of the Plant Disaster Prevention challenge is daily inspections, checks, and emergency response in industrial plants, and in this competition, robots must carry out these types of missions in a mock-up plant. The concept of the Tunnel Disaster Response and Recovery challenge is emergency response to tunnel disasters, and is a simulation competition whereby teams compete to show their ability to deal with disasters, by collecting information and removing debris. The Standard Disaster Robotics challenge assesses, in the form of a contest, the standard performance levels of a robot that are necessary for disaster prevention and emergency response. The World Robot Summit Preliminary Competition was held at Tokyo Big Sight in October 2018, and 36 teams participated in the Disaster Robotics Category. UGVs and UAVs contended the merits of new technology for solving complex problems, using core technologies such as mobility, sensing, recognition, performing operations, human interface, autonomous intelligence etc., as well as system integration and implementation of strategies for completing missions, gaining high-level results.     

基于新理念的杀毒软件

论文通过对病毒及反病毒技术的发展分析,总结了现有一些较优秀的杀毒软件的优缺点,提出了基于新理念的攻防查杀型杀毒软件的实现模型。     

移动机器人路径规划方法研究

移动机器人技术研究中的一个重要领域是路径规划技术，它分为基于模型的环境已知的全局路径规划和基于传感器的环境未知的局部路径规划。综述了移动机器人路径规划技术的发展现状指出了各种方法的优点与不足，最后对移动机器人路径规划技术的发展趋势进行了展望。     

可移动机器人的运动学模型与控制原理

本文首先对可移动机器人的运动学进行了分析，建立了运动学模型与控制结构图，然后采用时域分析法对此系统进行了校正，最后通过对此系统的仿真与时测实验，对各校正环节的参数进行了整定。     

Generation of Technology-Independent Retargetable Analog Blocks

This paper introduces a complete methodology for retargeting of analog cells to different sets of specifications. This methodology is technology-independent, thus allowing the migration, from one technology to another, of the circuit under retargeting. Careful integration of the device sizing and layout generation tasks via the incorporation of layout constraints during the sizing process allows to generate fully functional designs in a few minutes. The methodology is illustrated via the retargeting of a fully-differential Miller-compensated two-stage operational amplifier for a new set of specifications and two different technological processes.An erratum to this article can be found at     

An Effective Software Pipelining Algorithm for Clustered Embedded VLIW Processors

This paper proposes a software pipelining framework, CALiBeR (ClusterAware Load Balancing Retiming Algorithm), suitable for compilers targetingclustered embedded VLIW processors. CALiBeR can be used by embedded systemdesigners to explore different code optimization alternatives, that is, high-qualitycustomized retiming solutions for desired throughput and program memory sizerequirements, while minimizing register pressure. An extensive set of experimentalresults is presented, demonstrating that our algorithm compares favorablywith one of the best state-of-the-art algorithms, achieving up to 50% improvementin performance and up to 47% improvement in register requirements. In orderto empirically assess the effectiveness of clustering for high ILP applications,additional experiments are presented contrasting the performance achievedby software pipelined kernels executing on clustered and on centralized machines.     

软X射线对血液有形成分表面电荷的影响——2、淋巴细胞和血小板膜电荷的变化

软X射线不仅能引起红细胞表面电荷的变化,同时也能导致淋巴细胞和血小板表面电荷下降,表现为照射后它们的电泳率下降。低剂量范围内,这种电荷的变化是暂时性的,照后4小时降到最低点,24小时后恢复到对照的水平。细胞电泳率的下降与辐射剂量相关。淋巴细胞是一个复杂的细胞群,正常状态下,按细胞在电场中泳动速度的快慢,可分为两个组分:快峰为T细胞,慢峰为B细胞。软X射线照射以后,T和B细胞的电泳率皆减慢,频数分布峰值下降,离散度加大。血小板成分单一,电泳率较一致。 从照射浓集的血小板再加回自身血浆中电泳率的下降较照射血浆再加到血小板中的电泳率下降大得多;受照射的血小板在磷酸缓冲液中电泳率下降较在血浆悬液中严重得多;2000 rad照后,悬浮于血浆中的血小板电泳率能恢复,而悬浮于磷酸缓冲液中则不能恢复,三个方面来看,血浆中可能存在抗辐射因子。超氧化物岐化酶能有效地预防血小板电泳率的下降,从而可阻止血小板的凝聚。     

松软厚煤层轻放工作面切眼锚杆支护实践

针对朱仙庄矿 84 15工作面切眼特殊的地质条件 ,介绍了高强锚杆 (索 )支护技术成功应用于特厚极软煤层的经验 ,并对巷道支护成本进行了分析     

15000 m^3／h制氧机组同步电动机起动技术研究

介绍液态软起动技术在济钢 15000 m3/h制氧机配套的 6000 kW同步电动机上的应用情况,阐述了系统的原理、特点、仿真计算及实际应用后达到的效果.