Multimodal sensing and active continuous closed‐loop feedback for achieving reliable manipulation in the outdoor physical world

The use of field robots can greatly decrease the amount of time, effort, and associated risk compared to if human workers were to carryout certain tasks such as disaster response. However, transportability and reliability remain two main issues for most current robot systems. To address the issue of transportability, we have developed a lightweight modularizable platform named AeroArm. To address the issue of reliability, we utilize a multimodal sensing approach, combining the use of multiple sensors and sensor types, and the use of different detection algorithms, as well as active continuous closed‐loop feedback to accurately estimate the state of the robot with respect to the environment. We used Challenge 2 of the 2017 Mohammed Bin Zayed International Robotics Competition as an example outdoor manipulation task, demonstrating the capabilities of our robot system and approach in achieving reliable performance in the fields, and ranked fifth place internationally in the competition.     

Dynamic probe of ZnTe(110) surface by scanning tunneling microscopy

The reconstructed surface structure of the II–VI semiconductor ZnTe (110), which is a promising material in the research field of semiconductor spintronics, was studied by scanning tunneling microscopy/spectroscopy (STM/STS). First, the surface states formed by reconstruction by the charge transfer of dangling bond electrons from cationic Zn to anionic Te atoms, which are similar to those of IV and III–V semiconductors, were confirmed in real space. Secondly, oscillation in tunneling current between binary states, which is considered to reflect a conformational change in the topmost Zn–Te structure between the reconstructed and bulk-like ideal structures, was directly observed by STM. Third, using the technique of charge injection, a surface atomic structure was successfully fabricated, suggesting the possibility of atomic-scale manipulation of this widely applicable surface of ZnTe.     

Constructing developable surfaces by wrapping cones and cylinders

We model developable surfaces by wrapping a planar figure around cones and cylinders. Complicated developables can be constructed by successive mappings using cones and cylinders of different sizes and shapes. We also propose an intuitive control mechanism, which allows a user to select an arbitrary point on the planar figure and move it to a new position. Numerical techniques are then used to find a cone or cylinder that produces the required mapping. Several examples demonstrate the effectiveness of our technique.     

汽车钢淬透性数学模型建立

在测定 2 0CrMnTi、4 0MnBH、2 0MnVBH钢淬透性及试样的化学成分基础之上 ,利用计算机采用逐步回归分析方法进行了回归运算 ,得到淬透性与化学成分的关系———回归方程 ,根据回归方程求出了不同窄淬透带规格所对应控制的化学成分范围     

Important features of Iris OSQL

OSQL is the object-oriented database language developed for the Iris object-oriented database management system at Hewlett-Packard Laboratories. Its three fundamental constructs are objects, types, and functions. This paper provides an overview of the underlying concepts and some important features of OSQL.     

The 'Conceptual Change In Science' project

Abstract This paper outlines the work of the Conceptual Change in Science project, funded as part of the ESRC InTER programme. The aims of this research project are to clarify and describe the process of change in learners' conceptual understandings of natural phenomena. The domain of reasoning selected for study is that of mechanics. Computer software which may be useful in exploring and developing pupils' reasoning and promoting conceptual change in this domain is being developed and evaluated. The group that is carrying out the research is based at the Universities of Leeds, Glasgow and the Open University.     

红外半导体激光光镊的实验研究

激光光镊技术是一项在许多科学领域有广阔应用前景的技术。本文详细给出构建一台红外半导体激光光镊的设计思想及实例。由于采用了独特的对大功率多模红外激光选模整形和双透镜陷阱操纵技术等性能价格最优化选择 ,该系统易于构建 ,陷阱操作方便 ,其构建价格仅一般光镊的几十分之一 ,非常适合光镊技术的推广和一般实验室构建     

液晶分子附着能和盒间隙对响应时间的影响

通过理论分析和实验研究液晶分子附着能和液晶盒间隙对响应时间(τ0)的影响。用液晶盒有效间隙法和表面动力学方程法两种方法推出分析公式,由这两种方法推出的结果是一致的。实验数据与简化方程τ0-dx基本拟合(其中d是液晶盒的间隙,x是指数)。在两种极端的(极大或极小)附着能极限下,指数x分别接近2和1。这个结论有助于优化液晶显示器件的应用。     

上市公司的利润操纵及其治理

分析了上市公司利润操纵的可能性，动机及其手段，提出了治理利润操纵的几点措施。     

IR spectroscopic study of Pt/Kl zeolites using adsorption of CO as a molecular probe

FTIR spectra of CO adsorbed on Pt/KL catalysts show that the relative band intensities and the total dispersion markedly depend on the catalyst preparation method (ion exchange, incipient wetness impregnation or co-impregnation with KCl). The CO stretching frequency of the dominant band for linear CO is shifted to higher wavenumbers, parallel with the proton concentration in the reduced catalyst, which is derived independently from the intensity of the IR bands of the OH groups. The results are in accordance with the model that electron-deficient platinum particles are platinum-proton adducts.On leave from: N.D. Zelinsky Institute of Organic Chemistry, Academy of Sciences, Moscow, USSR.