平面三自由度机器人的有限灵活工作空间研究

提出了对平面三自由度机器人工作空间的有限灵活度的分析方法 ,提出了采用灵活角来度量操作器灵活程度 ,将机器人的工作空间根据灵活程度的不同划分为相应的有限灵活工作空间 ,研究表明 ,对机器人操作器的灵活度的要求不同 ,机器人就有不同的工作空间 .这对设计和使用机器人不仅具有实际意义 .同时也为提高操作器的灵活程度提供了理论基础     

正交结构6-PP^＋S并联机构的工作空间分析

为简化机构运动学模型，提出了一种正交结构6-PP^＋S并联机构，利用封闭矢量法建立了运动学方程．基于机构运动学方程和运动副的结构约束，给出了基于运动学模型的动平台工作空间约束模型，求出了工作空间的形状，研究了动平台在给定机构参数下不同姿态的工作空间，并进一步考察了机构参数的变化对工作空间的影响．这些对正交结构6-PP^＋S并联机构的应用具有指导意义．     

3-RRR平面并联机器人的灵活工作空间

通过对3-RRR平面并联机器人分支运动链子工作空间的分析，提出了由定姿态工作空间求解各种灵活度要求下工作空间的方法，对机器人的工作空间和灵活性问题进行了系统研究，并探讨了机器人几何参数和子工作空间内空洞时机器人灵活性的影响。     

基于视域分析模型的永泰庄寨多情景空间组构特征解析

以永泰县丹云乡和城寨为例，基于空间句法理论，利用Depthmap软件中的视域分析模型对平面空间布局进行量化解析.在日常生活、仪式活动和防御行为等多情景下，庄寨内部可行空间的组构呈现动态特征，进而可归纳出庄寨空间平面布局对家族内部伦理规训的表征规律.即可通过空间之间的灵活分隔、开合形成不同的空间联通和布局方式，“身体-空间”耦合变化强化了特定情景下的内外有别、主宾有序等伦理秩序对人的行为规训.     

一种空间复用与发射分集相结合的MIMO通信系统

提出一种发射分集结合空间复用的MIMO通信方法——分组分集复用法(GDM)。发射机将发射天线分组，每组采用全空间分集发射相同的数据流，发射机根据反馈信道反馈的接收信噪比调整分组大小。与传统的发射分集或空间复用相比，提出的方法可以根据不同的信道灵活地分配用于分集和复用的天线，使系统能够适应不同的业务质量或信道的瞬时变化。     

Tricept并联机器人的运动学设计理论浅析

针对纯六自由度并联机器人实现姿态能力差、工作空间小的固有缺陷，提出了基于少自由度、带有导向装置、动平台辅以回转台的串、并联机床结构，该结构可实现较强的姿态能力，并有较大的工作空间。探讨了此类并联机床的运动学设计方法，其中包括位置逆解模型、空间灵活度分析、工作空间分析与综合。理论仿真结果表明上述方法是正确的。     

空间几何体在平面上的投影区域

首先给出了关于平面投影柱面方程的求法,从而得到了投影柱面围成的柱体,进而又给出了空间几何体在平面上投影区域的求法,并给予证明,使求柱体和投影区域方便灵活。     

杜诗对仗中的复句运用

唐代诗人杜甫在近体诗中常常以复句构成对仗，语式工整，法度谨严而又变化灵活，有效地增强了诗歌旋律的流动感，拓展了诗句的表达空间，具有独特的审美效应。     

珠江三角洲网河区水位空问插值的kriging方法

分析了珠江三角洲网河区水位变化特征。基于区域化变量理论，提出珠江三角洲网河区水位空间插值的kriging方法，给出描述该网河区水位空间分布结构的半变异函数，分析了网河区水位的空间分布，以及水位的空间结构性一方向性和相关距离，并给出了丰水期的一个应用实例，为该地区防洪决策提供科学依据。     

可重构机器人工作空间的自动计算方法

由于可重构机器人的自由度和工作空间可以灵活定制，工作空间的自动计算是设计和校核中的一个重要问题．为此，讨论了基于旋量和Jacobian矩阵计算运动学逆解的通用方法、采用降维搜索和二分法计算工作空间边界点的计算方法以及采用双向链表确定工作空间多连域截面封闭曲线的算法．由此，工作空间的各个截面的形状、面积以及整个工作空间的形状、体积可以方便地确定，算法具有很好的通用性，实现了可重构串联机器人工作空间的自动计算．通过一个典型工业机器人的实例验证了算法的有效性．     

Characterization of Ordovician carbonate reservoirs, southeastern Saskatchewan, Canada

The discovery of the prolific Ordovician Red River reservoirs in 1995 in southeastern Saskatchewan was the catalyst for extensive exploration activity which resulted in the discovery of more than 15 new Red River pools. The best yields of Red River production to date have been from dolomite reservoirs. Understanding the processes of dolomitization is, therefore, crucial for the prediction of the connectivity, spatial distribution and heterogeneity of dolomite reservoirs.The Red River reservoirs in the Midale area consist of 3～4 thin dolomitized zones, with a total thickness of about 20 m, which occur at the top of the Yeoman Formation. Two types of replacement dolomite were recognized in the Red River reservoir: dolomitized burrow infills and dolomitized host matrix. The spatial distribution of dolomite suggests that burrowing organisms played an important role in facilitating the fluid flow in the backfilled sediments. This resulted in penecontemporaneous dolomitization of burrow infills by normal seawater. The dolomite in the host matrix is interpreted as having occurred at shallow burial by evaporitic seawater during precipitation of Lake Almar anhydrite that immediately overlies the Yeoman Formation. However, the low δ18O values of dolomited burrow infills (-5.9‰～ -7.8‰, PDB) and matrix dolomites (-6.6‰～ -8.1‰, avg. -7.4‰ PDB) compared to the estimated values for the late Ordovician marine dolomite could be attributed to modification and alteration of dolomite at higher temperatures during deeper burial, which could also be responsible for its 87Sr/86Sr ratios (0.7084～0.7088) that are higher than suggested for the late Ordovician seawaters (0.7078～0.7080). The trace amounts of saddle dolomite cement in the Red River carbonates are probably related to "cannibalization" of earlier replacement dolomite during the chemical compaction.     

A computer generator for randomly layered structures

AcomputergeneratorforrandomlylayeredstructuresYUJia shun1,2,HEZhen hua2(1.TheInstituteofGeologicalandNuclearSciences,NewZealand;2.StateKeyLaboratoryofOilandGasReservoirGeologyandExploitation,ChengduUniversityofTechnology,China)Abstract:Analgorithmisintrod…     

海南岛地体及其毗邻陆缘晚中生代—新生代古地磁研究和构造演化

本文叙述了对海南岛及其毗邻大陆边缘白垩纪到第四纪地层岩石进行古地磁研究的全部工作过程。通过分析岩石中剩余磁矢量的磁偏角及磁倾角的变化,提出海南岛白垩纪以来经历的构造演化模式如下:早期伴随顺时针旋转而向南迁移,后期伴随逆时针转动并向北运移。联系该地区及邻区的地质、地球物理资料,对海南岛上述的构造地体运动提出以下认识:北部湾内早期有一拉张作用,主要是该作用使湾内地壳显著伸长减薄,形成北部湾盆地。从而导致了海南岛的早期构造运动,而海南岛后期的构造运动则主要是受南海海底扩张的影响。海南地体运动规律的阐明对于了解北部湾油气盆地的形成演化有重要的理论和实际意义。     

Exciton Seebeck in Molecular Systems

Various applications relevant to the exciton dynamics,such as the organic solar cell,the large-area organic light-emitting diodes and the thermoelectricity,are operating under temperature gradient.The potential abnormal behavior of the exicton dynamics driven by the temperature difference may affect the efficiency and performance of the corresponding devices.In the above situations,the exciton dynamics under temperature difference is mixed with     

Achieving Unusual States of Matter Under High Pressure

The elongation method,originally proposed by Imamura was further developed for many years in our group.As a method towards O(N)with high efficiency and high accuracy for any dimensional systems.This treatment designed for one-dimensional(ID)polymers is now available for three-dimensional(3D)systems,but geometry optimization is now possible only for 1D-systems.As an approach toward post-Hartree-Fock,it was also extended to     

《Chinese Science Bulletin》SUBJECT INDEX TO VOLUME 59(2014)

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An on-line scaling method for improving scalability of a database cluster

The explosive growth of the Internet and database applications has driven database to be more scalable and available, and able to support on-line scaling without interrupting service. To support more client's queries without downtime and degrading the response time, more nodes have to be scaled up while the database is running. This paper presents the overview of scalable and available database that satisfies the above characteristics. And we propose a novel on-line scaling method. Our method improves the existing on-line scaling method for fast response time and higher throughputs. Our proposed method reduces unnecessary network use, i.e. , we decrease the number of data copy by reusing the backup data. Also, our on-line scaling operation can be processed parallel by selecting adequate nodes as new node. Our performance study shows that our method results in significant reduction in data copy time.     

An improved R-tree based on childnode''s probability

R-Tree is a good structure for spatial searching. But in this indexing structure,either the sequence of nodes in the same level or sequence of traveling these nodes when queries are made is random. Since the possibility that the object appears in different MBR which have the same parents node is different, if we make the subnode who has the most possibility be traveled first, the time cost will be decreased in most of the cases. In some case, the possibility of a point belong to a rectangle will shows direct proportion with the size of the rectangle. But this conclusion is based on an assumption that the objects are symmetrically distributing in the area and this assumption is not always coming into existence. Now we found a more direct parameter to scale the possibility and made a little change on the structure of R-tree, to increase the possibility of founding the satisfying answer in the front sub trees. We names this structure probability based arranged R-tree (PBAR-tree).     

Integrating GIS Web services based on mediating architecture

The geographic information service is enabled by the advancements in general Web service technology and the focused efforts of the OGC in defining XML-based Web GIS service. Based on these models, this paper addresses the issue of services chaining,the process of combining or pipelining results from several interoperable GIS Web Services to create a customized solution. This paper presents a mediated chaining architecture in which a specific service takes responsibility for performing the process that describes a service chain. We designed the Spatial Information Process Language (SIPL) for dynamic modeling and describing the service chain, also a prototype of the Spatial Information Process Execution Engine (SIPEE) is implemented for executing processes written in SIPL. Discussion of measures to improve the functionality and performance of such system will be included.     

Tracking data management using topology of moving object database system for moving object constrained trajectory in LBS application

Advances in wireless technologies and positioning technologies and spread of wireless devices, an interest in LBS (Location Based Service) is arising. To provide location based service, tracking data should have been stored in moving object database management system (called MODBMS) with proper policies and managed efficiently. So the methods which acquire the location information at regular time intervals then, store and manage have been studied. In this paper, we suggest tracking data management techniques using topology that is corresponding to the moving path of moving object. In our techniques, we update the MODBMS when moving object arrived at a street intersection or a curved road which is represented as the node in topology and predict the location at past and future with attribute of topology and linear function. In this technique, location data that are corresponding to the node in topology are stored, thus reduce the number of update and amount of data. Also in case predicting the location,because topology are used as well as existing location information, accuracy for prediction is increased than applying linear function or spline function.