水下机器人自主控制系统的设计与实现

水下机器人(简称AUV)的自主控制系统起着相当于人类"大脑"的作用,它是AUV的核心技术。本文在QNX操作系统下利用多线程技术设计并实现了AUV自主控制系统。介绍了AUV混杂系统结构和自主控制原理,给出了自主控制系统的多线程结构。设计了多线程同步模块,并与QNX消息传递机制相结合实现了AUV自主控制系统线程间的同步与通信。最后在半实物仿真平台上结合具体案例对自主控制系统进行了验证。仿真结果表明AUV自主控制系统能够正确协调各个线程自主完成使命。     

浙江省庆元县滑坡现状、成因与防治对策

庆元县滑坡等地质灾害是由本地的地理环境和人为因素造成的,根据发生滑坡等地质灾害的背景条件和特点,采取适宜的防治对策和措施,可以避免和减少滑坡等地质灾害的发生,从而减少经济损失以及避免人员伤亡.     

山东省水生植物资源及园林应用研究

水生植物已广泛应用于城市园林建设中。在介绍水生植物的的概念、分类的基础上,对山东省常见的水生植物的种类、特性等进行了描述,并提出了水生植物在山东省园林应用中存在的问题及对策。     

企业分形分布的判定和应用

尽管分形企业的概念得到了广泛的认同,但企业分布是否是分形这一关键问题一直未得到解决.本文采用行政区划国家标准建立了两个行业的δ-覆盖,并基于信息维数的定义,定量验证了企业分形分布的猜想,并测定了两个行业的分数维数.在此基础上将分数维数与嵌套区域秩序方法相结合,提出一种新的分形分布拟合方法FDF.经实际检验,FDF相比传统的方法,在所需数据量小、稳定性强、适应重点区域等方面,具有显著的特点和优势.最后,本文将该方法应用到一个调度实例问题,不仅给出了跨企业调度的优化范围,而且证明本文方法可以广泛应用于各类依赖于空间分布的企业协同研究.     

变时滞神经网络指数稳定性条件

基于时滞细胞神经网络(DCNNs)在图像处理等领域的广泛应用,有关它的研究引起了越来越多学者和专家的关注.早期DCNNs稳定性的结果大多由网络权矩阵的分量构成的代数不等式来表示.运用Lyapunov-Krasovskii泛函的方法,研究了DCNNs的指数稳定性,所得充分条件以矩阵的(半)正定形式出现,在实际应用中更加便于验证.与文献中的结果相比较,所得判据适用范围更广.     

C-banding pattern and nucleolar organizer regions of Cynoglossus semilaevis Günther, 1873

The C-banding pattern and nucleolar organizer regions of the metaphase chromosomes of Cynoglossus semilaevis are reported. The interstitial regions in all chromosomes including the pair of sex chromosomes had positive C-bands, and the 6th and 12th pairs of chromosomes were entirely stained in most cases. Some chromosomes such as the 1st, 2nd, 7th, 8th, 9th and 10th pairs showed C-bands at centromeric or distal ends. The C-banding heretochromatin occupies 30.03% of the total chromosome surface in C. semilaevis,which is similar to that of amphibians such as Mixophyes fasciolatus (30.2%) and M. schevilli (20.7%), but is rather lower than that of cephalochordate Branchiostoma belcheri (54.3%). Silver staining revealed a single pair of nucleolar organizer regions (NORs) located in the telomeric regions of Chromosome 2. The association of NORs with heterochromatin observed in vertebrates also occurs in C. semilaevis as the telomeric regions of Chromosome 2 are always stained positively with C-banding.     

基于LPC2104的μC/OS-II引导装载系统的设计与实现

在嵌入式系统设计中,针对嵌入式处理器和操作系统的引导装载系统代码的设计是一个重点.根据LPC2104的硬件结构,给出在基于μC/OS-II操作系统的嵌入式应用中,BootLoader程序的设计流程,编写了启动代码,整个方案有较大的灵活性和实用性.     

合成N,N,N'''',N''''-四(2-甲酯基乙基)乙二胺的绿色工艺研究

为了解决合成聚酰胺-胺时回收液处理复杂、能耗大、并污染环境的问题,以合成N,N,N',N'-四(2-甲酯基乙基)乙二胺(TMCEDA)为研究对象,对不同真空度条件下的回收液进行了定性定量分析,在此基础上,采用分段减压蒸馏分离合成TMCEDA中的过量原料与溶剂,直接循环使用真空度在50 kPa-100 kPa的回收液的新工艺.应用气相色谱分析技术跟踪分析循环使用的回收液的成分,结果表明,经过40次循环使用的回收液,仍未见明显的杂质积累现象.该工艺对回收液的直接使用率高达98.0%,实现了TMCEDA的实验室绿色合成,可为其工业化生产提供参考.图7,表2,参11.     

The Difference of the Pulmonary-Artery Pressure of the Migrants from Difference Elevation at the 4636 - 4907 m Altitude

Study Objective： To compare and analyze the changes of the pulmonary-artery pressure of the migrants coming from different elevation in the hypoxic environment of 4636 - 4907 m extreme altitude. To explore the susceptibility to hypoxic pulmonary-artery hypertension （PH） in the subjects from different altitude and profession. Methods： By using Color Doppler Ultmsonography （CDU）, measuring the pulmonary-artery pressure of 207 healthy men, who had continuously being lived and worked at the extreme altitude for more than six months, and then were divided into three groups according to their profession and the altitude of original living place. Results： There was a significant difference in the outcomes of pulmonary-artery pressure from the 3 groups. Conclusions： Altitude of original living place, labor intensity are some of factors that impact the pulmonary-artery pressure of the people who exposure to a hypoxic environment. The pulmonary- artery pressure of person without strenuously physical work experience was more sensitive to hypoxic surroundings than that of labor workers. It was not always the fact at an extreme altitude that the moderate altitude mountaineers were superior to other migrants from a lower altitude or plain. The higher PH was found in the groups of the moderate altitude mountaineers and labor workers. It is unlikely certain that one with PH would surfer from HAPE.     

西方休闲伦理的历史演变

休闲作为一种独特的文化现象，体现着人类的道德文明和文化伦理水平。西方休闲学科的发展已经有一百多年的历史。但在我国还处于起步阶段。本文以休闲与工作关系交结变化的历史视角，着重探讨了古希腊以来西方休闲伦理的发展与演进，及其四个大历史时空中休闲伦理的不同作用和地位。从伦理视角研究休闲文化现象，对于扩展休闲研究的视域及加强当前道德文化建设都具有重要的现实意义。