爬壁机器人路径规划研究

研究爬壁机器人在三维工作环境中的全局路径规划.给出了一种基于人工神经网络结构能量函数的路径规划算法.可根据机器人吸附物体的形状设定各边界面对应的不等的模拟退火初始温度;并且可根据路径点位于物体内部与否的不同位置采用不同的运动方程.仿真结果表明,该算法可规划出最短的可行路径,为提高爬壁机器人的实用性,提供了一种有效的路径规划算法.     

IAE-adaptive Kalman filter for INS/GPS integrated navigation system

1 .INTRODUCTIONInertial navigation system(INS) and Global posi-tioning system ( GPS) are two major navigationsystems now widely usedfor marine applications a-round the world. Considering both systems pos-sess complementary working characteristics , abooming attention is focused on finding effectivemethods to combine the two different systems toconstituteintegrated navigation system with higheraccuracy and better performance .Information likeGPS position and velocity are often chosen as…     

A New Method with High Confidence for Validation of Computer Simulation Models of Flight Systems

Computer simulation models may by used to gain further information about missile performance variability. Model validation is an important aspect of the test program for a missile system. Validation provides a basis for confidence in the model's results and is a necessary step if the model is to be used to draw inference about the behavior of the real missile. This paper is a review of methods useful for validation of computer simulation models of missile systems and provides a new method with high degree of confidence for validation of computer simulation models of missile systems. Some examples of the use of the new method in validating computer simulation models are given.     

Application of Method-of-Lines to Charging-Up Process in Pipelines with Entrapped Air

Introduction The initial charging-up process is an important opera-tion in an intermittent,undulating pipeline system.Re-cently,the charging-up process has received attention with the aim of predicting the effective duration of supply in different regions…     

二向性归一化植被指数:概念及应用

最近发布的星载法国地表反射的极化与方向性观测仪(POILDER)与美国中分辨率成像光谱仪(MODIS)的地表二向性反射(BRDF)数据产品,其输入数据的大气纠正未能满足定量遥感的需求.提出了二向性归一化植被指数(BiNDVI)的概念,以同时考虑地表反射的二向性与大气程辐射的影响,并用于定义卫星多角度遥感观测值的大气质量指数.用该指数加权迭代反演,能明显改进MODIS-BRDF的数据产品质量.     

管道内防腐技术现状及发展

介绍了管道防腐的重要性和管道内腐蚀的隐蔽性,以及管道内防腐技术现状;结合现有管道内防腐技术的种类和特点分别介绍了管道内涂层防腐技术利管道衬塑技术,并就笔者所研究的辐射交联聚乙烯热膨胀内衬管性能特点介绍了该产品能够解决的管道内防腐的技术问题;最后展望了管道内防腐技术的发展趋势。     

块状纳米材料的设计理论研究

在二元共晶Spinodal系统中 ,Spinodal波长的大小随过冷度的增加而减少 ,并存在一个最小的波长 ,此时合金的生长速度最快 .提出当过冷度足够大时 ,液态Spinodal的波长进入到纳米尺度 ,形成块状纳米材料 .由于液态的扩散较易发生 ,当波长为纳米量级时 ,Spinodal的转变时间为微秒量级 .由于液体表面张力等的影响 ,液态Spinodal的组织由网状变成微粒形态 .     

超临界CO2气溶胶溶剂萃取法制备尤特奇S100纳米颗粒

采用超临界CO2气溶胶溶剂萃取法(ASES)制备了尤特奇S100(Eudragit S100)纳米粒,考察了有机溶剂的选择、压力、温度、溶液浓度及流速等主要工艺参数对Eudragit S100纳米粒形貌及粒径大小的影响,并采用扫描电镜、傅立叶红外光谱分析对结果进行了表征。结果表明,在以丙酮作为溶剂、压力为16 MPa、温度为45℃、溶液浓度为1 mg/m L的工艺条件下,可制备出有机溶剂残留少、分布均匀、平均粒径为30~60 nm的Eudragit S100纳米颗粒。纳米粒子的平均粒径随温度、压力的升高而减小,随溶液浓度的减小而减小。     

Demography of the Yarrow's spiny lizard, Sceloporus jarrovii , from the central Chihuahuan Desert

The demography of a population of Yarrow's spiny lizard, Sceloporus jarrovii , was examined from 2004 to 2006 in the canyon Las Piedras Encimadas, located in Gomez Palacio, Durango, México. Lizards were studied using a mark-recapture technique. Reproduction in females occurred between November and May, coinciding with dry conditions. Reproductive activity was highest (percent of females with vitellogenic follicles or embryos) in the middle of the dry season (November and December). Thirteen percent of females reached sexual maturity at an average age of 8.5 months. The population structure was similar in spring and fall, but not in summer. A notable feature of summer, coinciding with the wet season, was the greater number of hatchlings and juveniles. The overall sex ratio did not differ from 1:1. The density of adults varied from 12 to 62 animals ? 0.5 ha –1 . Temperate and arid-adapted populations of S. jarrovii exhibited broad similarity in timing of the reproductive season, whereas factors such as density, growth, age at sexual maturity, and survivorship differed.