行走机器人

本文简单地回顾了行走机器人的研究概况,较详细地描述了HILARE机器人,集中讨论了研制中的一些关键问题:环境感知、决策制定、执行控制以及HILARE计划中所试验的空间建模和路径寻找技术。最后讨论了行走机器人的发展方向及其在现实中的应用。     

教学产品是怎样形成的

1在木桶里寻求答案当然．对教师来说．“产品”一词还不能象“教学结果”概念那样被普通使用。在使用这个词的时候．往往是每次不得不作准确说明．即在每一具体场合，所指的是怎样一种结果。不知是指可以用肉眼看得到的知识、技能、能力．还是指深刻的潜在的新生物——个人的思维水平和类型．世界观和视野、兴趣和认识的需要、工作厅式、积极性．热爱劳动及为教学所形成的其它各种品质。要想对不确定的结果作系统分析是件困难的事·然而对4一切创造过程来说“产品”和“产品率”的一般概念可以使思想、体系和结构更加清晰。它们开辟了由教学…     

Theoretical design for a class of chaotic stream cipher based on nonlinear coupled feedback

1.INTRODUCTION Inordertoimprovethesecurityofchaosencryption system,wecaniteratethechaossystem.Themore chaossystemiterates,themorecomplexitbecomes, andthemoresecurethecorrespondingchaosencryp tionsystembecomes.Zhouetal[1]proposedaclassof chaoticsequencegeneratorinwhichthelinearseg mentnumberincreasedwiththeiterationnumberex ponentially.Withtheincreaseoftheiterationnum ber,thesecurityofthesystemincreaseswhilethe rateofencoding/decodingdecreases.Inaddition,the phase spacegraphhassomedefe…     

The dead-end elimination theorem and its use in protein side-chain positioning

The prediction of a protein's tertiary structure is still a considerable problem because the huge amount of possible conformational space1 makes it computationally difficult. With regard to side-chain modelling, a solution has been attempted by the grouping of side-chain conformations into representative sets of rotamers2??. Nonetheless, an exhaustive combinatorial search is still limited to carefully indentified packing units?? containing a limited number of residues. For larger systems other strategies had to be developed, such as the Monte Carlo Procedure?? and the genetic algorithm and clustering approach?. Here we present a theorem, referred to as the 'dead-end elimination' theorem, which imposes a suitable condition to identify rotamers that cannot be members of the global minimum energy conformation. Application of this theorem effectively controls the computational explosion of the rotamer combinatorial problem, thereby allowing the determination of the global minimum energy conformation of a large collection of side chains.     

Evolution of the atmosphere and oceans

The residence times of most constituents of the atmosphere and oceans are small fractions of the age of the Earth and, in general, their rate of output has been nearly equal to their rate of input. We are disturbing a number of these dynamic equilibria quite severely. The mineralogy of marine evaporites rules out drastic changes in the composition of sea water during the last 900 Myr. The chemistry of soils formed more than 1,000 Myr ago suggests that the atmosphere then contained significantly more CO2 and less O2 than at present. Hydrogen peroxide may well have been the principal oxidant and formaldehyde the main reductant in rain water between 3,000 and 1,000 Myr ago. Major changes in atmospheric chemistry since that time are almost certainly related to the evolution of the biosphere.     

Inner ear of the coelacanth fish Latimeria has tetrapod affinities

Auditory reception in elasmobranchs, teleosts and amphibians may be mediated by various inner-ear sensory epithelia 1–3, including the basilar papilla, which seems to be the precursor of the cochlea in mammals. The origin of the basilar papilla remains a major unsolved problem for understanding the evolution of hearing in terrestrial vertebrates4–6. Study of living species indicates that the basilar papilla is a unique feature of tetrapods 6,7, but palaeonto-logical data indicate that this epithelium as well as a middle ear, is already present in crossopterygian fish 8–10. However, no basilar papilla has been found in the only living crossopterygian species, the coelacanth Latimeria chalumnae 11. I have re-examined the inner ear of adult and embryonic Latimeria and find a membranous specialization which resembles in structure, position and innerva-tion pattern the basilar papilla of tetrapods, in particular amniotes. No epithelium comparable to the basilar papilla was found in lungfish. I suggest that the basilar papillae of Latimeria and tetrapods are homologous and evolved only once in their common ancestor.     

用爆炸波起爆癸烷云雾的两种模式

用垂直激波管研究了400μm癸烷液滴与空气混合物的爆炸波起爆。每种混合物有两个极限起爆能值,即高值Ecu,和低值Ecl。当起爆能的值高于Ecu时,观察到100%发生爆轰;而当其低于Ecl时,就不会发生爆轰。有趣的是,当起爆能水平在Ecu和Ecl之间时观察到对应于不同的起爆能水平有不同的起爆行为。如实验结果所表明的,爆轰的激发不仅是由于直接起爆,而且也由于“爆燃”到爆轰的转变。     

适用的哲学与认识的工具

一、适用的哲学最近几十年来,科学信息空前爆炸,以致就具体而积极地研究认识方法来说,"自然哲学"变得太广泛了.对此,物理学家、生物学家、心理学家以及其他在本学科领域进行创造性工作的专家,都应该加以研究;或者自己研究,或者和相应的科学史专家合作研究.严肃的科学著作不能没有哲学,但哲学应该是"具