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…     

气候变迁、适应能力及其发展

政府间小组委员会(IPCC)提供的第三次有关气候变化评估报告，强有力的说明了由人类诱发的气候变迁正在发生，而且世界上所有的国家都将会受到影响。     

宽能带隙电子器件

硅集成电路和数据存贮是两种最成功的技术，目前，这两种技术继续以高速度发展。在集成电路技术中，按照摩尔定律，一块芯片上的晶体管数目每隔18个月就会翻一翻。而对于磁盘驱动技术，自1991年起磁头的总体位密度以每年60％至100％的速率增加。集成电路是通过对半导体应用电场控制载流子流动来工作的，因此关键的参数是电子或空穴上的电荷。而在磁性数据存贮中关键的参数是电子的自旋。     

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.     

Organically preserved microbial endoliths from the late Proterozoic of East Greenland

Diverse microorganisms ranging from cyanobacteria to eukaryotic algae and fungi live endolithically within ooids, hardgrounds and invertebrate shells on the present-day sea floor. These organisms are involved in the mechanical destruction of carbonates, and are useful ecological indicators of water depth and pollution. The Phanerozoic history of microbial endoliths has been elucidated through the study of microborings (the trace fossils of endolithic microorganisms) and rare cellularly preserved individuals, but nothing was known of the possible Precambrian evolution of comparable microorganisms until Campbell documented the occurrence of microborings in late Proterozoic ooids from central East Greenland. We now report the discovery of large populations of organically preserved endolithic microorganisms in silicified pisolites from 700-800-Myr-old Limestone-Dolomite Series of East Greenland. This fossil assemblage is significant for three reasons: (1) It confirms the prediction that oolites, pisolites and hardgrounds--the substrates for pre-Phanerozoic endoliths--provide a hitherto poorly explored but rewarding set of environments into which the search for early microfossils must be broadened; (2) the assemblage is diverse, containing about 12 taxa of morphologically distinct and previously unknown endolithic cyanobacteria, plus associated epilithic and interstitial populations; and (3) at least six of the fossil populations are indistinguishable in morphology, pattern of development, reproductive biology and inferred ecology from distinctive cyanobacterial species that bore ooids today in the Bahama Banks.