A novel method for robot path planning

Path planning is one of the most important problems in the design of a mobile robot. A novel approach called generalized Voronoi diagrams (GVD) may deal with this matter. First, a method was introduced to normalize the obstacles and present efficient techniques for generating GVDs. Then a best path searching algorithm was presented. Examples implemented were given to indicate the availability of the mentioned algorithms. The approaches in this paper can also be used in applications including visualization, spatial data manipulation, etc.     

具有移出的信息传播模型和企业的危机应对

利用常微分方程建立了具有移出的信息传播模型,根据模型给出了企业面临危机的控制措施。     

基于多元统计分析的实验课程与专业理论课程相关性研究

该文以某校应用化学专业学生的专业课成绩为研究对象,用多元统计的方法分析该专业实验技能课和专业理论课成绩间的相关性,对学生实验技能的培养对提高专业素养有积极促进作用。     

基于VC＋＋6．0的平面连杆机构运动学模拟

运用复数矢量法对于单自由度平面连杆机构的运动进行了软件模拟和分析。软件建立了机构的位移方程组,利用数值方法求解机构分析中的非线性位移方程组,并利用差分法对于速度和加速度进行了进一步运算,基于VC＋＋6．0编写的软件,实现了图形化的设计运行效果和方便的用户交互,可以用作教学演示或者用于简单的机构运行分析。     

MB模型的修正及应用

由于MB模型存在3个缺陷,工程上会引入无法接受的误差.本文修正了MB模型的后两个缺陷.针对第2个缺陷,提出了实际临界接触面积、最小有效分形维数、量纲一的最大有效分形粗糙度参数、最小有效材料特性等术语.根据MB模型和提出的计算术语,对两弹塑性接触粗糙表面的接触行为及界面的静摩擦因数进行了研究.研究结果表明：界面的静摩擦因数首先随分形维数的增加而增加,然后随分形维数的增加而减小;界面的静摩擦因数随分形粗糙度参数的增加而减小,但随材料特性的增加而增加,也随总法向载荷的增加而增加;当分形维数较小或分形粗糙度参数较大或材料特性较小时,静摩擦因数-量纲一的总法向载荷曲线为凸弧.     

Vertical adaptive radiation in ocean Prochlorococcus: Evolutionary implications of the Chl b/a ratio from molecular evidence

Prochlorococcus is a marine cyanobacterium of global significance. Two ecotypes are adapted to either high-light (HL) or low-light (LL) conditions. The ratio between chlorophyll (Chl) a and b is a distinguishing characteristic of these two ecotypes. However, how this ratio evolved in Prochlorococcus during this ecotype differentiation remains unclear. Our analyses reveal that the ancestor of Prochlorococcus was typically low-light adapted. The LL ecotype showed a stagnant evolution, and the HL ecotype was recently diverged. There was an adaptive radiation after directional evolution in the Chl b/a ratio regulation. Recombination in chlorophyllide a oxygenase (CAO) and positive selection on Clp protease contributed to the directional evolution of Prochlorococcus. The recombinant fragments of CAO were correlated with a large group of shared coevolving sites. Evidence of positive selection was found in both subunits of Clp. Chl b/a ratio evolution, as annotated by molecular evidence, appears to be among the crucial reasons that explain how Prochlorococcus has become the dominant photosynthetic organism in the ocean.     

Model tests on anomalous low friction and pendulum-type wave phenomena

The anomalous low friction (ALF) and pendulum-type wave (μwave) phenomena were two typical,nonlinear,geo-mechanical,and dynamic responses in deep-block rock mass discovered from in situ observations,which occurred from the movement of the geo-blocks under the impact of external pulses,such as deep confined explosion,earthquake,and rock bursts.With the aim to confirm the existence of the above two phenomena and study the variation laws of them experimentally,laboratory tests on the granite and cement mortar continuum and blocks models were conducted on the self-independently developed multipurpose testing system,respectively.The ALF phenomenon was realized under two loading schemes,the blocks model and working block were acted upon by the joint action of vertical impact and horizontal static force as well as the joint action of both vertical and horizontal impacts with different time intervals.It revealed that the discrete time delays corresponding to the local maximums and minimums of the horizontal displacement amplitudes and residual horizontal displacements of the working block satisfied the canonical sequences with the multiple of √2,most of which satisfied the quantitative expression (√2)~i △/V_p.Besides,the one-dimensional impact experiments were carried out on the blocks granite model,continuum,and blocks cement mortar models,respectively.Based on the comparison and analysis of the propagation properties (amplitudes and the Fourier spectrums of acceleration time histories of blocks) of the 1D stress wave in the above models,it is indicated that the fractures in rock mass have tremendous effect on the attenuation of acceleration amplitudes and high-frequency waves.By comparison of the model test data with the in situ measurement conclusions,the existence of the μ wave was confirmed experimentally in the cement mortar blocks model with larger dimensions,and the frequencies corresponding to the local maximums of spectral density curves of three-directional acceleration time histories of sub-blocks also satisfied several canonical sequences with the multiple of √2.     

广西喀斯特地区城镇用地扩张及来源预测——以河池市金城江区为例

以河池市金城江区1991,1999,2006年三期TM/ETM+遥感影像为数据源,分析了城镇用地的遥感信息机理,提取了研究区三期土地利用现状图,并采用GIS空间分析技术,对城镇用地扩张的时空过程进行了研究.分析表明:城镇用地规模不断扩大,增长速度不均匀,城镇用地变化区域差异较大,城镇用地在中心城镇高度集聚.旱地、荒草地、独立工矿用地和坑塘水面是城镇用地扩张的主要来源.     

两种藜芦生品与醋制品中虎杖苷和白藜芦醇含量变化研究

采用柱层析色谱法从两种藜芦即黒紫藜芦(Veratrum japonicum)和藜芦(Veratrum nigrum L.)中分离得到二苯乙烯类化合物虎杖苷和白藜芦醇,利用核磁共振技术鉴定了它们的化学结构,其中虎杖苷为首次从该属植物中分离得到. 结合HPLC-UV法,比较了两种藜芦生品与醋制品中虎杖苷和白藜芦醇含量变化. 结果表明两种藜芦经醋制后,虎杖苷含量降低,白藜芦醇含量升高,并且两种藜芦中白藜芦醇含量差异不大,但藜芦中虎杖苷含量明显高于黑紫藜芦.     

分析化学开放式实验教学模式的构建与探索

阐述和分析了在医学检验专业《分析化学》课程中开设开放式实验教学对创新型人才培养的重要性,探讨了开放式实验教学的课程体系和教学模式．