机器人路径规划的计算机模拟及统计分析

以计算机模拟为辅助工具 ,讨论了机器人路径规划的算法 ,提出一种简化算法二次规划 ,既可避免组合爆炸 ,又能得到一个较优的解 ,即满意解     

Evolutionary and ecological implications of cardenolide sequestration in the monarch butterfly

Summary Monarch butterflies sequester cardenolides from their larval host plants in the milkweed genusAsclepias for use in defense against predation. Of 108Asclepias species in North America, monarchs are known to feed as larvae on 27. Research on 11 of these has shown that monarchs sequester cardenolides most effectively, to an asymptote of approximately 350 g/0.1 g dry butterfly, from plants with intermediate cardenolide contents rather than from those with very high or very low cardenolide contents. SinceAsclepias host plant species are distributed widely in space and time across the continent, monarchs exploit them by migration between breeding and overwintering areas. After overwintering in central Mexico, spring migrants east of the Rocky Mountains exploit three predominantAsclepias species in the southern USA that have moderately high cardenolide contents. Monarchs sequester cardenolides very effectively from these species. First generation butterflies are thus well protected against predators and continue the migration north. Across the northern USA and southern Canada most summer breeding occurs on a fourthAsclepias species and in autumn most of these monarchs migrate back to Mexican overwintering sites. The ecological implications of this cycle of cardenolide sequestration for the evolution of monarch migration are discussed.     

真蓝甲藻(Gymnodinium eucyanochroum Tseng Sp.nov.)的亚微结构、色素性质及其在藻类进化中的意义

本文报告了在南京发现的蓝色裸甲藻,测定了它的藻胆色素。证明蓝色藻胆蛋白不是山“胞内蓝藻”(Cyanellen)所提供。电子显微镜的扫描表明细胞表面有众多的突起,不是光滑的;横沟内的鞭毛不是“带状”而是由细纤维丝膜状物拉着的螺旋形。透视电子显微镜观察表明,该藻有两个类型的细胞核,即“甲藻核结构”(Dinocaryotic structure)和“真核结构”,(Eucaryotic Structure),真核与叶绿体有一个共同的膜的包被,有一个与原生动物相近似的伸缩泡系统。叶绿体是分枝状,在细胞的边缘位,但也有其它形态。有淀粉颗粒而无“造粉核”或称”“蛋白核”(Pyrenoid),多数位于叶绿体外或之间,类囊体与一般甲藻不同,不是三个排成一条“带”而是两个排列成“带”。有发达的线粒体,和高尔基体;鞭毛不论纵沟内的或横沟内的,其横切面,均为9+2的形式,其纵切面是由纤维丝成束的结构。蓝色色素提取物,可见光最大吸收峰为456nm,与隐藻藻胆色素十分相似。从细胞亚微结构及其色素性质,作者认为它是藻类演化过程中的一个中间类型的甲藻共生体。     

Misuses of biology in the context of the paranormal

Summary Public suspicion of science stems from science's challenging of perceptions and myths about reality, and a public fear of new technology. The result is a susceptibility to pseudoscience. In claiming that creation science is as valid as evolution the creationists misquote scientists and seek to spread their own scientific myths concerning a young age for the earth, an act of creation based on a particular literalist interpretation of the Christian Bible and a single worldwide flood. They use methods of debate and politics, rather than scientific research. A selection of their arguments is examined and the nature of the evidence for evolution is discussed. Problems with the creation science model are noted. In the myth of the hundredth monkey phenomenon, original research is misquoted to denigrate scientific research and support sentimental ideas of paranormal events. The misuse of science is seen as damaging to society because it reduces the effective gathering and application of scientific information. However, pseudoscience provides a valuable guide to gaps in public scientific education.     

圆形隧洞周边位移和地层压力预报的简便公式

应用本文所提出的公式可计算地层的初始应力和由开挖引起的洞周位移。预报公式所需要的计算数据是一组相邻测点之间的量测位移,这可通过隧洞的施工监控量测而得到。在推导这些预报公式时,著者先应用一系列的有限元和无限元等数值计算方法来模拟洞室的开挖,从而得到大量的“观测数据”。然后综合应用自动回归和解析方法,建立了实用的计算公式。这些公式使用简便且具有良好的精度。     

用焓法有限元解相变问题的离散化方法

为了消除应用焓法进行含有相变的有限元传热计算结果呈台阶形的现象,本文作者提出“焓计算单元”和“固相分数”的概念,并将几种一维有限元实施方案的计算结果与精确解对比,说明采用所提出的概念,可以使有限元计算得出更为合理的结果。     

自动网格体系在柱体绕流大涡模拟中的适用性评估

为了评估基于snappyHexMesh方法生成的自动网格体系在二维柱体绕流大涡模拟中的适用性,比较了该自动网格体系与人工网格体系对于Re为3 900圆柱绕流和Re为22 000方柱绕流的数值模拟结果。通过设置合理的计算域以及数值格式,采用snappyHexMesh自动网格以及人工网格的算例都表现出良好的数值稳定性。将不同网格体系的数值模拟结果与物理试验结果进行对比,结果表明,采用snappyHexMesh网格可以提高数值求解效率;圆柱绕流对网格体系的变化比较敏感,不同密度的snappyHexMesh网格会显著影响圆柱气动力特征以及尾流区域的流场结果;snappyHexMesh网格体系可以准确预测方柱绕流,在方柱绕流大涡模拟中具有相较于圆柱绕流更好的适用性。     

虚拟GDB远程调试技术及其在硬件仿真器中的应用

为了解决当前硬件仿真器采用测试激励与探针采样调试方法导致的额外硬件资源需求增加以及调试方法复杂死板的问题,研究出一种虚拟GDB远程调试技术提高硬件仿真器的调试能力。首先,使用JTAG的消息代理器与事务处理器进行软件与硬件的信息交互,实现计算机与硬件仿真器的通信;然后,通过VPI接口实现GDB与JTAG代理器的软件信息交互,完成虚拟GDB调试;最后,在硬件仿真器中进行应用实验。结果表明,虚拟GDB远程调试系统可支持断点插入、单步运行、寄存器读写等功能,与插入探针的调试方法相比,使用虚拟GDB调试提速近百倍。虚拟GDB远程调试技术丰富了硬件仿真器的软件调试手段,增强了硬件仿真器的调试能力,提升了芯片设计验证效率。     

基于STIRPAT模型的京津冀“碳达峰”预测研究

为了解决京津冀地区碳排放量达峰问题,以河北省为例,研究京津冀碳排放达峰实现路径,对京津冀未来的碳排放量进行预测分析,建立以河北省2004—2021年碳排放相关数据为基础的STIRPAT碳排放预测拓展模型。设置了6个情景,通过综合考虑人口规模、人均GDP、城镇化率、产业结构、能源强度、能源结构数据的变化速度,模拟不同情景下京津冀2022—2040年的碳排放趋势,进而预测京津冀三地的“碳达峰”时间与碳排放峰值。结果表明：北京除清洁发展情景是在2030年达峰,其余情景均在2035年达到峰值;天津除经济放缓情景是在2030年达峰,其余情景均在2035年实现“碳达峰”;河北除基准情景在2035年达峰外,其余情景均是在2030年达到峰值。所提的碳排放预测拓展模型在考虑多情景分析下,就京津冀地区如何控制和减少碳排放量提出相关建议,可为京津冀低碳经济的发展提供一定的参考依据。