Task Planning For A Mobile Robot In An Indoor Environment Using Object-oriented Domain Information

For a mobile robot to be practical, it needs to navigate in dynamically changing environments and manipulate objects in the environment with operating ease. The main challenges to satisfying these requirements in mobile robot research include the collection of robot environment information, storage and organization of this information, and fast task planning based on available information. Conventional approaches to these problems are far from satisfactory due to their requirement of high computation time. In this paper, we specifically address the problems of storage and organization of the environment information and fast task planning in the area of robotic research. We propose an special object-oriented data model (OODM) for information storage and management in order to solve the first problem. This model explicitly represents domain knowledge and abstracts a global perspective about the robot's dynamically changing environment. To solve the second problem, we introduce a fast task planning algorithm that fully uses domain knowledge related to robot applications and to the given environment. Our OODM based task planning method presents a general frame work and representation, into which domain specific information, domain decomposition methods and specific path planners can be tailored for different task planning problems. This method unifies and integrates the salient features from various areas such as database, artificial intelligence, and robot path planning, thus increasing the planning speed significantly     

微波单片集成电路的成品率优化

采用建立管芯等效电路模型、灵敏度分析以及统计勘探法对微波单片集成电路进行成品率优化，并编制了软件，加入到ＧａＡｓＩＣＣＡＤ系统中。应用该软件对Ｘ波段低噪声ＭＭＩＣ、超宽带ＭＭＩＣ放大器进行了设计，成品率有较大的提高，电路性能有所改善。     

利用马铃薯淀粉下脚液生产饮料工艺的研究

本实验尝试从马铃薯中提取蛋白质等成份，并适当添加姜汁，制成一种新型饮料，对饮料生产的工艺条件作了详细探讨，成功地解决了马铃薯褐变及沉淀等问题，确定了最佳配方及工艺。     

单轴-平面W型复合锶铁氧体的制备及其吸波特性研究

用草酸盐共沉淀和微量掺杂法研制六角晶系W型Ni,Zn,Co,Al多元复合锶铁氧体，通过调节Ni2W同Co2W的摩尔比例，可使该种铁氧体易磁化方向从C单轴型向垂于C轴的平面型转化，控制置换锶铁氧体中部分Fe3 的微量掺杂Al3 ，可以调整4πMs值，提高磁晶各向异性场，测试分析了5种不同含Co量的W型复合锶铁氧体粉料涂层的吸波特性，发现其自然共振吸收峰随Co含量增加向低频方向偏移，最高吸收峰可达32．8dB，是适用于电子隐形技术的高品位的微波吸收剂。     

Viterbi译码器的硬件实现

介绍了一种Vkerbi译码器的硬件实现方法。设计的基于硬判决的Viterbi译码器具有约束长度长（9)、译码深度深（64)的特点。为了兼顾硬件资源与电路性能两个方面，在设计中使用了4个ACS单元，并根据Xilinx Virtex系列FPGA的结构特点．利用FPGA内部的BlockRAM保存汉明距离和幸存路径，提高了译码速度。     

Modeling and control of magnet power supply system with switch-moderipple regulator

This paper presents the dynamic performance analysis and closed-loop design of a new power supply system for a high-current magnet load. This new system introduces a series switch-mode ripple regulator (SMRR) into a phase-controlled rectifier to improve system dynamic response and to reduce the harmonic content in the magnet current. In this paper, the new system control configuration is explained. The small signal dynamic model is established. The function of the SMRR as a speed-up feed-forward path during dynamic transients is assessed. The criteria of the closed-loop regulator design are identified. The theoretical analyses are accompanied by computer simulation and experimental results. The systematical design procedure is outlined by an example which offers better performance than ever reported on high-current magnet power supplies in terms of fast dynamic response (closed-loop bandwidth several kHz) and low harmonic content (less than 10 ppm) in the magnet current     

尿失禁及其治疗药物

尿失禁是一种严重影响患者生活质量的慢性病，现将其分类、病因及治疗药物作一综述，为医药工作者提供参考。     

激光辐照对不同饵料微藻生长的影响

利用Nd:YAG激光(波长1.06μm,功率5W,照射时间0.5-3min)和Ar 激光(波长:488nm,功率70mw,照射时间5-20min)分别照射角毛藻和叉鞭金藻,辐照后进行细胞增殖和生长速率的测定。实验结果表明:照射剂量为1min的Nd:YAG激光及剂量为5min的Ar 激光对叉鞭金藻有较明显的促长效果,这两种激光处理组的细胞增殖量在辐照后的两天内较对照组分别高42.9%和48.1%,但这种促长效果随时间的推移逐渐消失。不同剂量的两种激光辐照角毛藻后,在延滞期均出现生长抑制现象,但进入指数生长期或传代培养后,剂量为1min的Nd:YAG激光及剂量为10min的Ar 激光对角毛藻有明显的促长效果,其中在指数生长期1min剂量的Nd:YAG激光处理可促长27.0%,传代培养后10min的Ar 激光处理组生长速率提高达51.2%。本文对不同激光及不同激光参数条件下,两种饵料藻的耐受性及生长特性的差异也进行分析探讨。本实验结果不仅证实了已有研究的推论,还展示出激光技术在饵料藻种选育中的应用前景。     

根本技术创新产品需求的获取及评价研究

根本技术创新对企业的发展具有决定性的意义。并对工程作为现代产品开发中新发展的系统化方法，在应用其对根本技术创新产品需求搜集及评价时，出现了满足顾客需求和创造顾客需求、资源需求与技术创新、理性决策与非理性决策、企业文化与技术创新等之间的矛盾。本文对产生这些矛盾的原因进行了分析，提出了相应的解决办法。     

宣钢1260 m3高炉扩容大修改造设计

宣钢l260m^3高炉大修改造时将炉容扩大到l350m^3，对高炉本体系统设备及冷却系统、自动控制及检测系统进行了全面的改造更新，在炉腹、炉腰及炉身下部高热负荷区域采用铜冷却壁，取消炉身中上部铸铁冷却壁凸台，并采用薄内衬等先进、适用、可靠、成熟的技术。