Improving traversability of quadruped walking robots using body movement in 3D rough terrains

This paper presents a study on improving the traversability of a quadruped walking robot in 3D rough terrains. The key idea is to exploit body movement of the robot. The position and orientation of the robot are systematically adjusted and the possibility of finding a valid foothold for the next swing is maximized, which makes the robot have more chances to overcome the rough terrains. In addition, a foothold search algorithm that provides the valid foothold while maintaining a high traversability of the robot, is investigated and a gait selection algorithm is developed to help the robot avoid deadlock situations. To explain the algorithms, new concepts such as reachable area, stable area, potential search direction, and complementary kinematic margin are introduced, and the effectiveness of the algorithms is validated via simulations and experiments.     

A robust scheduling method based on a multi-objective immune algorithm

A robust scheduling method is proposed to solve uncertain scheduling problems. An uncertain scheduling problem is modeled by a set of workflow models, and then a scheduling scheme (solution) of the problem can be evaluated by workflow simulations executed with the workflow models in the set. A multi-objective immune algorithm is presented to find Pareto optimal robust scheduling schemes that have good performance for each model in the set. The two optimization objectives for scheduling schemes are the indices of the optimality and robustness of the scheduling results. An antibody represents a resource allocation scheme, and the methods of antibody coding and decoding are designed to deal with resource conflicts during workflow simulations. Experimental tests show that the proposed method can generate a robust scheduling scheme that is insensitive to uncertain scheduling environments.     

分区计算问题的并行设计

５１．引言 在许多重要研究领域中,数值模拟相当复杂,数值模拟的结果依赖于数值方法的选取,计算网络的质量,边界处理等,其复杂性表现在物理特性、数学模型、计算区域不规则的几何形状等方面．当计算区域各部分的物理特性不同而且差异较大时,比如多种物质的流体运动流场中各个部分变化程度不均匀,有些部分变化非常平缓,有些部分变化极其剧烈;或者,当计算区域极其不规则时,比如空气动力学中的进气道系统的流场计算,绕复杂形状流场的数值分析等．若在计算区域上作整体计算,不仅难以准确地描述流场变化,而且受到计算机运算速度、…     

金融危机触发白色家电企业发展客户关系管理新契机

金融危机使得整个家电行业都受到了严重的冲击,白色家电企业更是面临着原材料涨价、市场饱和、利润缩水等困境。本文首先论述了金融危机对白色家电企业的影响,然后提出了客户关系管理的应对出路。针对白色家电企业的特点,着重论述了企业实施CRM基本目标、基本框架以及实施后的功能效果等问题,为白色家电企业找到新的利润增长点、走出金融危机、成功实现＂V＂型反转提供了有价值的参考。     

基于概率模型的随机裂隙优势产状取值

随机裂隙是广泛存在于岩体中的一种规模较小的结构面,由于其发育的随机性,故其产状、规模等结构面性质难于确定。但是,大量研究表明,同一地区相同地质环境下发育的随机裂隙,其结构面性质存在一定的统计规律。利用建立概率模型的方法,对某花岗岩地区水电站左岸坝基随机裂隙组的优势产状取值进行了探讨。通过建立概率模型所绘制出的概率曲线进行研究发现,相对于简单的求样本的算数平均值,取概率曲线峰值点所对应的数值为一组裂隙最佳产状更为合理。     

Upeonversion Emission and Paramagnctism of Colloid Ba2ErF7 and Ba2ErFT：Yb3＋ Nanoerystals Synthesized with Solvothermal Method

Ultrasmall near-monodisperse Ba2ErF7 nanocrystals with average crystal size 9.6 nm were synthesized with solvothermal method. The X-ray diffraction （XRD） and transmission electron microscopy （TEM） assays reveal that the as-synthesized Ba2ErF7 nanocrystals are of the cubic structure with the cell parameter of 5.943 A, instead of the reported orthorhombic and tetragonal structure. Two emission bands originated from 2Hwj4H3/2 → 4F5/2 and 4F9/2 ----＋ 4115,2 of Er3＋ can be observed under a 980 nm laser excitation. The magnetic mass susceptibility of the as-synthesized BazErF7 nanocrystals reaches 4.293 × 10-5 emu g-1 Oe-1.