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Artificial coordinating field and its application to motion planning of robots in uncertain dynamic environments

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Science china(Technological sciences) 2004年第5期47卷 577-594页

作者： JING Xingjian1, 2. WANG Yuechao1 & TAN Dalong1 1. Robotics Laboratory, Shenyang Institute of Automation, chinese academy of {2., Shenyang 110016, china 2. Graduate school, chinese academy of {2., beijing 10003., china Correspondence should be addressed to Jing Xingjian Robotics Laboratory Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Graduate school Chinese Academy of Sciences Beijing China

Artificial coordinating fields (ACF) are proposed to deal with the motion planning problems of mobile robots in uncertain dynamic environments. An ACF around an obstacle can generate two orthogonal force vectors to a robot: one is called the coordinating force vector which is purposively designed in this paper, and the other is the repulsive force vector which is the same as that in a conventional artificial potential field. The ACF is designed according to the updated motion purpose and the relative states of the robot with respect to its local environment, and it also satisfies the robot’s dynamic constraints. The direction of the coordinating force can be determiend on line according to an optimal evaluation function. The ACF can effectively remove the local minima, and reduce the oscillation of the planned trajectory between multiple obstacles. Only local knowledge of the environments is needed in the ACF-based motion planning. The properties of the ACF such as controllability, adaptability, safety and reachability are studied and discussed in detail in this paper. Theoretical analysis and simulations are given to illustrate our main results.

关键词： artificial coordinating fields, artificial potential fields, mobile robots, motion planning, uncertain dynamic environments.

AFM study on the adsorption and aggregation behavior of dissolved humic substances on mica

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Science china Chemistry 2006年第3期49卷 256-266页

作者： GE Xiaopeng1, ZHOU Yanmei2. Lü Chunhua1 & TANG Hongxiao1 1. State Key Laboratory of Environmental Aquatic Chemistry, Research Center for Eco-Environmental sciences, chinese {2. of sciences, beijing 100085, china 2. school of Civil Engineering & Architecture, beijing Jiaotong University, beijing 100044, china State Key Laboratory of Environmental Aquatic Chemistry Research Center for Eco-Environmental Sciences Chinese Academy of Sciences Beijing China school of Civil Engineering & Architecture Beijing Jiaotong University Beijing China

Humic substances constitute the major organic fractions of soils, sediments and natural waters, and play a dominant role in the binding, mobilization, transport and ultimate fate of organic contaminants in subsurface systems. In this paper, two humic acid samples, Guanting and Tianjin, with different origin and chemical compositions have been investigated with AFM imaging for their adsorption and aggregation behaviors on mica. While the Tianjin humic sample is found to form small spheres with 2.0 to 330 nm in diameter at lower concentrations, irregular loop-chain assemblies of hundreds of nanometer in diameter with the chain width of about 40 nm are dominant for the Guanting humic sample, which may attribute to the more polar aliphatic fractions in the chemical composition in the latter. The heterogeneous and polydisperse nature of humic substances with multiple structural features, such as sponge-like structures, perforated sheets, aggregate of spheres, branches and chain-like assemblies etc., is apparent at higher concentrations for both humic samples, showing morphologically new evidence for the dominant view of the humic dual-mode sorption model. With naphthalene introduced, the assemblies of Guanting humic substances clearly become more compact with significantly narrowed branches and less porous the perforated sheet-like structures. It is indica- tive of that smaller nanometer scale rings present along the perforated assemblies could potentially represent hydrophobic domains, which may facilitate the adsorption and aggregation of naphthalene onto the natural particle surfaces and therefore lead to an important role of dissolved humic sub- stances in the sorption of environmental pollutants.

关键词： atomic force microscopy (AFM) dissolved humic substances morphology aggregation adsorption

“Double dawn”eclipse and the rotational variation of the earth

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chinese Science Bulletin 2000年第11期45卷 988-991页

作者： ZHANG Peiyu & HAN Yanben1. Purple Mountain Observatory, chinese academy of {2., Nanjing 2.0008, china 2. beijing Astronomical Observatory, chinese academy of {2., beijing 100012. National Astronomical Observatory, chinese academy of {2., beijing 100012. china Purple Mountain Observatory Chinese Academy of Sciences Nanjing China beijing Astronomical Observatory Chinese Academy of Sciences Beijing National Astronomical Observatory Chinese Academy of Sciences Beijing China

A record of 'double dawn' at State Zheng in the first year of the reign of King Yi in Western Zhou Dynasty in the chronicle 'Bamboo Annals' (Zhushu Jinian) is discussed. We think that it may be a record of an annular solar eclipse happening in 899 BC. The record and the AT, which describes the secular variation of the earth’s rotation, are analyzed and discussed.

关键词： solar eclipse earth’s rotation.

Simulation of aerodynamic performance affected by vortex generators on blunt trailing-edge airfoils

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Science china(Technological sciences) 2010年第1期53卷 1-7页

作者： YANG Ke1,2.ZHANG Lei1,3 & XU JianZhong1,2.1 Institute of Engineering Thermophysics,chinese academy of {2.,beijing 100190,china 2.Key Laboratory of Wind Energy Utilization,chinese academy of {2.,beijing 100190,china 3 Graduate school of chinese academy of {2.,beijing 100190,china Institute of Engineering Thermophysics Chinese Academy of Sciences Beijing China Key Laboratory of Wind Energy Utilization Chinese Academy of Sciences Beijing China Graduate school of chinese {2. of sciences Beijing China

An investigation was carried out by numerical simulation on a wind turbine airfoil and a blunt trailing-edge airfoil with and without vortex generators (VGs), and the performance of the airfoils was analyzed. By the simulation of airfoil DU 91-W2.2.0 it was verified that the numerical method and model were credible. Based on this airfoil, a new one with a blunt trailing edge of 6% chord was blended by symmetrically adding thickness, and its characteristics curves were obtained through computing at key angles of attack. Additionally, the pressure distribution on blended airfoil was analyzed by comparing to the airfoil without blend. The interaction of streamwise vortices induced by VGs with trailing vortex or separation vortex was considered, followed by the uncovery of how VGs can suppress the boundary layer separation.

关键词： vortex generators airfoil blunt trailing-edge

Population information extraction in Chaohu watershed based on RS and GIS

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chinese Science Bulletin 2003年第2期48卷 181-183页

作者： LIU Jianjun1,2.& LI Chunlai3 1. Institute of Geochemistry, chinese academy of {2., Guiyang 550002. china 2. Graduate school, chinese academy of {2., beijing 10003., china 3. National Astronomical Observatories, chinese academy of {2., beijing 100012. china Correspondence should be addressed to Liu Jianjun (e-mail: dhsliujj@ ***) Institute of Geochemistry Chinese Academy of Sciences Guiyang China Graduate school Chinese Academy of Sciences Beijing China National Astronomical Observatories Chinese Academy of Sciences Beijing China

It is always difficult to extract population in-formation of small watershed during the region environment assessment. The report adopted compound areal interpola-tion to study the population in Chaohu watershed with the GIS technique and landuse interpretation data from remote sensing. The result indicated that the method is effective to extract population information of small watershed.

关键词：巢湖流域人口分布信息提取 RS GIS 小流域生态环境评价

Simulating the impacts of climate variation and land-cover changes on basin hydrology: A case study of the Suomo basin

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Science china Earth sciences 2005年第9期48卷 1501-1509页

作者： CHEN Junfeng1,2. LI Xiubin2.& ZHANG Ming2.1. Institute of Remote Sensing & GIS, Peking University, beijing 100871, china 2. Institute of Geographical {2. and Natural Resources Research, chinese academy of {2., beijing 100101, china Institute of Remote Sensing & GIS Peking University Beijing China Institute of Geographical sciences and Natural Resources Research Chinese Academy of Sciences Beijing Chin

Impacts of land cover changes on watershed hydrology have been a long-term academic concern with acute dispute. But little attention has been paid to such effects on mesoscale river basins, where the society has a closer link to river hydrology. The present study focuses on a mesoscale river basin, the Suomo Basin that is located on the upper reaches of the Yangtze River. Land covers in the basin in the years 1970, 1986 and 1999 were mapped. A lumped hydrologic model, CHARM, and a distributed hydrologic model, SWAT, were used to model the impacts of both land-cover change and climate variation on river runoff during the past four decades. The results show that the contribution of climate variation to the change of runoff regime makes up 60%―80%, while that of land cover changes only 2.%.

关键词： climate variation, land-cover changes, Suomo Basin, CHARM model, SWAT model.

Geographical Agglomeration of chinese Manufacturing Industries

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中国人口·资源与环境：英文版 2007年第2期5卷 3-11页

作者： Zhang Hua 1, 2. Zheng Wei3 1. Institute of Geographical sciences and Natural Resources Research, chinese {2. of sciences, beijing 100101, china 2. Graduate school of the chinese {2. of sciences, beijing 10003., china 3. school of Geography, beijing Normal University, beijing 100875, china Institute of Geographical sciences and Natural Resources Research Chinese Academy of Sciences Beijing 100101 China Graduate school of the chinese {2. of sciences Beijing 100039 China school of Geography Beijing Normal University Beijing 100875 China

Based on the plant level data from the First National Census of Basic Units, the Second National Census of Basic Units, and the First National Economic Census of china, this paper ex- amines the geographical agglomeration of chinese manufacturing industries at a more disaggregated level both by industrial classi-fication and spatial unit analysis. Applying the agglomeration index proposed by Maurel and Sedillot, studies show that the most agglomerated industries are resource-intensive, and capital and technology intensive while industries demanding localized inputs or serving localized markets or favored by local governments are fairly dispersed. The more disaggregated industries are more spa- tially agglomerated. At the finer spatial scale, industries are more dispersed. Results indicate that within-county spillovers are stronger than nearby-county spillovers, and within-prefecture spillovers are stronger than nearby prefecture spillovers. Local- ized spillovers are still quite substantial at a range beyond that of counties. Comparing the agglomeration index of chinese manu- facturing industries in 1996, 2.01 and 2.04, agglomeration seems to be a general tendency. Results also indicate that some industries have experienced remarkable changes in their levels of agglom- eration in the period 1996–2.04.

关键词： industrial agglomeration manufacturing industries the MS index

Analysis and application of automatic deformation monitoring data for buildings and structures of mining area

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中国有色金属学会会刊：英文版 2011年第S3期21卷 516-522页

作者： XIAO Jie1, 2. 3, ZHANG Jin4 1. Institute of Geodesy and Geophysics, chinese academy of {2., Wuhan 430077, china 2. Key Laboratory of Dynamic Geodesy, Institute of Geodesy and Geophysics, chinese academy of {2., Wuhan 430077, china 3. Graduate school of chinese academy of {2., {12. 100049, china 4. Department of Surveying and Mapping, Taiyuan University of Technology, Taiyuan 03002., china Institute of Geodesy and Geophysics Chinese Academy of Sciences Wuhan 430077 China Key Laboratory of Dynamic Geodesy Institute of Geodesy and Geophysics Chinese Academy of Sciences Wuhan 430077 China Graduate school of chinese {2. of sciences Beijing 100049 China Department of Surveying and Mapping Taiyuan University of Technology Taiyuan 030024 China

The buildings and structures of mines were monitored automatically using modern surveying technology. Through the analysis of the monitoring data, the deformation characteristics were found out from three aspects containing points, lines and regions, which play an important role in understanding the stable state of buildings and structures. The stability and deformation of monitoring points were analysed, and time-series data of monitoring points were denoised with wavelet analysis and Kalman filtering, and exponent function and periodic function were used to get the ideal deformation trend model of monitoring points. Through calculating the monitoring data obtained, analyzing the deformation trend, and cognizing the deformation regularity, it can better service mine safety production and decision-making.

关键词： wavelet analysis Kalman filtering deformation monitoring data analysis mine

Ionization state of cosmic hydrogen by early stars and quasars

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Research in Astronomy and Astrophysics 2009年第6期9卷 665-681页

作者： Xiao-Chun Mao1,2.1 National Astronomical Observatories, chinese academy of {2., beijing 100012. china 2.Graduate University of chinese academy of {2., beijing 100049, china National Astronomical Observatories Chinese Academy of Sciences Beijing 100012 China Graduate University of chinese academy of {2. Beijing 100049 China

Cosmic hydrogen is reionized and maintained in its highly ionized state by the ultraviolet emission attributed to an early generation of stars and quasars. The Lyα opacity observed in absorption spectra of high-redshift quasars permits more stringent constraints on the ionization state of cosmic hydrogen. Based on density perturbation and structure formation theory, we develop an analytic model to trace the evolution of the ionization state in the post-overlap epoch of reionization, in which the bias factor is taken into account. For quasars, we represent an improved luminosity function by utilizing a hybrid approach for the halo formation rate that is in reasonable agreement with the published measurements at 2.≤ z ≤ 6. Comparison with the classic Press-Schechter mass function of dark matter halos, we demonstrate that the biased mass distribution indeed enhances star formation efficiency in the overdense environment by more than 2. per cent following the overlap of ionized bubbles. In addition, an alternative way is introduced to derive robust estimates of the mean free path for ionizing photons. In our model, star-forming galaxies are likely to dominate the ionizing background radiation beyond z = 3, and quasars contribute equally above a redshift of z ～ 2.5. From 5 ≤ z ≤ 6, the lack of evolution in photoionization rate can thus be explained by the relatively flat evolution in star formation efficiency, although the mean free path of ionizing photons increases rapidly. Moreover, in the redshift interval z ～ 2.- 6, the expected mean free path and Gunn-Peterson optical depth obviously evolve by a factor of ～ 500 and ～50 respectively. We find that the relative values of critical overdensities for hydrogen ionization and collapse could be 430% at z ≈2.and 2. at z ≈6, suggesting a rapid overlap process in the overdense regions around instant quasars following reionization. We further illustrate that the absolute estimates of the fraction of neutral hydrogen computed fr

关键词： cosmology theory -- formation galaxies -- quasars general -- diffuse radiation -- intergalactic medium