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ARCHi.ECTURE AND i.S i.PLEMENTATi.N FOR ROBOTS TO NAVi.ATE i. UNKNOWN i.DOOR ENVi.ONMENTS

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Chi.ese Journal of Mechani.al Engi.eeri.g 2005年第3期18卷 366-370页

作者： Li.Wenfeng Chri.tensen i. Henri. Oreback Anders College of Logi.ti.s Engi.eeri.g Wuhan University of Technology Wuhan 430063 China Centre for Autonomous Systems Royal Institute of Technology SE-100 44 Stockholm Sweden

i. i. di.cussed wi.h the desi.n and i.plementati.n of an archi.ecture for a mobi.e robot to navi.ate i. dynami. and anknown i.door envi.onments. The archi.ecture i. based on the framework of Open Robot Control Software at KTH （OROCOS@KTH）, whi.h i. also di.cussed and evaluated to navi.ate i.door effi.i.ntly, a new algori.hm named door-li.e-exi. detecti.n i. proposed whi.h employs 2D feature oft. door and extracts key poi.ts of pathway from the raw data of a laser scanner. As a hybri. archi.ecture, i. i. decomposed i.to several basi. components whi.h can be classi.i.d as ei.her deli.erati.e or reacti.e. Each component can concurrently execute and communi.ate wi.h another. i. i. expansi.le and transferable and i.s components are reusable.

关键词： i.door navi.ati.n Archi.ecture Framework Component Mobi.e robots

Hybri.i.ati.n and genome evoluti.n i. The role of conti.gency duri.g hybri. speci.ti.n

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Current Zoology 2013年第5期59卷 667-674页

作者： Fabri.e EROUKHMANOFF Ri.hard i. BAi.EY Glenn-PETER SaeTRE Centre for Ecologi.al and Evoluti.nary Synthesi. (CEES) Department of Biology University of Oslo Norway

Homoploi. hybri. speci.ti.n （HHS） i.volves the recombi.ati.n of two di.ferenti.ted genomes i.to a novel, func- ti.nal one wi.hout a change i. chromosome number. Theoreti.ally, there are numerous ways for two parental genomes to recom- bi.e. Hence, chance may play a large role i. the formati.n of a hybri. speci.s. i. these genome combi.ati.ns can evolve rapi.ly followi.g hybri.i.ati.n and sympatri. si.uati.ns are numerous, recurrent homoploi. hybri. speci.ti.n i. a possi.i.i.y. We argue that three di.ferent, but not mutually exclusi.e, types of conti.genci.s could i.fluence thi. process. Fi.st, many of these ＂hopeful monsters＂ of recombi.ant parent genotypes would li.ely have low fi.ness. Only speci.i. combi.ati.ns of parental genomi. con- tri.uti.ns may produce vi.ble, i.tra-ferti.e hybri. speci.s able to accommodate potenti.l constrai.ts ari.i.g from i.tragenomi. confli.t. Second, ecologi.al condi.i.ns （competi.i.n, geography of the contact zones or the i.i.i.l frequency of both parent spe- ci.s） mi.ht favor di.ferent outcomes rangi.g from sympatri. coexi.tence to the formati.n of hybri. swarms and ulti.ately hybri. speci.ti.n. Fi.ally, hi.tory may also play an i.portant role i. promoti.g or constrai.i.g recurrent HHS i. multi.le hybri.i.ati.n events occur sequenti.lly and parental di.ergence or i.olati.n di.fers along thi. conti.uum. We di.cuss under whi.h condi.i.ns HHS may occur multi.le ti.es i. parallel and to what extent recombi.ati.n and selecti.n may fuse the parent genomes i. the same or di.ferent ways. We conclude by exami.i.g di.ferent approaches that mi.ht help to solve thi. i.tri.ui.g evoluti.nary puz- zle [Current Zoology 59 （5）： 667-674, 2013].

关键词： Di.ensi.nali.y Geneti. Mosai.i.m Hybri.i.ati.n Speci.ti.n

Hybri.i.ati.n and genome evoluti.n i.： Mechani.ms of speci.s di.ergence and thei. effects on evoluti.n i. hybri.s

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Current Zoology 2013年第5期59卷 675-685页

作者： Ri.hard i. BAi.EY Fabri.e EROUKHMANOFF Glenn-PETER SaeTRE Centre for Ecologi.al and Evoluti.nary Synthesi. (CEES) Department of Biology University of Oslo Norway

Recent genomi. studi.s have hi.hli.hted the i.portance of hybri.i.ati.n and gene exchange i. evoluti.n. We ask what factors cause vari.ti.n i. the i.pact of hybri.i.ati.n, through adaptati.n i. hybri.s and the li.eli.ood of hybri. speci.ti.n. Duri.g speci.ti.n, trai.s that di.erge due to both di.ergent and stabi.i.i.g selecti.n can contri.ute to the bui.dup of reproducti.e i.olati.n. Di.ergent di.ecti.nal selecti.n i. parent taxa should lead to i.termedi.te phenotypes i. hybri.s, whereas stabi.i.i.g se- lecti.n can also produce extreme, transgressi.e phenotypes when hybri.i.ati.n occurs. By exami.i.g exi.ti.g theory and em- pi.i.al data, we di.cuss how these effects, combi.ed wi.h di.ferences between modes of di.ergence i. the chromosomal di.tri.u- ti.n of i.compati.i.i.i.s, affect adaptati.n and speci.ti.n i. hybri. populati.ns. The result i. a clear and testable set of predi.- ti.ns that can be used to exami.e hybri. adaptati.n and speci.ti.n. Stabi.i.i.g selecti.n i. parents i.creases transgressi.n i. hy- bri.s, i.creasi.g the possi.i.i.y for novel adaptati.n. Di.ergent di.ecti.nal selecti.n causes i.termedi.te hybri. phenotypes and i.creases thei. abi.i.y to evolve along the di.ecti.n of parental di.ferenti.ti.n. Stabi.i.i.g selecti.n bi.ses i.compati.i.i.i.s to- wards autosomes, leadi.g to reduced sexual correlati.ns i. trai. values and reduced plei.tropy i. hybri.s, and hence i.creased freedom i. the di.ecti.n of evoluti.n. Di.ecti.nal selecti.n causes a bi.s towards sex-li.ked i.compati.i.i.i.s, wi.h the opposi.e consequences. Di.ergence by di.ecti.nal selecti.n leads to greater domi.ance effects than stabi.i.i.g selecti.n, wi.h major but vari.ble i.pacts on hybri. evoluti.n [Current Zoology 59 （5）： 675-685, 2013].

关键词： Evolvabi.i.y Constrai.ts Di.ensi.nali.y Hybri. Adaptati.n

Use of Senti.el-1 i.agery for flood management i. a reservoi.-regulated ri.er basi.

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Fronti.rs of Earth Sci.nce 2018年第3期12卷 506-520页

作者： T. PERROU A. GAR/OUD i. PARCHARi.i. Department of Geography Harokopio University of Athens Athens Greece European Space Agency/ESRi. Frascati Rome Italy Department of Geography University Paris Diderot Paris France

Flood hazard moni.ori.g and mappi.g i. of great i.portance because i. represents a si.ni.i.ant contri.uti.n to ri.k management. The present study i.vesti.ated the flood event that occurred downstream from the transboundary Strymon Ri.er basi., more speci.i.ally at Serres basi.-a reservoi.-regulated basi., i. the begi.ni.g of 2015. The focus of thi. study was to better understand the spati.-temporal dynami. of the flood and the causes that i.i.i.ted the hazard. Wi.hi. the Serres basi., the Strymon transboundary ri.er outflows to Lake Kerki.i. whi.h regulates water flow downstream for i.ri.ati.n purposes and flood protecti.n. For thi. research, a dataset of Senti.el-1 SAR GRD i.ages was collected and processed coveri.g the peri.d of October 2014-October 2015 to i.vesti.ate the water level changes i. Lake Kerki.i. Based on SAR i.ages, bi.ary water/non-water products and multi.emporal RGB ampli.ude i.ages were generated and i.terpreted. Senti.el-1 products have proved to be an effecti.e tool on flood hazard dynami. extensi.n mappi.g and esti.ati.n of water extent bodi.s retai.ed by small reservoi.s. i. agreement wi.h hydro-meteorologi.al data and the hi.h-resoluti.n DEM, i. was concei.ed that the flood event occurred due to the water volume flowi.g from upstream i. the reservoi. and the large amount of water drai.i.g from the tri.utari.s i.to nearby sub-basi.s. Moreover, i.effi.i.nt water management of the overwhelmi.g water flow through the dam could further strengthen the flood event. The proposed approach, whi.h i. enti.ely based on open access remotely sensed data and processi.g tools, could be i.plemented i. the same area for past flood events to produce archi.e retrospecti.e data, as well as i. other si.i.ar reservoi.-regulated ri.er basi.s i. terms of water management and flood ri.k management.

关键词： flood mappi.g Senti.el-1 SAR bi.ary i.ages multi.emporal i.age ri.er basi.

Charged parti.le propagati.n through nanostructures and associ.ted radi.ti.n

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Nuclear Sci.nce and Techni.ues 2004年第2期15卷 65-85页

作者： N.K. ZHEVAGO V. i. GLEBOV i.sti.ute of Hi.h Technology i. Experi.ental Machi.ery Russian Research Centre "Kurchatov Institute" Moscow 123182 RussiaInstitute of High Technology in Experimental MachineryRussian Research Centre "Kurchatov Institute" Moscow 123182 Russia

i. thi. report, usi.g computer si.ulati.ns, we i.vesti.ate the channeli.g of hi.h-energy charged parti. cles i. nanotube ropes and fulleri.es and esti.ate the capabi.i.y of bent nanocrystals to deflect a parti.le beam. We also di.cuss electromagneti. radi.ti.n ari.i.g both from the non-uni.orm moti.n of the parti.les i. the electrostati. potenti.l of ali.ned atoms and from the transi.nt polari.ati.n of the medi.m caused by the parti.les.

关键词：纳米结构带电粒子传播方式计算机仿真电磁辐射瞬时偏振固体物理学沟道效应

Dynami. Analysi. of the Non-Li.ear Behavi.r of a Composi.e Sandwi.h Beam wi.h a Magnetorheologi.al Elastomer Core

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Acta Mechani.a Soli.a Si.i.a 2016年第3期29卷 271-283页

作者： N. Chi.h A. Nour S. Agui. i. Tawfi. Dynami. of Engi.es and Vi.roacousti. Laboratory M'Hamed Bougara University of Boumerdes Algeria Laboratoi.e QUARTZ(EA7393) Supmeca 3 rue de Fernand Hainaut 93407 Saint-Ouen Cedex France

Thi. work deals wi.h the acti.e control of the vi.rati.ns of mechani.al structures i.corporati.g magnetorheologi.al elastomer. The dampi.g coeffi.i.nt and shear modulus of the elastomer i.crease when exposed to a magneti. fi.ld. Compared wi.h the vi.rati.n control where the elastomer i. permanently exposed to a magneti. fi.ld, the control of thi. process through ti.e reduces vi.rati.ns more effecti.ely. The experi.ental study for the vi.rati.ns of a sandwi.h beam fi.led wi.h an elastomer i. conducted, followed by a numeri.al study usi.g the Abaqus code. The vi.rati.n dampi.g i. found to be dependent on the loadi.g rate of mi.ro-si.e ferromagneti. parti.les i. the elastomer.

关键词： sandwi.h beam magnetorheologi.al elastomer magneti. fi.ld sti.fness loss factor

Laboratory scale studi.s on removal of chromi.m from i.dustri.l wastes

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Journal of Envi.onmental Sci.nces 2003年第3期15卷 417-422页

作者： M.A.Bai. Mohsi. Mi. Shazad Murtaza Zafar i. Bhatti i.sti.ute of Envi.onmental Sci.nce & Engi.eeri.g National University of Science & EngineeringInstitute of Environmental Science & Engineering National University of Science & EngineeringInstitute of Environmental Science & Engineering National University of Science & EngineeringInstitute of Environmental Science & Engineering National University of Science & Engineering Rawalpindi PakistanRawalpindi PakistanRawalpindi PakistanRawalpindi Pakistan

Chromi.m bei.g one of the major toxi. pollutants i. di.charged from electroplati.g and chrome tanni.g processes and i. also found i. the effluents of dyes, pai.t pi.ments, manufacturi.g uni.s etc. Chromi.m exi.ts i. aqueous systems i. both tri.alent (Cr 3+) and hexavalent (Cr 6+) forms. The hexavalent form i. carci.ogeni. and toxi. to aquati. li.e, whereas Cr 3+ i. however comparati.ely less toxi.. Thi. study was undertaken to i.vesti.ate the total chromi.m removal from i.dustri.l effluents by chemi.al means i. order to achi.ve the Paki.tan NEQS level of 1 mg/L by the methods of reducti.n and preci.i.ati.n. The study was conducted i. four phases. i. phase Ⅰ, the opti.um pH and cost effecti.e reduci.g agent among the four popular commerci.l chemi.als was selected. As a result, pH of 2 was found to be most sui.able and sodi.m meta bi.ulfate was found to be the most cost effecti.e reduci.g agent respecti.ely. Phase Ⅱ showed that lower dose of sodi.m meta bi.ulfate was suffi.i.nt to obtai. 100 % effi.i.ncy i. reduci.g Cr 6+ to Cr 3+, and i. was noted that reacti.n ti.e had no si.ni.i.ance i. the whole process. A desi.n curve for reducti.n process was establi.hed whi.h can act as a tool for treatment of i.dustri.l effluents. Phase Ⅲ studi.s i.di.ated the best pH was 8.5 for preci.i.ati.n of Cr 3+ to chromi.m hydroxi.e by usi.g li.e. An effi.i.ncy of 100 % was achi.vable and a settli.g ti.e of 30 mi.utes produced clear effluent. Fi.ally i. Phase Ⅳ actual waste samples from chrome tanni.g and electroplati.g i.dustri.s, when preci.i.ated at pH of 12 gave 100 % effi.i.ncy at a settli.g ti.e of 30 mi.utes and confi.med that chemi.al means of reducti.n and preci.i.ati.n i. a feasi.le and vi.ble soluti.n for treati.g chromi.m wastes from i.dustri.s.

关键词： tannery waste effluents reducti.n preci.i.ati.n effi.i.ncy chromi.m

An Experi.entally Vali.ated SOA Model for Hi.h-Bi. Rate System Appli.ati.ns

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光学学报 2003年第S1期23卷 457-458页

作者： Hasan i. Saleheen Sci.nce & Technology Di.i.i.n Corning Incorporated Mail Stop: SP-DV-02-8 Corning NY 14831

A comprehensi.e model of the Semi.onductor Opti.al Ampli.i.r wi.h experi.ental vali.ati.n result i. presented. Thi. model accounts for vari.us physi.al behavi.r of the devi.e whi.h i. necessary for hi.h bi.-rate syste... 详细信息

关键词： SOA i. on for An Experi.entally Vali.ated SOA Model for Hi.h-Bi. Rate System Appli.ati.ns ASE from of length

Near-zero U.S. i.terest Rates, Pri.ary Commodi.y Pri.es, and Fi.anci.l Control i. Emergi.g Markets

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Economi. and Poli.i.al Studi.s 2014年第2期2卷 3-25页

作者： RONALD i. MCKi.NON the Department of Economi.s Stanford University

The U.S. Federal Reserve's monetary poli.y at the center of the world dollar standard has a fi.st-order i.pact on global fi.anci.l stabi.i.y. However, except i. moments of i.ternati.nal cri.es, the Fed focuses i.ward on domesti. Ameri.an economi. i.di.ators and generally i.nores collateral damage from i.s monetary poli.i.s i. the rest of the world. But thi. makes the U.S. economy less stable. Currently, ultra-low i.terest rates on dollar assets i.ni.e waves of hot money i.to emergi.g markets by carry traders that generate bubbles i. i.ternati.nal pri.ary commodi.y pri.es and other assets. These bubbles burst when some acci.ent at the center, such as a banki.g cri.i., causes a reflux of the hot money. i.oni.ally, these near-zero i.terest rates hold back i.vestment i. the Ameri.an economy i.self.

关键词： dollar standard exchange rates hot money flows emergi.g markets commodi.y pri.e cycles