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Multiple mobile-obstacle avoidance algorithm for redundant manipulator

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Journal of Beijing Institute of Technology 2016年第1期25卷 71-76页

作者：管小清韩宝玲梁冠豪常青 School of Mechanical Engineering Beijing Institute of Technology academic affairs office Beijing Polytechnic

In order to overcome the shortcomings of the previous obstacle avoidance algorithms,an obstacle avoidance algorithm applicable to multiple mobile obstacles was proposed.The minimum prediction distance between obstacles and a manipulator was obtained according to the states of obstacles and transformed to escape velocity of the corresponding link of the manipulator.The escape velocity was introduced to the gradient projection method to obtain the joint velocity of the manipulator so as to complete the obstacle avoidance trajectory planning.A7-DOF manipulator was used in the simulation,and the results verified the effectiveness of the algorithm.

关键词： redundant manipulator multiple mobile-obstacle avoidance minimum prediction distance Jaco-bian transpose gradient projection method

Blurring Boundaries and Changing University Staff:The Case of the University of Hong Kong

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Frontiers of Education in China 2015年第4期10卷 578-607页

作者： Kohei TAKAGI office of Global Education and Collaboration Bureau of Academic AffairsSophia UniversityTokyo 102-8554Japan

In the changing higher education environment,universities increasingly engage in areas outside the traditional teaching and research missions.The new missions extend over wide yet specialized areas,such as technological advancement,internationalization,entrepreneurship,and enhancement of teaching and learning.To effectively handle these areas,universities require specific talents that may not be found in conventional academic and administrative cadres.The transformation highlights blurred boundaries between academic and non-academic spheres of the university.Situated in the University of Hong Kong(HKU),this paper explores how the university utilizes new professionals and administrative staff in new missions.Qualitative interviews with university staff reveal their profiles and perceptions in evolving organizational structures.By examining understudied subjects in Hong Kong,it discusses implications of changing university staff and how universities may optimize their new talent.

关键词： university administration Hong Kong professional staff

Teaching Model Integrating Online and Offline in Real Time ——An Exploration of New Teaching Mode for Regular Epidemic Prevention and Control

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计算机教育 2022年第12期 106-113页

作者： Ce Zhang Yongyuan Jiang Peng Liu Meng Wei academic affairs office Harbin Institute of Technology(Weihai)Weihai264209China School office Harbin Institute of Technology(Weihai)Weihai264209China

During epidemic,students in medium-risk or high-risk areas are unable to return to school on time.In response to this new challenge,there is an urgent need to create a new teaching mode to offer on-line courses to those absent from the offline classes,and we propose a model integrating online and offline teaching.It is based on“dual-camera”method,which allows off-campus students to virtually build up a physical classroom scenario on campus through computers and mobile phones.Using this model,students can participate in class remotely.In order to enhance the engagement of off-campus online students,emphasis is placed on interactive teaching.Teachers are required to design their teaching in advance and to work in collaboration with multiple departments,then using information technology and suitable teaching methods to enable students to participate in physical classroom teaching.This model has been tested in practice and has been successful in meeting the challenges.Finally,4 areas for improvement and refinement are identified.

关键词： Epidemic prevention and control New normal state MOOC Online and offline integrated teaching model

Study on Cultural Connotation of Tattoo Custom in Women of Yi Ethnic Group in Liangshan

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Journal of Contemporary Educational Research 2019年第6期3卷 27-30页

作者： Gaga Mao The Office of Academic Affairs Southwest Minzu UniversityChengduSichuanChina

Tattoo custom in women of Yi ethnic group is a human cultural phenomenon with very rich connotation.Its social and psychological motive is complex.It is a comprehensive expression of religion,culture and custom of Yi ... 详细信息

关键词： Women of Yi ethnic group Tattoo Cultural connotation

Novel Real-Time Seam Tracking Algorithm Based on Vector Angle and Least Square Method

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Journal of Beijing Institute of Technology 2017年第2期26卷 150-157页

作者： Guanhao Liang Qingsheng Luo Zhuo Ge Xiaoqing Guan School of Mechatronical Engineering Beijing Institute of TechnologyBeijing 100081China academic affairs office Beijing PolytechnicBeijing 100176China

Real-time seam tracking can improve welding quality and enhance welding efficiency during the welding process in automobile manufacturing.However,the teaching-playing welding process,an off-line seam tracking method,is still dominant in automobile industry,which is less flexible when welding objects or situation change.A novel real-time algorithm consisting of seam detection and generation is proposed to track seam.Using captured 3D points,space vectors were created between two adjacent points along each laser line and then a vector angle based algorithm was developed to detect target points on the seam.Least square method was used to fit target points to a welding trajectory for seam tracking.Furthermore,the real-time seam tracking process was simulated in MATLAB/Simulink.The trend of joint angles vs.time was logged and a comparison between the off-line and the proposed seam tracking algorithm was conducted.Results show that the proposed real-time seam tracking algorithm can work in a real-time scenario and have high accuracy in welding point positioning.

关键词： real-time seam tracking real-time seam detection laser scanner vector angle leastsquare method algorithm research

Liberal Arts Education,Liberal Education,General Education,Whole Person Education,Are They All the Same?

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Liberal Arts Education,Liberal Education,General Education,W...

The GCC Countries’New Energy Policy:Present,Opportunities and Challenges

中国高等教育学会大学素质教育研究会2013年会暨第三届...

作者： Wendy W.Y.Chan office of the Vice-Rector(academic affairs) University of Macau

Introduction The terms of liberal arts education,liberal education,general education,and whole person education are often used interchangeably to signify a quality education.This paper attempts to define each of them,in terms of their original intended objectives,characteristics,and the contexts in which they are used,in order to answer the question posted by the paper title as well as for generating ideas among

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Asian Journal of Middle Eastern and Islamic Studies 2022年第3期16卷 298-309页

作者： Xuming Qian Pingan Xiong Middle East Studies Institute Shanghai International Studies UniversityShanghaiChina Office of Academic Affairs Shanghai Business SchoolShanghaiChina

The GCC countries are rich in new energy resources.In the context of the shale gas revolution and the transformation of the global energy system,the GCC countries have formulated corresponding goals and plans to actively develop new energy,and they have achieved good results.GCC countries face opportunities and challenges in the development of new energy.Although some GCC countries have formulated their own shortterm and medium-to-long-term development goals and plans for new energy,there is still a certain gap between the current level of development and utilisation of new energy and the mediumand long-term development goals.

关键词： The GCC new energy policy solar energy wind energy

Roles of the functional domains and conserved residues of the severe fever with thrombocytopenia syndrome virus L protein provide insights into the viral RNA transcription/replication mechanism

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Virologica Sinica 2022年第6期37卷 946-949页

作者： Zhiyun Yin Fuli Ren Min Zhou Shengyao Chen Yali Deng Sijing Hu Fei Deng Shu Shen Junming Shi National Virus Resource Center Wuhan Institute of VirologyChinese Academy of SciencesWuhan430071China academic affairs office of Cangzhou Jiaotong University Cangzhou061199China Center for Translational Medicine Jinyintan HospitalWuhan430023China

Dear Editor,The severe fever with thrombocytopenia syndrome virus(SFTSV) is an emerging tick-borne pathogen belonging to the genus Bandavirus,family Phenuiviridae, which causes high fatality rates ranging from 12%to 30%(Kim et al., 2013). In the absence of efficacious drugs and vaccines, therapies for SFTS are performed mostly according to the clinical manifestations accompanied by supportive treatment. The SFTSV polymerase protein(SFTSV-L), encoded by its L segment, plays a critical role in genomic replication and transcription.

关键词： fever drugs residues

The New Historical Divide of Online Education:Dialogues with Key Leaders During the Epidemic

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ECNU Review of Education 2020年第4期3卷 755-761页

作者： Xiaolei Zhang Xiaoxiao Wang Manli Li School of Education Tianjin University office of Lifelong Education Administration Undergraduate Academic AffairsTsinghua University Institute of Education Tsinghua UniversityBeijingChina

The Coronavirus epidemic has reached far deeper into people’s daily life across the world,with the sweeping shutdown of all schools and the educational upheaval of students globally.“The speed and scale of the educa... 详细信息

关键词： has globally shutdown