考虑运动受限的履带式移动机器人轨迹跟踪控制

针对履带式移动机器人的轨迹跟踪控制问题进行研究,首先,建立了履带式移动机器人的运动学模型和跟踪误差模型；其次,设计了转速有限时间控制和线速度滑模控制的轨迹跟踪控制律,并给出了考虑运动受限作用下的控制律修正表达式；最后,基于MATLAB对所提控制律进行仿真,对比分析了不考虑运动受限情况下跟踪控制效果;结果表明,设计的跟踪控制律能够实现履带式移动机器人对圆轨迹的有效跟踪,且考虑运动受限作用的控制律更加符合实际;文章研究分析了运动受限作用对于移动机器人轨迹跟踪控制的影响,分析结果对其他移动机器人的运动控制研究具有参考价值。     

公共图书馆信息服务研究

分析了信息时代下公共图书馆信息服务的发展趋势,对如何优化信息社会中公共图书馆的信息服务价值进行了探讨。     

Origin and Prediction of Highly Specific Bond Cleavage Sites in the Thermal Activation of Intact Protein Ions

Predicting the fragmentation patterns of proteins would be beneficial for the reliable identification of intact proteins by mass spectrometry. However, the ability to accurately make such predictions remains elusive. An approach to predict the specific cleavage sites in whole proteins resulting from collision-induced dissociation by use of an improved electrostatic model for calculating the proton configurations of highly-charged protein ions is reported. Using ubiquitin, cytochrome c, lysozyme and β-lactoglobulin as prototypical proteins, this approach can be used to predict the fragmentation patterns of intact proteins. For sufficiently highly charged proteins, specific cleavages occur near the first low-basicity amino acid residues that are protonated with increasing charge state. Hybrid QM/QM′ (QM=quantum mechanics) and molecular dynamics (MD) simulations and energy-resolved collision-induced dissociation measurements indicated that the barrier to the specific dissociation of the protonated amide backbone bond is significantly lower than competitive charge remote fragmentation. Unlike highly charged peptides, the protons at low-basicity sites in highly charged protein ions can be confined to a limited sequence of low-basicity amino acid residues by electrostatic repulsion, which results in highly specific fragmentation near the site of protonation. This research suggests that the optimal charge states to form specific sequence ions of intact proteins in higher abundances than the use of less specific ion dissociation methods can be predicted a priori.     

移动图书馆服务如何避免“白痴化”

阐述了移动阅读的特点,分析了移动阅读的优缺点及其发展的必然趋势,提出了避免移动阅读白痴化的措施,指出要避免"白痴化"就必须注意知识的完整性、不同场域服务的互补性以及移动服务与课堂教学的有机统一。     

微信电子商务应用价值分析

移动商务发展到现在,在应用层面上最广泛的就是专属APP和基于微信平台上开发的商务应用.微信平台以其应用广泛,粘合度高已成为众多商家特别是第三产业企业应用的首选.从微信商业发展入手,系统讨论微信商业价值形式,能为商业开发应用研究给出一些较为完整的理念,促进移动电子商务应用发展.     

如何应用手机二维码提升图书馆服务水平

在概述手机二维码的概念与特点的基础上，着重介绍了二维码在资源定位、OPAC信息检索、链接门户网站、服务引导、身份认证、信息查询等方面的应用，探讨了手机二维码应用于图书馆的优势及做法。     

广东流动图书馆模式对广西壮族自治区图书馆流动服务的启示

探讨了目前广西壮族自治区图书馆汽车图书服务存在的问题和不足,参考并吸收广东流动图书馆模式的先进经验,提出了改进并完善汽车图书馆服务体系及管理制度的措施,探索出一套符合广西壮族自治区区域特点的流动图书馆服务模式。     

The RCT approach for cell coverage prediction (II): Experiment and early results

We study on the implementation flow of the radio computerized tomography (RCT) prediction method. A case in real cellular mobile radio (CMR) system together with the prediction results are also presented. As shown by the results, the RCT prediction method is marked for its convenience and rapidity, as well as its relative high precision even when the prediction procedure is highly simplified. Since it is developed according to the characteristics of wireless communication environments of our country and has concurrently merits from both statistical and deterministic prediction models, the RCT prediction method is in good agreement with engineering practices in cellular mobile communication in cities at home. Optimized by combining with other techniques, further improvement could be achieved in the stability and precision of the RCT prediction method which now serves as the core part of a software tool for commercial use in CMR system analysis and optimization. Biography: Yu Sheng-bing (1974-), male, Ph. D candidate, research interest: theory analysis and application development of radio propagation in wireless communication systems.     

基于Mobile-C移动代理的移动机器人的控制

本文提出一种使用Mobile-C移动代理控制移动机器人的方法,详细介绍了Mobile-C的结构和报文格式,以及与Ch结合的优势.机器人通过Mobile-C移动代理的控制,可以在运行中动态地切换成新的算法,来处理意料之外的情况.文章最后用一个分布式应用的实验说明了Mobile-C移动代理控制机器人的方法.     

Enantiomeric separations of four basic drugs containing N-alkyl groups by a RP-HPLC system using SBE-β-CD as chiral mobile phase additive

The chiral separations of four pharmaceutical racemates which contain N-alkyl groups were satisfactorily resolved using SBE-β-CD as a chiral mobile phase additive(CMPA)in a RP-HPLC system(the resolution is 2.701 for ondansetron hydrochloride,1.996 for sulpiride,1.293 for clenbuterol hydrochloride and 0.816 for omeprazole).In addition,the effects of different parameters such as CD type and CD concentration were investigated.The separation mechanism arises through the combination of several potential interactions,including electrostatic interactions as well as hydrogen bonding interactions and hydrophobic inclusion interactions,which allow for the SBE-β-CD–drug complexation with strong stereoselectivity and stability.The resolution also relates to the number and location of N atoms in the enantiomers.This method will be applicable to the isolation of various types of biologically important enantiomers containing N-alkyl groups.