解释学习在机器人过程控制中的应用

机器人过程控制是智能机器人系统的一个特别重要而又十分复杂的研究课题。本文将解释学习应用于机器人过程控制，为之开发了一种新的方法。仿真结果表明，该方法可行、有效。同时，还尝试了将Ｐｒｏｌｏｇ语言作为机器人过程控制的运行机制的形式化表达工具的可能性。     

负反馈电桥在电阻传感器线性化中的应用

本文介绍利用信号流图及梅森公式分析设计负反馈电桥电路,以及在电阻传感器测量线性化中的应用。     

回旋管输出窗热性质的研究

一、引 言 输出窗是回旋管的能量输出端口,它的特性直接影响到回旋管的性能和寿命。输出窗的设计包括电特性和热特性的研究。当输出功率增加时,热特性的研究变得非常重要以便寻求合理有效的冷却措施。 输出窗由波导和介质片(块)两部分组成。回旋管的输出波导是圆波导,介质一般做成     

He-N2 radiofrequency discharge: Influence of N2 on discharge and afterglow

A diagnostic study q (energy transfer processes in a He-N₂ flowing discharge and afterglow has been performed in a radiofrequency-produced plasma cooled in a liquid nitrogen hath. Optical emission spectroscopy in the visible and infrared spectral range as well as Langrnuir probe diagnostics were used. The vibrational kinetics of CO injected in such an afterglow has been examined. It shows a slow cooling of the electrons in the afterglow regime. The electron kinetics responsible joy CO vibrahonal excitation is turned off when N₂ is added to the He discharge, while that for vibrationally excited N₂ molecules is turned on. The results are discussed on the basis of previous theorerical calculations and experiments on the He-N₂ system.     

Energy transfer between the flavin chromophores of electron-transferring flavoprotein fromMegasphaera elsdenii as inferred from time-resolved red-edge and blue-edge fluorescence spectroscopy

Both a mode-locked argon-ion laser and synchrotron radiation were used as excitation sources to obtain time-resolved polarized fluorescence of the two FAD cofactors in electron transferring flavoprotein fromMegasphaera elsdenii. Red-edge excited and blue-edge detected fluorescence anisotropy decay curves did not contain a fast relaxation process which was observed upon mainband excitation and detection. This relaxation was assigned to homo-energy transfer between the two FAD cofactors. Failure of energy transfer as observed with edge spectroscopy on this protein excludes restricted reorientational motion of the flavins as a possible mechanism of depolarization. From the global analysis of the fluorescence anisotropy decay surface obtained at multiple excitation and detection wavelengths, the distance between and the relative orientation of the flavins could be estimated. The methodology described has general applicability in other multichromophoric biopolymers and has the potential to acquire accurate geometrical parameters in these systems.     

Application of a Near-Optimal Reinforcement Learning Controller to a Robotics Problem in Manufacturing: A Hybrid Approach

Optimization theory provides a framework for determining the best decisions or actions with respect to some mathematical model of a process. This paper focuses on learning to act in a near-optimal manner through reinforcement learning for problems that either have no model or the model is too complex. One approach to solving this class of problems is via approximate dynamic programming. The application of these methods are established primarily for the case of discrete state and action spaces. In this paper we develop efficient methods of learning which act in complex systems with continuous state and action spaces. Monte-Carlo approaches are employed to estimate function values in an iterative, incremental procedure. Derivative-free line search methods are used to obtain a near-optimal action in the continuous action space for a discrete subset of the state space. This near-optimal control policy is then extended to the entire continuous state space via a fuzzy additive model. To compensate for approximation errors, a modified procedure for perturbing the generated control policy is developed. Convergence results under moderate assumptions and stopping criteria are established.     

高校文科数学教育的课程价值及其实现

数学教育是数学文化的教育．文科数学教育的价值取向必须体现育人为本的课程设计观和服从于文科专业培养目标的宗旨．在文科数学教育的实践中，要从文科专业的学科性质、课程体系、培养目标上明确文科数学教育的课程定位、教师职责和改革目标，使文科数学教育切入到文科专业人才培养模式的改革之中。     

Synthesis,characterization, and micellization of an epoxy‐based amphiphilic diblock copolymer of ϵ‐caprolactone and glycidyl methacrylate by enzymatic ring‐opening polymerization and atom transfer radical polymerization

Amphiphilic diblock copolymer polycaprolactone‐block‐poly(glycidyl methacrylate) (PCL‐b‐PGMA) was synthesized via enzymatic ring‐opening polymerization (eROP) and atom transfer radical polymerization (ATRP). Methanol first initiated eROP of ?‐caprolactone (?‐CL) in the presence of biocatalyst Novozyme‐435 under anhydrous conditions. The resulting monohydroxyl‐terminated polycaprolactone (PCL–OH) was subsequently converted to a bromine‐ended macroinitiator (PCL–Br) for ATRP by esterification with α‐bromopropionyl bromide. PCL‐b‐PGMA diblock copolymers were synthesized in a subsequent ATRP of glycidyl methacrylate (GMA). A kinetic analysis of ATRP indicated a living/controlled radical process. The macromolecular structures were characterized for PCL–OH, PCL–Br, and the block copolymers by means of nuclear magnetic resonance, gel permeation chromatography, and infrared spectroscopy. Differential scanning calorimetry and wide‐angle X‐ray diffraction analyses indicated that the copolymer composition (?‐CL/GMA) had a great influence on the thermal properties. The well‐defined, amphiphilic diblock copolymer PCL‐b‐PGMA self‐assembled into nanoscale micelles in aqueous solutions, as investigated by dynamic light scattering and transmission electron microscopy. © 2007 Wiley Periodicals, Inc. J Polym Sci Part A: Polym Chem 45: 5037–5049, 2007