Earthshaker: A mobile rescue robot for emergencies and disasters through teleoperation and autonomous navigation

To deal with emergencies and disasters without rescue workers being exposed to dangerous environments, this paper presents a mobile rescue robot, Earthshaker. As a combination of a tracked chassis and a six-degree-of-freedom robotic arm, as well as miscellaneous sensors and controllers, Earthshaker is capable of traversing diverse terrains and fulfilling dexterous manipulation. Specifically, Earthshaker has a unique swing arm—dozer blade structure that can help clear up cumbersome obstacles and stabilize the robot on stairs, a multimodal teleoperation system that can adapt to different transmission conditions, a depth camera-aided robotic arm and gripper that can realize semiautonomous manipulation and a LiDAR aided base that can achieve autonomous navigation in unknown areas. It was these special systems that supported Earthshaker to win the first Advanced Technology & Engineering Challenge (A-TEC) championships, standing out of 40 robots from the world and showing the efficacy of system integration and the advanced control philosophy behind it.     

基于PC的虚拟现实系统开发平台——PCVRS

介绍了一个基于ＰＣ的虚拟现实系统开发平台ＰＣＶＲＳ，对比国外同类系统，具体分析了ＰＣＶＲＳ在交互功能和开放性方面的特点，在交互功能方面，ＰＣＶＲＳ扩充了Ｐｉｃｋ＆Ｐｌａｙ的交互方式，增加了语音通道，实现了多通道交互，在开放性方面，ＰＣＶＲＳ采用Ｉｎｔｅｒｎｅｔ上流行的虚拟现实造型语言ＶＲＭＬ作为系统的基本造型语言，并设计了一个抽象的造型数据格式作为向三维场景提供数据的统一接口，最后，通过对基于该平     

动态小生境遗传算法在多模函数优化中的应用

提出一种基于动态小生境技术的自适应遗传算法．算法的进化过程中，通过物种的辨识和保存过程确定小生境的峰值，引入个体趋向于高适应度的方向这一控制参数控制搜索的方向，采用自适应调整种群距离的方法控制搜索的范围，大大提高了搜索效率．仿真试验表明，该算法能够很好地保持解的多样性，同时具有很高的全局寻优能力和收敛速度，适合求解复杂多峰函数优化问题．     

综合运输网络中合理路径优化模型

为了提高多式联运经营人运输决策的科学性和可行性,建立了一个含路径合理性约束的联合运输路径优化模型.从货运生产实践角度出发,提出了联合运输合理路径概念.基于联合运输的实现流程,指出除了运输效益最大化外,合理的换装序列和换装次数限制是联合运输路径选择和优化必须要考虑的另外2个重要特性.对于一般联合运输问题,研究了运输总费用的构成,即直线运输费用、节点中转费用和超期惩罚费用.通过构建直观的联合运输网络图,以总运输成本最少为优化目标,将多方式联合运输合理路径的选择和优化问题转化为含有超期惩罚因子的广义最短路模型,对模型的假设和数学形式做了详细的描述,并提供了简要的求解思路和参考算法.     

多模态话语视角下电影字幕翻译研究——以《乱世佳人》为例

成功的字幕翻译不仅使得影视的观看效果不受影响,而且不需要花费太多的精力和时间观众就能够做到字幕的认读。以《乱世佳人》为例,从表达、内容、语境和文化四个层面来阐述多模态话语视角下电影字幕的翻译。     

Elastomeric Properties of Polysiloxane Networks. Bimodal Elastomers that are Spatially Inhomogeneous and Others that are Very Broadly Multimodal

End‐linking poly(dimethylsiloxane) was used to prepare bimodal elastomers networks so as to have inhomogeneous nanostructures, and also to prepare others having very broadly multimodal chain‐length distributions. Macroscopic phase separation, probably high crosslink density clusters, was observed to occur in some of the bimodal networks. The mechanical properties in simple extension and in equilibrium swelling were measured. The bimodal elastomers that were not obviously inhomogeneous showed very good mechanical properties, but the macroscopically phase‐separated networks, and the broadly multimodal network were weak. Analysis of the Mooney‐Rivlin profiles suggests that the reinforcing mechanism could have a structural component in addition to that from the limited extensibilities of the short chains. The mechanical properties and the extents of swelling support the cluster conjecture, in accord with previous morphological studies on spatially‐inhomogeneous polysiloxane elastomers.     

MOF-Derived Double-Layer Hollow Nanoparticles with Oxygen Generation Ability for Multimodal Imaging-Guided Sonodynamic Therapy

The high reactive oxygen species (ROS) generation ability and simple construction of sonosensitizer systems remain challenging in sonodynamic therapy against the hypoxic tumor. In this work, we rationally prepared MOF-derived double-layer hollow manganese silicate nanoparticle (DHMS) with highly effective ROS yield under ultrasound irradiation for multimodal imaging-guided sonodynamic therapy (SDT). The presence of Mn in DHMS increased ROS generation efficiency because it could be oxidized by holes to improve the electron–hole separation. Moreover, DHMS could produce oxygen in the tumor microenvironment, which helps overcome the hypoxia of the solid tumor and thus enhance the treatment efficiency. In vivo experiments demonstrated efficient tumor inhibition in DHMS-mediated SDT guided by ultrasound and magnetic resonance imaging. This work presents a MOF-derived nanoparticle with sonosensitive and oxygen generating ability, which provides a promising strategy for tumor hypoxia in SDT.     

多模态教学模式在“食品理化检验”中的应用

基于学生自主学习能力的培养,为更好地帮助并引导学生理解晦涩难懂、枯燥抽象的知识点,以我校卫生检验与检疫专业65名学生为研究对象,将食品理化检验课程的部分章节内容采用多模态教学模式,其余内容采用传统讲授教学模式,课程结束后使用统一问卷进行调查,对多模态教学效果进行评价。结果表明2种教学模式在理解抽象实验技术或仪器、活跃课堂气氛、拓宽学习思路以及培养学习兴趣、自主学习能力和解决实际问题能力等方面均有统计学差异(p＜0.05),且有95%的学生建议继续采用多模态教学模式。教学实践及其效果评价证明多模态教学对理解抽象问题等有一定的促进作用,并可唤起学生学习兴趣、培养学生解决实际问题的能力、拓宽学习思路等。     

Highly Mesoporous Metal‐Organic Frameworks as Synergistic Multimodal Catalytic Platforms for Divergent Cascade Reactions

Rational engineering and assimilation of diverse chemo‐ and biocatalytic functionalities in a single nanostructure is highly desired for efficient multistep chemical reactions but has so far remained elusive. Here, we design and synthesize multimodal catalytic nanoreactors (MCNRs) based on a mesoporous metal‐organic framework (MOF). The MCNRs consist of customizable metal nanocrystals and stably anchored enzymes in the mesopores, as well as coordinatively unsaturated cationic metal MOF nodes, all within a single nanoreactor space. The highly intimate and diverse catalytic mesoporous microenvironments and facile accessibility to the active site in the MCNR enables the cooperative and synergistic participation from different chemo‐ and biocatalytic components. This was shown by one‐pot multistep cascade reactions involving a heterogeneous catalytic nitroaldol reaction followed by a [Pd/lipase]‐catalyzed chemoenzymatic dynamic kinetic resolution to yield optically pure (>99 % ee) nitroalcohol derivatives in quantitative yields.