Rocky coast processes: with special reference to the recession of soft rock cliffs

Substantial progress in research on the recession of coastal cliffs composed of soft materials has been made in recent years and data with higher accuracy have been accumulated. This paper provides the state of the art review in the recession studies and highlights two new findings obtained from the reanalysis of existing data. The review topics are: episodic and localized nature of cliff recession; the development of cliffline; the relationship between cliff height and recession rate; mechanisms of cliff toe erosion by waves; a fundamental equation for wave-induced toe erosion; factors controlling toe erosion; and slope instabilities and mass movements. The findings are presented on (1) the temporal change in cliffline recession mode and (2) the effect of beach sediment at the cliff base on the cliff erosion.     

Facile non‐lithographic route to highly aligned silica nanopatterns using unidirectionally aligned polystyrene‐block‐polydimethylsiloxane films

Thin films (monolayer and bilayer) of cylinder forming polystyrene‐block‐polydimethylsiloxane (PS‐b‐PDMS) were shear aligned by the swelling and deswelling of a crosslinked PDMS pad that was physically adhered to the film during solvent vapor annealing. The nanostructures formed by self‐assembly were exposed to ultraviolet‐ozone to partially oxidize the PDMS, followed by calcination in air at 500 °C. In this process, the PS segments were fully decomposed, while the PDMS yielded silica nanostructures. The highly aligned PDMS cylinders were thus deposited as silica nanolines on the silicon substrate. Using a bilayer film, the center‐to‐center distance of these features were effectively halved from 38 to 19 nm. Similarly, by sequential shear‐alignment of two distinct layers, a rhombic array of silica nanolines was fabricated. This methodology provides a facile route to fabricating complex topographically patterned nanostructures. © 2015 Wiley Periodicals, Inc. J. Polym. Sci., Part B: Polym. Phys. 2015 , 53, 1058–1064     

自主机器人人工进化方法研究

在介绍人工进化研究状况的基础上 ,着重阐述了进化机器人学的关键问题 :基本概念、进化技术、进化计算和实验研究方法等 ,探索了进化机器人学未来的研究趋势及所面临的挑战 .     

教学机器人实验系统的开发

本文首先介绍了教学机器人实验系统的设计思想和系统构成，然后对其工作方式及与上位机的联机操作方法作了简要的说明，最后对该系统中模拟通用机器人语言所开发的模拟机器人语言的语句及应用这种机器人语言进行编程的特色作了专门的阐述．     

Experimental observation of quantum corrections to electrical resistivity in nanocrystalline soft magnetic alloys

X-ray diffraction patterns of nanocrystalline Fe-Cu-Nb-Si-B (FINEMET) alloys reveal that bcc α-Fe/α-FeSi crystallites with the average grain size of 20(5) nm are dispersed in amorphous matrix. Enhanced electron—electron interaction (EEI) and quantum interference (QI) effects as well as electron-magnon (and/or electron-spin fluctuation) scattering turn out to be the main mechanisms that govern the temperature dependence of resistivity. Of all the inelastic scattering processes, inelastic electron-phonon scattering is the most effective mechanism to destroy phase coherence of electron wave functions. The diffusion constant, density of states at the Fermi level and the inelastic scattering time have been estimated, for the first time, for the alloys in question Article presented at the International Symposium on Advances in Superconductivity and Magnetism: Materials, Mechanisms and Devices, ASMM2D-2001, 25–28 September 2001, Mangalore, India.     

柔性变截面滑移式机械手的控制

研究了柔性变截面滑移式机械手臂的控制。首先，基于有限元法导出系统的动力学方程，然后分别建立了两种控制方式的状态方程：１）以加速度和角加速度作为控制变量：２）以力和力矩作为控制变量。控制过程分为“粗控”和“精控”两步进行。“精控”过程采用线性二次型高斯控制。最后给出了数值模拟的结果。     

Chemical reactivity of hypervalent silicon compounds: The local hard and soft acids and bases principle viewpoint

The silicon atom may increase its coordination number to values greater than four, to form pentacoordinated compounds. It has been observed experimentally that, in general, pentacoordinated compounds show greater reactivity than tetracoordinated compounds. In this work, density functional theory is used to calculate the global softness and the condensed softness of the silicon atom for SiH _n F_4−n and SiH _n F _5−n ¹⁻ . The values obtained show that the global and condensed softness are greater in the pentacoordinated compounds than in the tetracoordinated compounds, a result that explains the enhanced reactivity. If the results are analysed through a local version of the hard and soft acids and bases principle, it is possible to suggest that in nucleophilic substitution reactions, soft nucleophiles preferably react with SiH _n F _5−n ¹⁻ , and hard nucleophiles with SiH _n F_4−n .     

机器人头部的视觉跟踪系统研究

对运动目标进行识别和跟踪是机器人视觉的一项关键技术。提出了一种可以快速跟踪运动目标的系统设计方案,采用了双计算机处理和Memolink通信方式的机器人控制结构,以图像处理为基础,在图像经过校正之后,通过区域分割和目标识别两个步骤来确定目标的位置,并控制机器人对目标进行跟踪。实验表明,该方法具有较高的速度和准确性。     

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。