曲靖市烟叶收购现状及措施

本文介绍了曲靖市烤烟收购的现状及2015年以前预约制存在的问题,并采用"人、环、法"进行末端因素分析,从而提出可操控性的解决问题的措施,并展望电子预约系统在将来烤烟收购系统中的应用前景。

The degradation of organophosphorus pesticides by means of sodium percarbonate

The factors and mechanisms of oxidative degradation of three organophosphorus pesticides （dichlorvos, methamidophos and phoxim） were studied with sodium percarbonate （SPC） as a solid oxidant. The result showed that SPC has highly activity in degrading these organophosphous pesticides. The most efficient degradation of pesticides occurred under basic conditions and the degradation rates increased with time extension and high temperature. The degradation of organophosphorus pesticides was expected to get even better results at lower initial concentration. Furthermore, we analyzed the intermediate products by NMP, spectrometry. On the basis of the analytical result, the oxidative degradation mechanism was proposed for each organophosphous pesticide. It is significant to understand the environment chemistry of organophosphorus pesticides in environmental system.

Leg compliance control of a hexapod robot based on improved adaptive control in different environments

Considering the compliance control problem of a hexapod robot under different environments, a control strategy based on the improved adaptive control algorithm is proposed. The model of robot structure and impedance control is established. Then, the indirect adaptive control algorithm is derived. Through the analysis of its parameters, it can be noticed that the algorithm does not meet the requirements of the robot compliance control in a complex environment. Therefore, the fuzzy control algorithm is used to adjust the adaptive control parameters. The satisfied system response can be obtained based on the adjustment in real time according to the error between input and output. Comparative experiments and analysis of traditional adaptive control and the improved adaptive control algorithm are presented. It can be verified that not only desired contact force can be reached quickly in different environments, but also smaller contact impact and sliding avoidance are guaranteed, which means that the control strategy has great significance to enhance the adaptability of the hexapod robot.

Dynamic path planning strategy based on improved RRT^(*)algorithm

In order to solve the problem of path planning of mobile robots in a dynamic environment,an improved rapidly-exploring random tree^(*)(RRT^(*))algorithm is proposed in this paper.First,the target bias sampling is introduced to reduce the randomness of the RRT^(*)algorithm,and then the initial path planning is carried out in a static environment.Secondly,apply the path in a dynamic environment,and use the initially planned path as the path cache.When a new obstacle appears in the path,the invalid path is clipped and the path is replanned.At this time,there is a certain probability to select the point in the path cache as the new node,so that the new path maintains the trend of the original path to a greater extent.Finally,MATLAB is used to carry out simulation experiments for the initial planning and replanning algorithms,respectively.More specifically,compared with the original RRT^(*)algorithm,the simulation results show that the number of nodes used by the new improved algorithm is reduced by 43.19%on average.

Task Assignment Problem of Robots in a Smart Warehouse Environment

The task assignment problem of robots in a smart warehouse environment （TARSWE） based on cargo-to-person is investigated. Firstly, the sites of warehouse robots and the order picking tasks are given and the task assignment problem for picking one order is formulated into a mathematical model to minimize the total operation cost. Then a heuristic algorithm is designed to solve the task assignment problem for picking multiple orders. Finally, simulations are done by using the orders data of online bookstore A. The results show that using the heuristic algorithm of this paper to assign robots, the cost was reduced by 2% and it can effectively avoid far route and unbalanced workload of robots. The feasibility and validity of the model and algorithm are verified. The model and algorithm in this paper provide a theoretical basis to solve the TARSWE.

A closed-loop algorithm to detect human face using color and reinforcement learning

A closed-loop algorithm to detect human face using color information and reinforcement learning is presented in this paper. By using a skin-color selector, the regions with color "like" that of human skin are selected as candidates for human face. In the next stage, the candidates are matched with a face model and given an evaluation of the match degree by the matching module. And if the evaluation of the match result is too low, a reinforcement learning stage will start to search the best parameters of the skin-color selector. It has been tested using many photos of various ethnic groups under various lighting conditions, such as different light source, high light and shadow. And the experiment result proved that this algorithm is robust to the vary-ing lighting conditions and personal conditions.

Teaching Gallo at School

This study explores the origins and current status of the Gallo language at school--a minority language spoken in the eastern part of Brittany--among older speakers （group 1-41 informants） and students of Gallo （group 2-17 informants）. The paper discusses different pedagogical methods, learning materials, and learners＇ status. The most important mission of schools is to increase public awareness about their linguistic environment which helps reassert minority identity through language acquisition and linguistic maintenance. Implementing an educational language curriculum for regional languages constitutes a main step towards the preservation of linguistic minorities. According to the informants interviewed during the fieldwork, both groups express positive reactions towards the presence of Gallo at school （group 1--80%; group 2--92.9%）. However, in follow-up discussions, a certain number of older speakers seem to be more reluctant, because the variety of Gallo taught at school is different from the one which was transmitted to them. In conclusion, bilingual and immersion programs are increasingly successful in Brittany and could lead to a wider recognition of Eastern Brittany＇s language and culture.

Immune response-based algorithm for optimization of dynamic environments

A novel immune algorithm suitable for dynamic environments (AIDE) was proposed based on a biological immune response principle.The dynamic process of artificial immune response with operators such as immune cloning,multi-scale variation and gradient-based diversity was modeled.Because the immune cloning operator was derived from a stimulation and suppression effect between antibodies and antigens,a sigmoid model that can clearly describe clonal proliferation was proposed.In addition,with the introduction of multiple populations and multi-scale variation,the algorithm can well maintain the population diversity during the dynamic searching process.Unlike traditional artificial immune algorithms,which require randomly generated cells added to the current population to explore its fitness landscape,AIDE uses a gradient-based diversity operator to speed up the optimization in the dynamic environments.Several reported algorithms were compared with AIDE by using Moving Peaks Benchmarks.Preliminary experiments show that AIDE can maintain high population diversity during the search process,simultaneously can speed up the optimization.Thus,AIDE is useful for the optimization of dynamic environments.

Evaluation of the Rural Human Settlement in Shandong Province

Taking Shandong Province as the research object,this paper uses the principal component analysis method to evaluate the status of the rural human settlement in Shandong Province.It establishes the evaluation index system of the rural residential environment in Shandong Province,including living environment,economy,infrastructure,public service facilities,and ecological environment,in total five comprehensive index,and 20 secondary indexes.Through measurement and sorting of rural human environment development level of Shandong Province in 2010,the 17 cities are divided into-excellent,good,ordinary,poor-four development areas and are analyzed based on the restriction factor in the development of the region.

TREATMENT OF ANGINA PECTORIS WITH MEDICINAL PLASTER FIXED AT ACUPOINTS -A Report of 54 Cases

That the diseases in the interior can be treated at the exterior is one of the therapeutic methods of traditional Chinese medicine. Pretty good results has been obtained in treating the patients of angina pectoris with medicinal plaster fixed at acupoints. This is reported as follows.

Analysis on Influential Factors of Corporate Environmental Management Level Based on ISM

Environmental problem is one of complicated social problems. According to the level of corporate environmental management, there are many influential factors, and their relations are also complicated. In this paper, we analyzed influential factors of corporate environmental management through consultation of experts. And based on the analysis, we applied interpretative structural modeling（ISM） to classify 13 influential factors into 3 levels. We hope it will be useful for the subsequent research and evaluation of corporate environmental management level.

Obstacle avoidance for a hexapod robot in unknown environment

Obstacle avoidance is quite an important issue in the field of legged robotic applications, such as rescuing and detecting in complicated environment. Most related researchers focused on the legged robot’s gait generation after ssuming that obstacles have been detected and the walking path has been given. In this paper we propose and validate a novel obstacle avoidance framework for a six-legged walking robot Hexapod-III in unknown environment. Throughout the paper we highlight three themes: (1) The terrain map modeling and the obstacle detection; (2) the obstacle avoidance path planning method; (3) motion planning for the legged robot. Concretely, a novel geometric feature grid map (GFGM) is proposed to describe the terrain. Based on the GFGM, the obstacle detection algorithm is presented. Then the concepts of virtual obstacles and safe conversion pose are introduced. Virtual obstacles restrict the robot to walk on the detection terrain. A safe path based on Bezier curves, passing through safe conversion poses, is obtained by minimizing a penalty function taking into account the path length subjected to obstacle avoidance. Thirdly, motion planning for the legged robot to walk along the generated path is discussed in detail. At last, we apply the proposed framework to the Hexapod-III robot. The experimental result shows that our methodology allows the robot to walk safely without encountering with any obstacles in unknown environment.