天命双重意涵下的君权范式——基于赵贞吉“人统”观念的考察

明儒赵贞吉编纂内、外二篇,实际上是为了借助典籍之分类,供君主经世辅助之用。虽然赵贞吉最终未竟此功,令后人无法一窥内、外篇之全貌,但从现有的文献中,不难梳理出二篇的逻辑架构与理论进路。在二篇中,《统部》位居内篇《经世通》之《史通》门之首,其地位可见一斑。赵氏将“统”分为“天统”“地统”“人统”三层意思,核心在于“人统”。若对“人统”加以考察,“天命”便至少具有双重意涵:一方面,“人统”作为“代天而承统”1,是对君权合法性的确认,此是宗教性的一面;另一方面,“人统”作为“君道也,天命之所在也”2,是对统治者践行君道以证见天命的要求,此是道德性的一面。换言之,以“人统”为代表的君权统治,虽上承于天,却因君主自身的德行正劣而不葆有终极的必然性,“地统”的分合正是统治者是否有德的表现,更进一步则会威胁到“天统”之宗教意涵的权威。赵贞吉以入世、出世之不碍不忌的一体圆融来定义君主的身份,即是对此二重性的思考。实际上,赵贞吉的政治观,是中晚明时期“觉民行道”理念蔓延之际,儒家士人亦仍不放弃“得君行道”的集中展现。

试论“世界理念”的嬗变

作为世界观的上品和精华的世界理念，在人类历史上前后相继出现了三种类型，即神统世界理念、人统世界理念以及正在形成中的和谐世界理念。本文无意厚此薄彼，仅依照人类的步履，在它们的时空中做出粗略的界定，并对和谐世界理念阐述其合题的历史地位。

Intelligent emergency service system based on wireless sensor and actuator networks

An intelligent emergency service（ IES） system is designed for indoor environments based on a wireless sensor and actuator network（ WSAN） composed of a gateway, sensor nodes, and a multi-robot system（ MRS）. If the MRS receives accident alarm information, the group of robots will navigate to the accident sites and provide corresponding emergency services.According to the characteristics of the MRS, a distributed consensus formation protocol is designed, which can assure that the multiple robots arrive at the accident site in a specified formation. The prototype emergency service system was designed and implemented, and some relevant simulations and experiments were carried out. The results showthat the MRS can successfully provide emergency lighting and failure node replacement services when accidents happen. The effectiveness of the algorithm and the feasibility of the system are verified.

NEURAL NETWORK SMITH PREDICTIVE CONTROL FOR TELEROBOTS WITH TIME DELAY

A neural network Smith predictive control strategy is proposed to deal with inpu t and feedback time delays in telerobot systems. The delay time is assumed to b e invariant and unknown. The proposed control structure consists of a slave syst em and a master controller. In the slave system, a recurrent neural network (RNN ) with on-line weight tuning algorithm is employed to approximate the dynamics of the time-delay-free nonlinear plant, which is used to linearize the slave s ystem. The master controller is a Smith predictor for the linearized slave syste m, which provides prediction and maintains the desirable tracking performance. S tability propriety is guaranteed based on the Lyapunov method. A simulation of a two-link robotic manipulator is provided to illustrate the effectiveness of th e proposed control strategy.

METHODS OF IMPROVING COMPUTATIONAL ACCURACY OF ROBOT DYNAMICS

In this paper the geometric meaning of robot systems is expounded based on the theory of multibody system. The error accumulation for the known algorithm is analyzed and the cause of ‘Energy consumption’ is revealed, the relationship between the coefficients of dynamic equation is derived so as to establish the canonical equations. The error accumulation of dynamics can be eliminated by using canonical equations and the symplectic integral method so that the computational accuracy can be ensured effectively. As an example, a planar robotics system is considered.

NUMERICAL SIMULATION ON AERODYNAMIC CHARACTERISTICS OF WINDBLAST PROTECTION AT HIGH SPEED

The computational fluid dynamics （CFD） method is used to investigate the aerodynamic characteristics of the seat/occupant with windblast protection devices. The upwind Osher scheme is used for the spatial discretisation. The detached-eddy simulation （DES） based on the Spalart-Allmaras one-equation turbulence model is ap- plied to the detached viscous flow simulation behind the seat/occupant, with Mach numbers 0.6 and 1.2 at attack angles between --10 and 30°, and at two sideslip angles of 0 and 15°, respectively. The aerodynamic characteristics of seat/occupants with and without windblast protection devices are calculated in cases of the freestream Mach numbers 0. 8 and 1.6, attack angles from 5 to 30°, and three sideslip angles of 0, --20 and --50°, respectively. Results show that simulation results agree well with experimental data. And the occupant is efficiently protected by windblast protection devices.

A robot simulation system with virtual force display and feedback based on master manipulator

This paper describes a virtual environment, which can present dynamic force transformation during the control of objects. A 5-DOF haptic interface with the capability to generate kinesthetic effect is combined. In this system, the operator manipulates an object in a virtual environment by using the 5-DOF master arm. When contacting with the virtual object, the contact force can be calculated and shown in the graphic interface. The contact response and deformation of the virtual object, which are usually called haptic rendering, also can be performed. The study supplies an approach to improve the operator’s immersion and can be used in many tele-robot control fields.

Design and Research on Artificial Rumen Continuous Culture System

[Objective] The paper was to study the dynamic changes of forage nutrient substance fermentation in rumen, and a set of continuous culture system of artificial rumen was designed. [Method] With in vivo as control, the simulating rumen fer- mentation effect in vitro culture system was evaluated. [Result] The simulation rumen fermentation test needed adaptive phase of 2-3 d, and the fermentation state was relatively stable within 3-9 d, with good effects. The test showed certain regularity variation with index value of rumen in vivo. [Conclusion] The continuous culture sys- tem of artificial rumen could be used as the ideal model to study the rumen fermen- tation in vivo.

REAL-TIME STEREO MATCHING ALGORITHM IN PHOTODYNAMIC THERAPY BINOCULAR SURVEILLANCE SYSTEM FOR PORT WINE STAIN

A stereo matching algorithm based on the epipolar line constraint is designed to meet the real-time and the accuracy requirements. The algorithm is applied to photodynamic therapy binocular surveillance system for port wine stain （PWS） when it monitors the position of the treatment region. The corner matching based on Hu moments is used to calculate the fundamental matrix of the binocular vision system. Experimental results are in agreement with the theoretical calculation.

Forecasting Public Green Area Per Capita in Xi’an City Based on GM (1, 1)

[Objective] To establish the comprehensive evaluation index system of public green area per capita as a quantitative mean of measuring ecological city and livable city. [Method]The GM (1, 1) forecasting model was set up according to statistics of public green area per capita in Xi’an City during 1996 and 2005, on this basis, the development trend of green area per capita in Xi’an City until 2015 were analyzed in case of no any changing factors or conditions. [Result]Grey forecasting model was established as, (t = 0, 1, …, n); model parameters as a = - 0.031 71, u = 4.139 17. After residual error test and posterior-variance-test, the precision of this model is proved fairly good. [Conclusions]According to this model, public green area per capita in Xi’an City will achieve 7.66 m2 by 2015, which is still far away from the livable city index (16 m2 per capita) and should be paid more attention by the local government, the construction of urban green areas should be further enhanced, more vegetations should be cultivated so as to improve the urban green coverage ratio.

A Modelling Scheme for Flexible Robot Manipulators

Aim To propose a modelling method for flexible manipulators. Methods The improved algorithm and structure of the ANN (artificial neural networks) were used. All of the data used in the process of modelling came from experiments based on a very flexible link which was fixed on a FANUC Robot S-Model 300 in our lab.Results and Conclusion The theoretical analysis and experiment results showed that this modelling scheme is more suitable for flexible systems with characteristics of fast changing dynamics, and also it can be more accurate than others and is more convenient for real-time use.

Research and Implementation of Network Intelligent Management Based on CSCW

This paper analyzes progresses and difficulties of subjects on computer network’s management and artificial intelligence, proposes AGIMA, a new model of network intelligent management, which is based on computer supported cooperative work (CSCW) and combining new technologies such as WWW, Java. AGIMA transfers from information distribution centered mode in traditional network management to computing distribution centered mode, providing intelligence capacity for network management by a whole intelligent agent group. The implementation of AGIMA takes much consideration of openess, scalability, proactive adaptability and friendliness of human computer interface. Authors present properties of intelligent agent in details, and conclude that network intelligence should be cooperation between human and computer.

The pH control optimization in the crop fertigation system using ANN

pH regulation is a complicated and comprehensive technique in the crop fertigation system. In this paper, a method is put forward to improve the quality of pH regulation, using artificial neural network to map a nonlinear relationship between pH interfering factor and the switching frequency of pH control valve, which achieves the dynamic feedforward compensation to the main control system.

REALIZATION OF OBJECT-ORIENTED RULE-TYPE EXPERT SYSTEM TEMPLATE

Expert systems (ESs) are being increasingly applied to the fault diagnosis of engines. Based on the idea of ES template (EST), an object-oriented rule-type EST is emphatically studied on such aspects as the object-oriented knowledge representation, the heuristic inference engine with an improved depth-first search (DFS) and the graphical user interface. A diagnositic ES instance for debris on magnetic chip detectors (MCDs) is then created with the EST. The spot running shows that the rule-type EST enhances the abilities of knowledge representation and heuristic inference, and breaks a new way for the rapid construction and implementation of ES.

MUCOSAL IMMUNE SYSTEM AND FERTILITY REGULATION IN MAMMAL AND HUMAN

皮肤和粘膜是哺乳类动物和人体的内外环境之间的第一道屏障或第一道防线。粘膜是消化道,呼吸道和泌尿生殖道的重要组成部份。在粘膜系统大约集中了70％的淋巴组织。哺乳类动物的配子成熟,运输,精卵子的结合和融合,受精卵的运输,胚泡着床等等,都是在生殖道内进行的。因此,研究生殖道的粘膜免疫系统在不育的诊断和治疗,性传染疾病的控制,避孕疫苗的研究等方面,都有很重要的意义。 粘膜免疫系统有几个显著的特点:首先,在抗体成份方面,以IgA为主,IgA的分泌量约占全身各种抗体成份的60％以上。为了刺激粘膜的体液免疫反应,局部免疫的效果最佳。参与粘膜免疫调节的细胞有T辅助细胞,T杀伤和抑制细胞,反抑制细胞,抗抑制细胞。其次在细胞免疫方面,粘膜系统有许多TCR1 T细胞,它们在粘膜免疫方面可能具有重要的功能。粘膜系统的免疫细胞的特有分布是通过细胞表面的许多受体和配体的相互作用来实现的。雌性生殖道的粘膜免疫系统的反应常与激素水平有关,如雌二醇的升高常伴随IgA的升高,孕酮的存在常有抑制IgA产生的作用。此外,在妊娠子宫内发现有许多特殊的抑制细胞和其他许多抑制因子。 在某些不孕患者的精浆内可测定到抗精子的IgA和IgG。精浆内存在许多免疫细胞抑制因子和许多免疫细胞。

Chinese public understanding of the use of agricultural biotechnology—A case study from Zhejiang Province of China

This study explores the Chinese public’s perceptions of, and attitudes to, agriculture and food applications of bio-technology; and investigates the effect of socio-demographic factors on attitudes. A questionnaire survey and interviews were used in an attempt to combine quantitative analysis with qualitative review. The main finding of this study is that the Chinese population has a superficial, optimistic attitude to agricultural biotechnology; and that, in accordance with public attitudes, a cautious policy, with obligatory labelling, should be adopted. The study reveals that education is the factor among socio-demographic variables with the strongest impact on public attitudes. Higher education leads to a more positive evaluation of GM (genetically modified) foods and applications of biotechnology with respect to usefulness, moral acceptability, and suitability for encouragement. In addition, public attitudinal differences depend significantly on area of residence. Compared with their more urban compatriots, members of the public in less developed areas of China have more optimistic attitudes, perceive more benefits, and are more risk tolerant in relation to GM foods and agricultural biotechnology. Finally we obtained a very high rate of “don’t know” answers to our survey questions. This suggests that many people do not have settled attitudes, and correspondingly, that the overall public attitude to agricultural biotechnology and GM foods in China is at present somewhat unstable.

Multi-sensor systems and information processing of mobile robot in uncertain environments

The PBJ- 01 robot is a kind of mobile robot featuring six wheels and two swing arms which can help it to fit many terrains. The robot has a sophisticated sensor system, which includes ultrasonic sensors, tentacle sensors and a vision sensor. The PBJ- 01 adopts behavior-based reactive control architecture in which the key part is an object recognition system based on a fuzzy neural network. Simulation validates that this system can conclude the obstacle type from the sensor data, and help the robot decide whether to negotiate or to avoid obstacles.

PUSH-PULL FACTORS IN MOUNTAIN RESORTS——A Case Study of Huangshan Mountain as World Heritage

The push-pull framework provides a useful approach for examining the tourist motivation. This paper takes the world heritage-Huangshan Mountain as a sample. From the two different aspects of pull and push factors, the underlying features of visitors′ motives to Huangshan Mountain are analyzed with the help of factor analysis. As a result, five push factors and four pull factors are identified. Further analyses investigate differences in the push and pull factors among different socio-demographic subgroups with one-way ANOVA analysis. The result of the study affords us useful references for development, protection and marketing expansion of mountain resorts.

Phytate:impact on environment and human nutrition.A challenge for molecular breeding

Phytic acid (PA) is the primary storage compound of phosphorus in seeds accounting for up to 80% of the total seed phosphorus and contributing as much as 1.5% to the seed dry weight. The negatively charged phosphate in PA strongly binds to metallic cations of Ca, Fe, K, Mg, Mn and Zn making them insoluble and thus unavailable as nutritional factors. Phytate mainly accumulates in protein storage vacuoles as globoids, predominantly located in the aleurone layer (wheat, barley and rice) or in the embryo (maize). During germination, phytate is hydrolysed by endogenous phytase(s) and other phosphatases to release phosphate, inositol and micronutrients to support the emerging seedling. PA and its derivatives are also implicated in RNA export, DNA repair, signalling, endocytosis and cell vesicular trafficking. Our recent studies on purification of phytate globoids, their mineral composition and dephytinization by wheat phytase will be discussed. Biochemical data for purified and characterized phytases isolated from more than 23 plant species are presented, the dephosphorylation pathways of phytic acid by different classes of phytases are compared, and the application of phytase in food and feed is discussed.

Multi-robot task allocation for exploration

The problem of allocating a number of exploration tasks to a team of mobile robots in dynamic environments was studied. The team mission is to visit several distributed targets. The path cost of target is proportional to the distance that a robot has to move to visit the target. The team objective is to minimize the average path cost of target over all targets. Finding an optimal allocation is strongly NP-hard. The proposed algorithm can produce a near-optimal solution to it. The allocation can be cast in terms of a multi-round single-item auction by which robots bid on targets. In each auction round, one target is assigned to a robot that produces the lowest path cost of the target. The allocated targets form a forest where each tree corresponds a robot’s exploring targets set. Each robot constructs an exploring path through depth-first search in its target tree. The time complexity of the proposed algorithm is polynomial. Simulation experiments show that the allocating method is valid.