This paper investigates the motion planning of redundant free-floating manipulators with seven prismatic joints. On the earth, prismatic-jointed manipulators could only position their end-effectors in a desired way. H...This paper investigates the motion planning of redundant free-floating manipulators with seven prismatic joints. On the earth, prismatic-jointed manipulators could only position their end-effectors in a desired way. However, in space, the end-effectors of free-floating manipulators can achieve both the desired orientation and desired position due to the dynamical coupling between manipulator and satellite movement, which is formally expressed by linear and angular momentum conservation laws. In this study, a tractable algorithm particle swarm optimization combined with differential evolution (PSODE) is provided to deal with the motion planning of redundant free-floating prismatic-jointed manipulators, which could avoid the pseudo inverse of the Jacobian matrix. The polynomial functions, as argument in sine functions are used to specify the joint paths. The co- efficients of the polynomials are optimized to achieve the desired end-effector orientation and position, and simulta- neously minimize the unit-mass-kinetic energy using the redundancy. Relevant simulations prove that this method pro- vides satisfactory smooth paths for redundant free-floating prismatic-jointed manipulators. This study could help to recognize the advantages of redundant prismatic-jointed space manipulators.展开更多
Despite the great progress of rural socioeconomic development in the 11 th Five-year Plan period (2006-2010), China's agriculture and countryside are still.lacing the challenges of a crude development pattern, back...Despite the great progress of rural socioeconomic development in the 11 th Five-year Plan period (2006-2010), China's agriculture and countryside are still.lacing the challenges of a crude development pattern, backward rural development and cities' weak driving effect on the countryside. In the 12th Five-year Plan period (20I 1-2015), China should transform the way agriculture grows and operates; promote rural socioeconomic development; improve urban planning and its functions, institutional innovation, and urban/rural integration to lay a solid foundation for building an all-round well- off society.展开更多
The inspection and quarantine standard is one of important basics to executeinspection and quarantine by laws. In recent years, with the development of economy and trade inChina, standardization has played an importan...The inspection and quarantine standard is one of important basics to executeinspection and quarantine by laws. In recent years, with the development of economy and trade inChina, standardization has played an important role in inspection and quarantine. During 2002-2004,department of Standards of Inspection and Quarantine, Certification and Accreditation Administrationof China has organized the research of the standards of inspection and quarantine, and has builtstandard sub- systems of nine fields in inspection and quarantine.展开更多
According to the prime task of ''readjusting industrial structure,energetically developing service industry, completing service standards and promoting servicelevel'', which are raised in the 10th Five...According to the prime task of ''readjusting industrial structure,energetically developing service industry, completing service standards and promoting servicelevel'', which are raised in the 10th Five-Year Plan Outline of National Economy and SocialDevelopment, Standardization Administration of China (SAC), National Development and ReformCommission, Ministry of Civil Affairs of the People'' s Republic of China, Ministry of Constructionof P.R.C, Ministry of Commerce of the People''s Republic of China, Ministry of Culture of the People''s Republic of China, the People''s Bank of China, General Administration of Quality Supervision,Inspection and Quarantine of P.R.C (AQSIQ), the State Administration of Radio, Film and Television,State General Administration of Sport, National Tourism Administration, China Seismological Bureau,China Meteorological Administration, China Insurance Regulatory Commission, State Post Bureau, StateCultural Relics, State Administration of Traditional Chinese Medicine Bureau, China NationalTechnical Committee 264 on Service of Standardization Administration of China, China Consumers''Association and China National Institute of Standardization had compiled and officially ratified theDevelopment Planning of National Service Standard 2005-2008 by the end of 2005.展开更多
The Zagros forests are a treasure of valuable oak forests, but they have been severely degraded from long-term misuse. Geographic information systems (GIS) and multi-criteria decision analysis (MCDA) have been inc...The Zagros forests are a treasure of valuable oak forests, but they have been severely degraded from long-term misuse. Geographic information systems (GIS) and multi-criteria decision analysis (MCDA) have been increasingly used to improve the management of vulnerable ecosystems to prevent further degradation and increase the sustainability of land use. This study presents a methodology to assess land suitability using remote sensing (RS) to obtain wall-to-wall data for the calculations, GIS to analyze the data, and MCDA to rank alternative land uses. The criteria and subcriteria affecting the suitability of land for different uses were identified and weighted using an analytic hierarchy process. Variables used as subcriteria were assessed using satellite data and other sources of information such as existing maps and field surveys. Numerical values for the subcriteria were classified, and each class was given a priority rating according to expert judgments. Based on the ratings and weights of the subcriteria, a priority map was created for each land use using the weighted linear combination method. The priority maps for different land uses were overlaid to obtain a preliminary land use map, which often indicated several simultaneous land uses for the same location. The preliminary map was further edited by removing unrealistic, mutually exclusive land-use combinations. The study tested and demonstrated the potential of integrating RS, G1S and MCDA techniques for solving complicated land allocation problems in forested regions using a scientifically sound and practical approach for efficient and sustainable allocation of forestland for different uses.展开更多
A number of cold seeps have been discovered in the northern South China Sea(SCS) including the Haiyang 4 cold-seep area where Core 973-5 was collected. Intact polar lipids(IPLs) and core lipids(CLs) were analyzed sepa...A number of cold seeps have been discovered in the northern South China Sea(SCS) including the Haiyang 4 cold-seep area where Core 973-5 was collected. Intact polar lipids(IPLs) and core lipids(CLs) were analyzed separately in sediments from Core 973-5. The most abundant lipid biomarkers were isoprenoidal GDGTs(iso GDGTs), with Crenarchaeol and GDGT-0 predominating. IPL-iso GDGTs and CL-iso GDGTs were mainly derived from Thaumarchaeota. IPL-iso GDGTs were mainly produced and retained in situ thus containing most of the in situ microbiological information. Branched GDGTs were predominantly derived from generated in marine production, and mixed with some terrestrial inputs. All IPLs groups presented a high value in the sulfate-methane transition zone(SMTZ). Furthermore, IPL and CL-MI, IPL-R;showed the highest values within the SMTZ, while IPL and CL-R;had the lowest values at the SMTZ, suggesting that the contribution of Methanophila and methanogenic to GDGTs increased, while the contribution of ammonia-oxidizing Archaea to GDGTs decreased at the SMTZ.展开更多
China's Ministry of Science and Technology recently announced approval of China's National Basic Research Program (the 973 Program) and the Major Research Plan projects in 2008. Five Tsinghua research projects wil...China's Ministry of Science and Technology recently announced approval of China's National Basic Research Program (the 973 Program) and the Major Research Plan projects in 2008. Five Tsinghua research projects will be sponsored by the 973 Program and two by the Major Research Plan. Seven professors were appointed as chief scientists for the projects. Tsinghua has undertaken 28 projects since the 973 Program's inception involving 28 chief scientists and eight Major Research Plan projects involving eight chief scientists. Tsinghua is one of the country's leading institutions for supervision and conduct of the 973 Program projects.展开更多
This paper presents the formulation and solution of a train routing and makeupmodel.This formulation results in a large scale 0-1 integer programmingproblem with nonlinear objective function, and linear and nonlinearc...This paper presents the formulation and solution of a train routing and makeupmodel.This formulation results in a large scale 0-1 integer programmingproblem with nonlinear objective function, and linear and nonlinearcoastraints. We know this problem is NP-complete;hence,it is diffieult to solvefor a globelly optimal solution. In this paper we propose a simulated annealingalgorithm for the train routing and makeup problem. This method avoidsentrapment in the local minima of the objective function. The effectiveness ofthis approach has been demonstrasted by results from test casee,展开更多
基金supported by the National Natural Science Foundation of China (11072122)
文摘This paper investigates the motion planning of redundant free-floating manipulators with seven prismatic joints. On the earth, prismatic-jointed manipulators could only position their end-effectors in a desired way. However, in space, the end-effectors of free-floating manipulators can achieve both the desired orientation and desired position due to the dynamical coupling between manipulator and satellite movement, which is formally expressed by linear and angular momentum conservation laws. In this study, a tractable algorithm particle swarm optimization combined with differential evolution (PSODE) is provided to deal with the motion planning of redundant free-floating prismatic-jointed manipulators, which could avoid the pseudo inverse of the Jacobian matrix. The polynomial functions, as argument in sine functions are used to specify the joint paths. The co- efficients of the polynomials are optimized to achieve the desired end-effector orientation and position, and simulta- neously minimize the unit-mass-kinetic energy using the redundancy. Relevant simulations prove that this method pro- vides satisfactory smooth paths for redundant free-floating prismatic-jointed manipulators. This study could help to recognize the advantages of redundant prismatic-jointed space manipulators.
文摘Despite the great progress of rural socioeconomic development in the 11 th Five-year Plan period (2006-2010), China's agriculture and countryside are still.lacing the challenges of a crude development pattern, backward rural development and cities' weak driving effect on the countryside. In the 12th Five-year Plan period (20I 1-2015), China should transform the way agriculture grows and operates; promote rural socioeconomic development; improve urban planning and its functions, institutional innovation, and urban/rural integration to lay a solid foundation for building an all-round well- off society.
文摘The inspection and quarantine standard is one of important basics to executeinspection and quarantine by laws. In recent years, with the development of economy and trade inChina, standardization has played an important role in inspection and quarantine. During 2002-2004,department of Standards of Inspection and Quarantine, Certification and Accreditation Administrationof China has organized the research of the standards of inspection and quarantine, and has builtstandard sub- systems of nine fields in inspection and quarantine.
文摘According to the prime task of ''readjusting industrial structure,energetically developing service industry, completing service standards and promoting servicelevel'', which are raised in the 10th Five-Year Plan Outline of National Economy and SocialDevelopment, Standardization Administration of China (SAC), National Development and ReformCommission, Ministry of Civil Affairs of the People'' s Republic of China, Ministry of Constructionof P.R.C, Ministry of Commerce of the People''s Republic of China, Ministry of Culture of the People''s Republic of China, the People''s Bank of China, General Administration of Quality Supervision,Inspection and Quarantine of P.R.C (AQSIQ), the State Administration of Radio, Film and Television,State General Administration of Sport, National Tourism Administration, China Seismological Bureau,China Meteorological Administration, China Insurance Regulatory Commission, State Post Bureau, StateCultural Relics, State Administration of Traditional Chinese Medicine Bureau, China NationalTechnical Committee 264 on Service of Standardization Administration of China, China Consumers''Association and China National Institute of Standardization had compiled and officially ratified theDevelopment Planning of National Service Standard 2005-2008 by the end of 2005.
文摘The Zagros forests are a treasure of valuable oak forests, but they have been severely degraded from long-term misuse. Geographic information systems (GIS) and multi-criteria decision analysis (MCDA) have been increasingly used to improve the management of vulnerable ecosystems to prevent further degradation and increase the sustainability of land use. This study presents a methodology to assess land suitability using remote sensing (RS) to obtain wall-to-wall data for the calculations, GIS to analyze the data, and MCDA to rank alternative land uses. The criteria and subcriteria affecting the suitability of land for different uses were identified and weighted using an analytic hierarchy process. Variables used as subcriteria were assessed using satellite data and other sources of information such as existing maps and field surveys. Numerical values for the subcriteria were classified, and each class was given a priority rating according to expert judgments. Based on the ratings and weights of the subcriteria, a priority map was created for each land use using the weighted linear combination method. The priority maps for different land uses were overlaid to obtain a preliminary land use map, which often indicated several simultaneous land uses for the same location. The preliminary map was further edited by removing unrealistic, mutually exclusive land-use combinations. The study tested and demonstrated the potential of integrating RS, G1S and MCDA techniques for solving complicated land allocation problems in forested regions using a scientifically sound and practical approach for efficient and sustainable allocation of forestland for different uses.
基金supported by the Natural Science Foundation of China(Grant Nos.40672005 and 41776066)。
文摘A number of cold seeps have been discovered in the northern South China Sea(SCS) including the Haiyang 4 cold-seep area where Core 973-5 was collected. Intact polar lipids(IPLs) and core lipids(CLs) were analyzed separately in sediments from Core 973-5. The most abundant lipid biomarkers were isoprenoidal GDGTs(iso GDGTs), with Crenarchaeol and GDGT-0 predominating. IPL-iso GDGTs and CL-iso GDGTs were mainly derived from Thaumarchaeota. IPL-iso GDGTs were mainly produced and retained in situ thus containing most of the in situ microbiological information. Branched GDGTs were predominantly derived from generated in marine production, and mixed with some terrestrial inputs. All IPLs groups presented a high value in the sulfate-methane transition zone(SMTZ). Furthermore, IPL and CL-MI, IPL-R;showed the highest values within the SMTZ, while IPL and CL-R;had the lowest values at the SMTZ, suggesting that the contribution of Methanophila and methanogenic to GDGTs increased, while the contribution of ammonia-oxidizing Archaea to GDGTs decreased at the SMTZ.
文摘China's Ministry of Science and Technology recently announced approval of China's National Basic Research Program (the 973 Program) and the Major Research Plan projects in 2008. Five Tsinghua research projects will be sponsored by the 973 Program and two by the Major Research Plan. Seven professors were appointed as chief scientists for the projects. Tsinghua has undertaken 28 projects since the 973 Program's inception involving 28 chief scientists and eight Major Research Plan projects involving eight chief scientists. Tsinghua is one of the country's leading institutions for supervision and conduct of the 973 Program projects.
文摘This paper presents the formulation and solution of a train routing and makeupmodel.This formulation results in a large scale 0-1 integer programmingproblem with nonlinear objective function, and linear and nonlinearcoastraints. We know this problem is NP-complete;hence,it is diffieult to solvefor a globelly optimal solution. In this paper we propose a simulated annealingalgorithm for the train routing and makeup problem. This method avoidsentrapment in the local minima of the objective function. The effectiveness ofthis approach has been demonstrasted by results from test casee,