Dynamic Obstacle Avoidance for Application of Human-Robot Cooperative Dispensing Medicines

For safety reasons,in the automated dispensing medicines process,robots and humans cooperate to accomplish the task of drug sorting and distribution.In this dynamic unstructured environment,such as a human-robot collaboration scenario,the safety of human,robot,and equipment in the environment is paramount.In this work,a practical and effective robot motion planning method is proposed for dynamic unstructured environments.To figure out the problems of blind zones of single depth sensor and dynamic obstacle avoidance,we first propose a method for establishing offline mapping and online fusion of multi-sensor depth images and 3D grids of the robot workspace,which is used to determine the occupation states of the 3D grids occluded by robots and obstacles and to conduct real-time estimation of the minimum distance between the robot and obstacles.Then,based on the reactive control method,the attractive and repulsive forces are calculated and transformed into robot joint velocities to avoid obstacles in real time.Finally,the robot's dynamic obstacle avoidance ability is evaluated on an experimental platform with a UR5 robot and two KinectV2 RGB-D sensors,and the effectiveness of the proposed method is verified.     

瑞芬太尼复合丙泊酚靶控输注在门诊隆乳术中的应用

目的探讨胸部美容手术行非气管插管全身麻醉中,不同浓度瑞芬太尼复合丙泊酚靶控输注的量效关系。方法选择ASAI-Ⅱ级行乳晕切口假体植入隆乳术女性患者,根据诱导期瑞芬太尼效应室靶浓度(0、1.0、1.5ng/mL)分为3组(n=20):C组(单纯丙泊酚组);REF1组(丙泊酚复合1.0ng/mL瑞芬太尼组);REF2组(丙泊酚复合1.5ng/mL瑞芬太尼组)。观察并记录患者不同时间点的血压、心率、脉搏氧饱和度及丙泊酚、瑞芬太尼的效应室浓度以及诱导期和维持期丙泊酚、瑞芬太尼用量和麻醉过程呼吸抑制、体动等不良反应,术后随访患者对麻醉的满意度。结果各组患者在不同时间点的血压、心率、脉搏氧饱和度、麻醉期间不良反应发生率的差异均无统计学意义(P>0.05),患者对麻醉满意率为100%;达到口头反应消失时,C组丙泊酚效应室浓度和诱导时间明显高于其余两组(P<0.05),且REF1和REF2组间比较无统计学意义(P>0.05)。结论小剂量(1.0～1.5ng/mL)瑞芬太尼复合丙泊酚靶控输注可满足胸部美容手术非气管插管全身麻醉需求,并且没有剂量依赖性效应。     

AM12软件电气建模优化方法探讨

本文介绍了我院应用AM12（AVEVA Marine 12）软件进行海洋工程设计的背景及使用情况,分析了现有的电气建模方式与方法,并着重讨论了自主完成的电气建模优化方法与AM12软件电气设计相关的二次开发情况。     

Using a random displacement model to simulate turbulent particle motion in a baroclinic frontal zone: A new implementation scheme and model performance tests

Numerical artifacts can limit accurate simulation of turbulent particle motion when Lagrangian particle-tracking models are implemented in hydrodynamic models with stratified conditions like fronts. Yet, modeling of individual particle motion in frontal regions is critical for understanding sediment dynamics as well as the transport and retention of planktonic organisms. The objective of this research was to develop a numerical technique to accurately simulate turbulent particle motions in a particle-tracking model embedded within a hydrodynamic model of a frontal zone. A new interpolation scheme, the ‘water column profile’ scheme, was developed and used to implement a random displacement model for turbulent particle motions. A new interpolation scheme was necessary because linear interpolation schemes caused artificial aggregation of particles where abrupt changes in vertical diffusivity occurred. The new ‘water column profile’ scheme was used to fit a continuous function (a tension spline) to a smoothed profile of vertical diffusivities at the x–y particle location. The new implementation scheme was checked for artifacts and compared with a standard random walk model using (1) Well Mixed Condition tests, and (2) dye-release experiments. The Well Mixed Condition tests confirmed that the use of the ‘water column profile’ interpolation scheme for implementing the random displacement model significantly reduced numerical artifacts. In dye-release experiments, high concentrations of Eulerian tracer and Lagrangian particles were released at the same location up-estuary of the salt front and tracked for 4 days. After small differences in initial dispersal rates, tracer and particle distributions remained highly correlated (r = 0.84 to 0.99) when a random displacement model was implemented in the particle-tracking model. In contrast, correlation coefficients were substantially lower (r = 0.07 to 0.58) when a random walk model was implemented. In general, model performance tests indicated that the ‘water column interpolation’ scheme was an effective technique for implementing a random displacement model within a hydrodynamic model, and both could be used to accurately simulate diffusion in a highly baroclinic frontal region. The new implementation scheme has the potential to be a useful tool for investigating the influence of hydrodynamic variability on the transport of sediment particles and planktonic organisms in frontal zones.     

The coastal edge of the Northeast Water polynya in spring 1993

Multidisciplinary, marine ecological observations were conducted at the shallow water edge of the Northeast Water in June, 1993. Although variable in size and shape, a small polynya was constantly present at Eskimonaes, at the fast-ice edge of Ingolfsfjord. A shallow stratified layer developed at the water sufface at negative water and air temperatures—an effect of sea ice melting in cold water early in the season. Nutrients were recorded in considerable quantities, although by mid July NO₃ had become depleted. The chlorophyll and phytoplankton maxima at 8–12 m depth had peak values of 2 mg chl a m⁻³, typical for Arctic algal blooms. The phytoplankton included over 90 species and was dominated by the Fragillariopsis group. Zooplankton was poor in biomass and density, but over 23 taxa were found, with the copepods Oithona similis and Pseudocalanus acuspes being numerically dominant. Sedimentation was approximately 0.2 g dry weight m⁻² d⁻¹ and suspended matter concentrations ranged from 4 to 19 mg l⁻¹. The benthos was represented by hard bottom forms only, with a surprisingly dense cover of macrophytes. Juvenile sea urchins (Strongylocentrotus droebachiensis), brittle stars (Ophiocten sericeum) and amphipods were dominant. Higher trophic levels were represented by benthic feeders, such as eiders and walruses. The area observed was more similar to high Arctic fjord ecosystems than to the offshore central Northeast Water polynya.     

Hydrographic cruises off northwest Africa: the Canary Current and the Cape Ghir region

We present hydrographic data for several sections located along the African coastline and off Cape Ghir, carried out at times of weak surface winds (October 1995 and September 1997). The main sections are near the continental slope, at mean distances between 100 and 150 km from the coastline. North of Cape Ghir (31°N) the geostrophic transport (referenced to 650 m) of North Atlantic Central Water through these sections is 3.7 and 2.0 Sv for 1995 and 1997, respectively. This confirms that a major fraction of the water transport by the Canary Current flows east, into the continental slope off northwest Africa, at latitudes above Cape Ghir. Most of this flow continues south past Cape Ghir, along the coast and probably through the eastern passages of the Canary Archipelago. A significant fraction, however, may escape through surface Ekman transport (0.3–0.5 Sv during the early fall season) and by offshore flow at Cape Ghir (1.1 Sv in September 1997, referenced to 650 m). Despite the weak winds the Cape Ghir filament was clearly visible, characterized by localized coastal upwelling associated to a cyclonic shallow structure and cold (and fresh) waters stretching offshore as a very shallow feature (50–100 m deep). The satellite images show that the surface temperature field is highly variable, in rapid response to the surface winds, always with a core region of relatively cold water and commonly with one or two associated eddies. Our results support the existence of two recirculation cells in the area: a horizontal one that connects the interior eastern boundary currents with the coastal region and a vertical one related to both wind-induced and filament upwelling. The data also show a salinity subsurface maximum at the root of the filament, linked to water inflow from northern latitudes, and a subsurface anticyclonic eddy over the Agadir canyon, likely related to the poleward slope undercurrent.     

Coupled transport-reaction pathways and distribution patterns between siliciclastic-carbonate sediments at the Ria de Vigo

This paper examines the linkages between the space-distribution of grain sizes and the relative percentage of the amount of mineral species that result from the mixing process of siliciclastic and carbonate sediments at the Ria de Vigo (NW of Spain).The space-distribution of minerals was initially determined, starting from a detailed mineralogical study based on XRD-Rietveld analysis of the superficial sediments. Correlations between the maps obtained for grain sizes, average fractions of either siliciclastic or carbonates, as well as for individual-minerals, were further stabilised. From this analysis, spatially organized patterns were found between carbonates and several minerals involved in the siliciclastic fraction. In particular, a coupled behaviour is observed between plagioclases and carbonates, in terms of their relative percentage amounts and the grain size distribution.In order to explain these results a conceptual model is proposed, based on the interplay between chemical processes at the seawater–sediment interface and hydrodynamical factors. This model suggests the existence of chemical control mechanisms that, by selective processes of dissolution-crystallization, constrain the mixed environment's long-term evolution, inducing the formation of self-organized sedimentary patterns.     

限制性Ⅲ级航道船舶下沉量研究

简要分析了影响内河船舶下沉量的主要因素,介绍了国内外关于船舶下沉量的研究概况及相关近似计算公式.根据Ⅲ级航道船舶下沉量测试物理模型试验结果,提出了适合内河限制性Ⅲ级航道的船舶下沉量近似计算公式.计算结果与模型试验结果对比表明,该公式达到了较高的计算精度,对航道水深计算及航道断面设计具有重要的参考价值.     

Biological Status Assessment of Coral Reefs in Southern Puerto Rico: Supporting Coral Reef Protection Under the U.S. Clean Water Act

Abstract

States and other jurisdictions may protect coral reefs using biological water quality standards outlined by the United States Clean Water Act (CWA). Such protection will require long-term, regional monitoring of the resource using biological indicators and a probability-based sampling design. A 60-station survey targeting nearshore linear coral reef was conducted across southern Puerto Rico in December 2011 to document the status of reef inhabitants using a probabilistic, regional sampling design. The quantity, type and condition of stony corals, fish, gorgonians, and sponges were documented from each station, providing a robust representation of linear reef status and composition across the region. Fish represented 106 unique taxa and stony corals 32 unique taxa. Benthic organisms (stony corals, sponges, and gorgonians) averaged nearly 12 colonies per square meter, more than half of which were gorgonians. Assessment results can be used as a baseline to compare with future regional surveys to quantify change in reef condition over time (trend). Both temporal and spatial changes can be expected after large-scale disturbances like hurricanes Maria and Irma in 2017. The indicators and probabilistic sampling design support the long-term regional monitoring envisioned by the Environmental Protection Agency to implement CWA protections in Puerto Rico and elsewhere.     

水面船舶推进轴系回旋振动研究综述

  目的  大型船舶的推进轴系一般具有轴系长、跨度大、细长比小等特点,其弯曲变形与纵向变形之间易存在弹性耦合效应,从而引起轴系异常振动,影响轴系的安全稳定运行。为了研究轴系弯—纵耦合的非线性振动特性,  方法  利用变分原理推导轴系发生弯—纵耦合时的非线性振动方程,采用有限元法（FEM）、打靶法等数值方法,以及多尺度法等近似解析方法对非线性方程进行求解,并对比分析弯—纵耦合效应对轴系非线性振动特性的影响。  结果  计算结果表明：弯—纵耦合效应将导致轴系响应中出现多频响应、跳跃现象、能量迁移等复杂的振动现象,同时将增加轴系弯曲方向和纵向方向的固有频率。  结论  研究成果可为大型船舶推进轴系的工程设计提供参考。