基于网络的机器人跨平台远程实时控制

提出了一种基于网络的多层次结构的跨平台远程实时控制框架，它由智能与人机交互层、运动规划层、运动控制层和伺服控制层构成，并基于该框架完成了一套单机器人远程实时控制系统，进行了远程视觉控制试验。试验表明，该控制系统运行稳定，实时性强。     

Fault plane solutions of the january 26th, 2001 bhuj earthquake sequence

A 12-station temporary microearthquake network was established by the Geological Survey of India for aftershock monitoring of the January 26th, 2001 Bhuj earthquake (M _w 7.6) in the Kutch district of Gujarat state, western India. The epicentres of the aftershocks show two major trends: one in the NE direction and the other in the NW direction. Fault-plane solutions of the best-located and selected cluster of events that occurred along the NE trend, at a depth of 15–38 km, show reverse faulting with a large left-lateral strike-slip motion, which are comparable with the main-shock solution. The NW trending upper crustal aftershocks at depth <10 km, on the other hand, show reverse faulting with right-lateral strike-slip motion, and the mid crustal and lower crustal aftershocks, at a depth of 15–38 km, show pure reverse faulting as well as reverse faulting with right-lateral and left-lateral strike-slip motions; these solutions are not comparable with the main-shock solution. It is inferred that the intersection of two faults has been the source area for stress concentration to generate the main shock and the aftershocks.     

Neoarchaean magmatism and metamorphism of the western granulites in the central domain of the Mozambique belt, Tanzania: U–Pb shrimp geochronology and PT estimates

U–Pb sensitive high resolution ion microprobe (SHRIMP) dating of zircons from charnockitic and garnet–biotite gneisses from the central portion of the Mozambique belt, central Tanzania indicate that the protolith granitoids were emplaced in a late Archaean, ca. 2.7 Ga, magmatic event. These ages are similar to other U–Pb and Pb–Pb ages obtained for other gneisses in this part of the belt. Zircon xenocrysts dated between 2.8 and 3.0 Ga indicate the presence of an older basement. Major and trace element geochemistry of these high-grade gneisses suggests that the granitoid protoliths may have formed in an active continental margin environment. Metamorphic zircon rims and multifaceted metamorphic zircons are dated at ca. 2.6 Ga indicating that these rocks were metamorphosed some 50–100 my after their emplacement. Pressure and temperature estimates on the charnockitic and garnet–biotite gneisses were obscured by post-peak metamorphic compositional homogenisation; however, these estimates combined with mineral textures suggest that these rocks underwent isobaric cooling to 800–850 °C at 12–14 kbar. It is considered likely that the granulite facies mineral assemblage developed during the ca. 2.6 Ga event, but it must be considered that it might instead represent a pervasive Neoproterozoic, Pan African, granulite facies overprint, similar to the ubiquitous eastern granulites further to the east.     

Validation of Landslide Susceptibility Maps; Examples and Applications from a Case Study in Northern Spain

A procedure for validating landslide susceptibility maps wasapplied in a study area in northern Spain and the results obtained compared. Validationwas used to carry out sensitivity analysis for individual variables and combinationsof variables. The validity of different map-making methods was tested, as well as theutility of different types of Favourability Functions. The results obtained show thatvalidation is essential to determine the predictive value of susceptibility maps. Italso helps to better select the most suitable function and significant variables, thus improving the efficiency of the mapping process. Validation based on a temporal strategy makes it possible to derive hazard maps from susceptibility maps.     

BP神经网络模型在重庆伏旱预测中的应用研究

采用气象要素定义伏旱指数，利用小波分析等方法分析重庆地区伏旱变化特征，最后采用BP神经网络模型对伏旱进行预测试验，结果表明，重庆伏旱变化具有明显的阶段性特征，而基于BP神经网络模型的伏旱预测模型预测效果良好，可以应用于实际预测。     

A Comparative Study of the Atmospheric Layers below First Lifting Condensation Level for Instantaneous Pre-Monsoon Thunderstorm Ocurence at Agartala(23°30′N,91°15′E) and Ranchi(23°14′N,85°14′E) of India

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THE RETREAT OF THE FOREST IN SOUTHEAST ASIA: A CARTOGRAPHIC ASSESSMENT

Rapid deforestation is a major problem throughout the tropical world. The conditions and the pace under which societies and economies of the Third World are currently evolving and growing, combined with the specificities of tropical forests, render the latter increasingly vulnerable. Among the major tropical areas of the world, Southeast Asia is perhaps the one where these conditions have had the most impact on the retreat of the forest cover over the last quarter of this century. This is illustrated through the presentation of two maps of the distribution of five basic forest formations in Southeast Asia circa 1970 and circa 1990. The maps are examined and compared, as well as confronted with statistical assessments of deforestation. Finally, the complex causes behind the retreat of the tropical forests as well as the implications of this retreat are briefly discussed.     

Primary minerals of Zn-Pb mining and metallurgical dumps and their environmental behavior at Plombières,Belgium

The primary phases and minerals of the Plombières dumps include typical smelting furnace products such as metallic Fe, Pb, Cu, Zn, Fe-Zn alloys, carbides, phosphides, sulfides of Fe, Zn, Pb, Cu, Mn (alabandite), and FeAs. Spinels, mainly of Fe and Al, are common constituents of the primary assemblage; substitution by Zn, V, Cr, Ti, Mg, and Ca occurs. Primary phases also include the most common Zn-rich fayalite, Zn-rich Ca-Fe silicates, melilite, corundum, and apatite. Most of the Zn is incorporated in iron silicates, ZnO and ZnS. Lead occurs mainly as PbS, metallic lead, and is also present in coal residues. Cadmium is found mainly in metallic zinc and its alloys and in ZnO. The dumps also contain mining wastes composed of pyrite, melnikovite, and iron oxides produced by natural weathering of Zn-Pb ores. Melnikovite and iron oxides are rich in As, Pb, and Zn and possess an increased content of Tl. Leaching tests carried out on the surfaces of polished sections indicate that acid rain (solutions I and II) will mobilize mainly Zn and Cd and, to a much smaller extent, Pb and Sb. Leaching of metals by sulfate-chloride fluids present in the pore network of dumps (solutions III, IV, and V) depends on the pH, which in the dumps is controlled by the proportion of carbonates to sulfides. The more acid fluids leach both sulfides and silicates.     

Evolution of sand waves in the Messina Strait, Italy

In the present paper the morphodynamics of sand waves in the Messina Strait, Italy, is analysed by comparing data gathered during two different surveys carried out in 1991 and 2001, respectively. In particular, a morphometric analysis on the most recent data and a qualitative analysis of the differences between bottom bedform patterns, are carried out. At locations characterised by greater depths, only minor changes to the planimetric configuration of the field, i.e. crest orientation (which is seen to be orthogonal to the direction of net gross sand transport) and wave length are observed, while differences in wave length and crest direction are more evident in more shallow areas. On the other hand, wave height has significantly increased in the whole field. A possible explanation of such a change, based on the previsions of a theory which relates sand-wave growth and migration to the main components of the tidal ellipse, is provided.Responsible Editor: Jens Kappenberg