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日夜操劳非为名——记江山市档案局副局长周位德
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作者 柴炳财 徐忠友 《浙江档案》 北大核心 1991年第10期32-33,共2页
胸闷、耳鸣、头晕,天在旋转,地在旋转,这可恨的“美尼尔氏综合症”,无情地把江山市档案局主持工作的副局长、党支部书记周位德“撂倒”了。 在江山市人民医院检查还不到半天,老周就不耐烦。过几天,省档案局的领导就要来检查工作,局里有... 胸闷、耳鸣、头晕,天在旋转,地在旋转,这可恨的“美尼尔氏综合症”,无情地把江山市档案局主持工作的副局长、党支部书记周位德“撂倒”了。 在江山市人民医院检查还不到半天,老周就不耐烦。过几天,省档案局的领导就要来检查工作,局里有许多事正等着他去做呢。 展开更多
关键词 周位 副局长 日夜操劳 党支部书记 市档案馆 市档案工作 天后 优秀党务工作者 综合档案室 衙州市
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概述清代金丹道教的源流及发展
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作者 赵志 《内蒙古大学学报(哲学社会科学版)》 CSSCI 2000年第S1期38-40,共3页
本文概括地叙述了清代民间秘密教门的一支——金丹道教的源流、形成、演变及其在清代后期的一些主要活动。在具体阐述其演变活动中 ,尽可能地梳理、指明了它与近代某些重要的秘密结社的关系 。
关键词 金丹道 青莲教 周位 郭建汶
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Asymmetry in the Strong-field Photodetachment of H- by Linearly Polarized Few-cycle Pulses
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作者 白丽华 刘宇恒 +2 位作者 崔婷婷 王燕 张惠芳 《Chinese Journal of Chemical Physics》 SCIE CAS CSCD 2011年第2期141-144,I0003,共5页
Photodetachment of H- irradiated by linearly polarized few-cycle laser field is investigated by time-dependent SchrSdinger equation numerically. The photo-electron left-right asymmetry parameter as a function of carri... Photodetachment of H- irradiated by linearly polarized few-cycle laser field is investigated by time-dependent SchrSdinger equation numerically. The photo-electron left-right asymmetry parameter as a function of carrier-envelop (CE) phase of few-cycle pulses is attained. We confirm the asymmetry of photoelectron distribution in H- photodetachment and find that the maximal asymmetry parameter of H- is equal to that of H atom under the same conditions but the corresponding CE phases are quite different. Thus a CE phase shift appears. Compared to that of H atom and field free electron, the zero asymmetry CE phase shift is sensitively affected by Coulomb field. The Coulomb effect on the asymmetry of H- photodetachment mainly behaves in the CE phase shift of H- instead of the amplitude of asymmetry parameter curve. 展开更多
关键词 Asymmetry parameter PHOTODETACHMENT Carrier-envelop phase Few-cycle pulse H-
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Cycle slip detection approach based on time-relative positioning theory 被引量:1
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作者 喻国荣 生仁军 《Journal of Southeast University(English Edition)》 EI CAS 2005年第3期363-368,共6页
An efficient cycle slip detection method is proposed for high precision positioning and navigation results with global positioning system (GPS),which is based on the assumption of a high sampling interval, measureme... An efficient cycle slip detection method is proposed for high precision positioning and navigation results with global positioning system (GPS),which is based on the assumption of a high sampling interval, measurement errors are so small that they can be ignored in the temporal single difference observables. And ambiguities are ordinarily equal to zero,but could be the number of cycles that have "slipped" if loss-of-lock has occurred.Therefore,cycle slips are estimated as parameters of time-relative positioning observation equations.Because the temporal single difference observables are taken at different epochs and different stations with a single GPS receiver,if time-relative positioning observation equations are linearized as that of conventional relative positioning,the design matrix will be rank defective.To obtain a stable linearization scheme,time-relative positioning observation equations are further analyzed,and the concept of virtual measurement is applied.A sample of data collected on a vehicle test shows that a cycle slip detection approach based on time-relative positioning theory can detect slips at the value of one cycle.The results also indicate if two satellites are so near to each other that they have the same equivalent to satellite-receiver geometry,cycle slip detection will be difficult and may get wrong results.Cycle slips of different satellites also affect detection by satellite-receiver geometry. 展开更多
关键词 global positioning system (GPS) cycle slips time-relative positioning satellite-receiver geometry
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光荣榜
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《浙江档案》 北大核心 1991年第12期2-2,共1页
关键词 档案系统 档案科 周位 冶金机械厂 中共浙江省委 徐希 黄岩市 王益民 赵建国 何金海
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Immunohistochemical Analysis of IAA in Anthers of the Photoperiod-sensitive Genic Male-sterile Rice 被引量:3
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作者 李念华 童哲 卢善发 《Acta Botanica Sinica》 CSCD 2000年第10期1045-1050,共6页
The immunohistochemical localization of IAA and the comparison of their relative levels were carried out for the first time in the anthers of Nongken 58S and its wild type Nongken 58 (Oryza sativa subsp. japonica) af... The immunohistochemical localization of IAA and the comparison of their relative levels were carried out for the first time in the anthers of Nongken 58S and its wild type Nongken 58 (Oryza sativa subsp. japonica) after long_day and short_day treatments. The distribution of free_IAA in anthers and its dynamic variation could be reflected by this method. The results showed that the IAA level in the anthers of Nongken 58S after long_day treatment was much lower than that in short_day_treated Nongken 58S and those in wild type Nongken 58 in five stages from pistil and stamen primordia formation to late uninucleate stage. The possible reasons for IAA deficiency in Nongken 58S_LD anthers and its relationship with fertility alteration were also discussed. 展开更多
关键词 rice anther auxin PHOTOPERIOD male sterility immunohistochemical localization
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再掀宣传贯彻《档案法》高潮——江山市纪念《档案法》颁布五周年活动侧记
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作者 柴炳财 张丽华 徐忠友 《浙江档案》 北大核心 1992年第11期19-19,共1页
今年9月5日是《档案法》颁布5周年纪念日。在此前后,江山全市上下纷纷开展形式多样的活动,再度掀起宣传、贯彻《档案法》的高潮。
关键词 工作协作 系统学习 综合档案室 周位 被动服务 江郎乡 红布 协作组成员 胡韶 法制观念
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《浙江档案》——我的诤友
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作者 徐忠友 《浙江档案》 北大核心 1991年第8期8-8,共1页
就像结交了一位知心朋友那样,我与《浙江档案》密切交往已有6年时间了。 那是在1985年1月,我调到江山化工总厂办公室从事文秘、档案工作。在厂办公室书架上的众多刊物中,我第一眼就迷上了《浙江档案》。从那以后,每每工作之余,我就捧起... 就像结交了一位知心朋友那样,我与《浙江档案》密切交往已有6年时间了。 那是在1985年1月,我调到江山化工总厂办公室从事文秘、档案工作。在厂办公室书架上的众多刊物中,我第一眼就迷上了《浙江档案》。从那以后,每每工作之余,我就捧起散发着油墨芬香的《浙江档案》“啃”起来。一旦档案业务上遇到难题,我就从《浙江档案》中寻找答案。终于,《浙江档案》成了我众多朋友中的知心者,彼此间的关系变得日益亲密;她虽然不会说话。 展开更多
关键词 浙江档案 档案工作 档案业务 会说话 档案系统 第一眼 化工总厂 综合档案室 荣誉证书 周位
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做好思想政治工作 增强企业凝聚力
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作者 刘秀艳 《学习与研究(北京)》 1994年第4期23-24,共2页
当前,我们正经历着史无前例的变革。随着经营机制的转换、利益格局的调整,必然引发一部分干部、职工心理上的波动,尤其是在企业面临暂时困难的情况下,更是如此。
关键词 思想政治工作 职工心理 暂时困难 经营机制 率先垂范 预定任务 周位 业务经营活动 勤政廉洁 行为规范
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The Self-incompatibility (S) Locus of Antirrhinum Resides in a Pericentromeric Region
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作者 马闻师 周君莉 +2 位作者 赖钊 张燕生 薛勇彪 《Acta Botanica Sinica》 CSCD 2003年第1期47-52,共6页
The self-incompatibility ( S) loci from the Solanaceae, Rosaceae and Scrophulariaceae encode a class of ribonucleases, known as S RNases, which have been shown to control the pistil expression of self-incompatible rea... The self-incompatibility ( S) loci from the Solanaceae, Rosaceae and Scrophulariaceae encode a class of ribonucleases, known as S RNases, which have been shown to control the pistil expression of self-incompatible reaction. In the former two families, the S loci have been shown to be located near centromere. However, the chromosomal location of the S locus in Antirrhinum, a species of the Scrophulariaceae, is not known. To determine its chromosomal location and genomic organization, an S-2 RNase gene and its corresponding 63 kb BAC clone were separately used for fluorescence in situ hybridization (FISH) of mitotic metaphase chromosomes of a self-incompatible Antirrhinum line Of S2S5. The results showed that the S-2 RNase detected a doublet signal near the centromere of the smallest chromosome (2n = 16). Two separate doublet signals of the tested BAC sequence were shown on both sides of the centromeres of all eight pairs of the chromosomes, suggesting that the Antirrhinum S locus is located in a pericentromeric region. Furthermore, a retrotransposon, named RIS1 (retrotransposon in the S locus), which has not been identified yet in. Antirrhinum, was found next to S-2 RNase. Taken together, the centromeric location of the S locus from the three S-RNase-based self-incompatible families provides a further support on a common origin of their evolution as well as suppressed recombination. 展开更多
关键词 ANTIRRHINUM self-incompatibility (S) locus pericentromere RETROTRANSPOSON FISH
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The Flavivirus Protease As a Target for Drug Discovery 被引量:4
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作者 Matthew Brecher Jing Zhang Hongmin Li 《Virologica Sinica》 SCIE CAS CSCD 2013年第6期326-336,共11页
Many flaviviruses are significant human pathogens causing considerable disease burdens,including encephalitis and hemorrhagic fever,in the regions in which they are endemic.A paucity of treatments for flaviviral infec... Many flaviviruses are significant human pathogens causing considerable disease burdens,including encephalitis and hemorrhagic fever,in the regions in which they are endemic.A paucity of treatments for flaviviral infections has driven interest in drug development targeting proteins essential to flavivirus replication,such as the viral protease.During viral replication,the flavivirus genome is translated as a single polyprotein precursor,which must be cleaved into individual proteins by a complex of the viral protease,NS3,and its cofactor,NS2B.Because this cleavage is an obligate step of the viral life-cycle,the flavivirus protease is an attractive target for antiviral drug development.In this review,we will survey recent drug development studies targeting the NS3 active site,as well as studies targeting an NS2B/NS3interaction site determined from flavivirus protease crystal structures. 展开更多
关键词 FLAVIVIRUS INHIBITOR PROTEASE
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Periodic Structures of Rossby Wave under Influence of Dissipation 被引量:2
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作者 CHEN Zhe LI Chong-Yin FU Zun-Tao 《Communications in Theoretical Physics》 SCIE CAS CSCD 2007年第1期35-40,共6页
A simple barotropic potential vorticity equation with the influence of dissipation is applied to investigate the nonlinear Rossby wave in a shear flow in the tropical atmophere. By the reduetive perturbation method, w... A simple barotropic potential vorticity equation with the influence of dissipation is applied to investigate the nonlinear Rossby wave in a shear flow in the tropical atmophere. By the reduetive perturbation method, we derive the rotational KdV (rKdV for short) equation. And then, with the help of Jaeobi elliptie functions, we obtain various periodic structures for these Rossby waves. It is shown that dissipation is very important for these periodic structures of rational form. 展开更多
关键词 rKdV equation elliptic equation Jacobi elliptic function periodic structure rational form
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Circadian variation in expression of G_1 phase cyclins D_1 and E and cyclin-dependent kinase inhibitors p16 and p21 in human bowel mucosa
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作者 John Griniatsos Othon P Michail +9 位作者 Stamatios Theocharis Antonios Arvelakis Ioannis Papaconstantinou Evangelos Felekouras Emmanouel Pikoulis Ioannis Karavokyros Chris Bakoyiannis George Marinos John Bramis Panayiotis O Michail 《World Journal of Gastroenterology》 SCIE CAS CSCD 2006年第13期2109-2114,共6页
AIM: To evaluate whether the cellular proliferation rate in the large bowel epithelial cells is characterized by circadian rhythm. METHODS: Between January 2003 and December 2004, twenty patients who were diagnosed ... AIM: To evaluate whether the cellular proliferation rate in the large bowel epithelial cells is characterized by circadian rhythm. METHODS: Between January 2003 and December 2004, twenty patients who were diagnosed as suffering from primary, resectable, non-metastatic adenocarcinoma of the lower rectum, infiltrating the sphincter mechanism, underwent abdominoperineal resection, total mesorectal excision and permanent left iliac colostomy. In formalinfixed and paraffin-embedded biopsy specimens obtained from the colostomy mucosa every six hours (00:00, 06:00, 12:00, 18:00 and 24:00), we studied the expression of G1 phase cyclins (D1 and E) as well as the expression of the G1 phase cyclin-dependent kinase (CDK) inhibitors p16 and p21 as indicators of cell cycle progres- sion in colonic epithelial cells using immunohistochemical methods. RESULTS: The expression of both cyclins showed a similar circadian fashion obtaining their lowest and highest values at 00:00 and 18:00, respectively (P〈 0.001). A circadian rhythm in the expression of CDK inhibitor proteins p16 and p21 was also observed, with the lowest levels obtained at 12:00 and 18:00 (P〈0.001), respectively. When the complexes cyclins D1-p21 and E-p21 were examined, the expression of the cyclins was adversely correlated to the p21 expression throughout the day. When the complexes the cyclins D1-p16 and E-p16 were examined, high levels of p16 expression were correlated to low levels of cyclin expression at 00:00, 06:00 and 24:00. Meanwhile, the highest expression levels of both cyclins were correlated to high levels of p16 expression at 18:00. CONCLUSION: Colonic epithelial cells seem to enter the G1 phase of the cell cycle during afternoon (between 12:00 and 18:00) with the highest rates obtained at 18:00. From a clinical point of view, the present results suggest that G1-phase specific anticancer therapies in afternoon might maximize their anti-tumor effect while minimizing toxicity. 展开更多
关键词 G1 phase proteins CDK inhibitors Cell proliferation Circadian rhythm
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Periodic Folded Wave Patterns for(2+1)-Dimensional Higher-Order Broer-Kaup Equation
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作者 HUANG Wen-Hua 《Communications in Theoretical Physics》 SCIE CAS CSCD 2008年第10期827-831,共5页
A general solution including three arbitrary functions is obtained for the (2+1)-dimensional higher-orderBroer-Kaup equation by means of WTC truncation method.Introducing proper multiple valued functions and Jacobiell... A general solution including three arbitrary functions is obtained for the (2+1)-dimensional higher-orderBroer-Kaup equation by means of WTC truncation method.Introducing proper multiple valued functions and Jacobielliptic functions in the seed solution,special types of periodic folded waves are derived.In long wave limit theseperiodic folded wave patterns may degenerate into single localized folded solitary wave excitations.The interactions ofthe periodic folded waves and their degenerated single folded solitary waves are investigated graphically and are foundto be completely elastic. 展开更多
关键词 higher-order Broer Kaup equation WTC truncation method periodic folded wave
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Design Criteria for Crosswalk Width and Position at Signalized Intersections
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作者 Wael K. M. Alhajyaseen Hideki Nakamura 《Journal of Civil Engineering and Architecture》 2012年第7期844-857,共14页
Existing optimization methodologies for intersection operations assumes a fixed geometric design, however the geometry and operational system should be simultaneously optimized to produce the best performance. Signali... Existing optimization methodologies for intersection operations assumes a fixed geometric design, however the geometry and operational system should be simultaneously optimized to produce the best performance. Signalized crosswalks are complex and critical pedestrian facilities. Their geometry and configuration directly affect the safety, cycle length and resulting delays for all users. As crosswalks become wider or they are placed further upstream, the cycle length will increase due to the all-red time requirement, which deteriorates the overall mobility levels of signalized intersections. In contrast, when crosswalk width decreases, the required minimum pedestrian crossing time increases due to the bi-directional pedestrian flow effects, which leads to longer cycle length. Furthermore, existing manuals and guidelines do not offer any specification for the required crosswalk width under various pedestrian demand conditions. This study aims to propose new criteria for designing crosswalk width at signalized intersections, which can optimize the performance from the viewpoint of vehicular traffic and pedestrians. The proposed methodology considers pedestrian demand and its characteristics (such as bi-directional flow effects), vehicle demand and the geometric characteristics of the intersection The concept of optimized crosswalk width is proposed and demonstrated through a case study. Moreover, a comprehensive discussion regarding the merits and drawbacks of existing strategies on positioning crosswalks is presented. It was found that at signalized intersections, which are characterized by low pedestrian and high vehicle demands, crosswalk width of 2 meters is appropriate to minimize cycle length and resulting delays for all users including pedestrians. 展开更多
关键词 Crosswalk width cycle length pedestrian delay bi-directional flow two-stage crossing.
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The effect of foot bath of Chinese medicine combined with acupoint injection for diabetic peripheral neuropathy:a meta analysis
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作者 Yi-Hua Fan Qiang Zhang +1 位作者 Rong Tian Jian-Hang Jiang 《Traditional Medicine Research》 2017年第1期8-17,共10页
Objective:The aim of this systematic review was to assess the effect of foot bath of Chinese medicine combined with acupoint injection(FBCMCAI)on patients with diabetic peripheral neuropathy(DPN).Methods:Databases suc... Objective:The aim of this systematic review was to assess the effect of foot bath of Chinese medicine combined with acupoint injection(FBCMCAI)on patients with diabetic peripheral neuropathy(DPN).Methods:Databases such as Cochrane Library,Pubmed,Web Of Science,China Biology Medicine(CBM),CNKI,VIP and WANFANG DATA were electronically searched to collect the randomized controlled trials(RCTs)(up to October 2016).According to the inclusion and exclusion criteria,literature about effects of FBCMCAI in the treatment of DPN were screened and data were extracted.Literature quality evaluation was appliced by Cochrane Reviewer Handbook 5.1.0.A random or a fixed effects model was used to analyze outcomes by RevMan 5.3 software.Subgroup analysis,sensitivity analysis,and orientation description were performed if necessary.Results:11 randomized controlled trials with a total of 927 patients were included.Meta analysis results revealed that the efficacy of FBCMCAI for DPN was significantly superior to the control treatment(OR=5.07,95%CI:3.23-7.94,Z=7.08,P<0.00001).Besides,there was an increase in motor conduction velocity of peroneal nerve(SMD=1.08,95%CI:0.66-1.48,Z=5.30,P<0.00001),motor conduction velocity of tibial nerve(SMD=1.08,95%CI:0.58-1.58,Z=4.22,P<0.0001)and motor conduction velocity of median nerve(SMD=0.46,95%CI:0.23-0.68,Z=3.96,P<0.0001)in FBCMCAI groups.For another,there was also an increase in sensory motor conduction velocity of the motor nerve(SMD=0.80,95%CI:0.54-1.05,Z=6.06,P<0.00001)and sensory motor conduction velocity of median nerve(SMD=0.66,95%CI:0.38-0.93,Z=4.73,P<0.00001)in the FBCMCAI groups.Symptoms score was significantly reduced after FBCMCAI treatment(WMD=-4.21,95%CI[-4.95,-3.48],Z=11.25,P<0.00001).Conclusion:FBCMCAI may have significant therapeutic efficacy for the treatment of DPN.Diabetic neurologic symptoms and nerve conduction velocities can be improved under FBCMCAI treatment.In-depth research and high quality randomized controlled trials on the efficacy of FBCMCAI are necessary. 展开更多
关键词 Foot bath of Chinese medicine Acupoint injection Diabetic peripheral neuropathy
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Potential vorticity analysis of quasi-biweekly rainfall events over the Yangtze Basin in summer 2014 被引量:1
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作者 Chang Tang Xiaofei Wu +1 位作者 Guanshun Zhang Jiangyu Mao 《Atmospheric and Oceanic Science Letters》 CSCD 2021年第6期20-27,共8页
A series of heavy rainfall events occurred over the Yangtze River Valley(YRV)in summer 2014,which were modulated by the 10-20-day quasi-biweekly oscillation(QBWO).Thus,the strongest QBWO cycle for the period 10-24 Jul... A series of heavy rainfall events occurred over the Yangtze River Valley(YRV)in summer 2014,which were modulated by the 10-20-day quasi-biweekly oscillation(QBWO).Thus,the strongest QBWO cycle for the period 10-24 July was used as a representative case to reveal the dynamical mechanism for the QBWO of the YRV rainfall from the potential vorticity(PV)perspective and based on MERRA-2 reanalysis data.The quasi-biweekly YRV rainfall was found to depend closely on the QBWO of the upper-tropospheric South Asian high(SAH),with the SAH configuration modified by the southward-intruding midlatitude high PV stream along with southwestward-advected high PV,altering the divergent condition over the YRV.Quantitative diagnoses for the anomalous vertical motion demonstrated that,in the wet phase of the QBWO cycle,the upper-tropospheric southward-intruding high PV stream acted as a positive PV advection,while negative PV advection was generated due to the lower-tropospheric southerlies,thereby forming a positive vertical gradient of horizontal PV advection to induce evident isentropic-displacement ascending motion.On the other hand,the southward-intruding high PV stream extended downward to the middle troposphere,causing the isentropic surfaces to become more sloping,thus producing a strong isentropic-gliding ascending component.Subsequently,the stronger diabatic heating-related ascending motion was induced to generate positive rainfall anomalies over the YRV.The opposite situation arose in the dry phase,with weak descending motion in magnitude. 展开更多
关键词 Quasi-biweekly oscillation Summer Yangtze rainfall Potential vorticity Vertical motion
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NOISE AMPLIFICATION ANALYSIS AND COMPARISON OF TWO PERIODIC NONUNIFORM SAMPLING RECONSTRUCTION METHODS USED IN DPCA SAR
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作者 Song Xiufeng Yu Weidong 《Journal of Electronics(China)》 2008年第6期786-796,共11页
General Sampling Expansion Reconstruction Method (GSERM) and Digital Spectrum Reconstruction Method (DSRM), which prove effective to reconstruct azimuth signal of Displaced Phase Center Apertures (DPCA) Synthetic Aper... General Sampling Expansion Reconstruction Method (GSERM) and Digital Spectrum Reconstruction Method (DSRM), which prove effective to reconstruct azimuth signal of Displaced Phase Center Apertures (DPCA) Synthetic Aperture Radar (SAR) system from its Periodic Non-Uniform Sampling (PNUS) data sequences, would amplify the noise and sidelobe clutter simultaneously in the reconstruction. This paper formulates the relation of the system transfer matrixes of the above two methods, gives the properties, such as periodicity, symmetry, and time-shift property, of their Noise and Sidelobe Clutter Amplification Factor (NSCAF), and discovers that DSRM is more sensitive than GSERM in the white noise environment. In addition, criteria based on initial sampling point analysis for the robust PRF selection are suggested. Computer simulation results support these con-clusions. 展开更多
关键词 Synthetic Aperture Radar (SAR) Displaced Phase Center Apertures (DPCA) Periodic NonUniform Sampling (PNUS) Noise Sidelobe clutter
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Experimental Research on Seismic Performance of Storey-Adding Frame Structures
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作者 丁红岩 郭耀华 +1 位作者 梁玉国 张浦阳 《Transactions of Tianjin University》 EI CAS 2016年第1期43-49,共7页
The seismic behaviors of an integral concreting frame, a light steel storey-adding frame and a storeyadding frame strengthened with carbon fiber reinforced polymer(CFRP)were investigated under low-cycle and repeated l... The seismic behaviors of an integral concreting frame, a light steel storey-adding frame and a storeyadding frame strengthened with carbon fiber reinforced polymer(CFRP)were investigated under low-cycle and repeated load(scale 1∶3). The failure characteristics, hysteretic behavior, rigidity degeneracy, deflection ductility and energy-dissipation capacity of the three specimens were compared. The test results reveal that chemicallybonded rebar technique can meet the requirements of storey-adding engineering. The carrying capacity, the deflection ductility, the energy-dissipating capacity and seismic performance of the light steel storey-adding frame are higher than those of the integral concreting frame, and they are the highest in the storey-adding frame strengthened with CFRP. 展开更多
关键词 storey-adding frame post-installing rebar technique pseudo-static test seismic performance
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Mobile robot path planning method combined improved artificial potential field with optimization algorithm 被引量:1
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作者 赵杰 Yu Zhenzhong Yan Jihong Gao Yongsheng Chen Zhifeng 《High Technology Letters》 EI CAS 2011年第2期160-165,共6页
To overcome the shortcomings of the traditional artificial potential field method in mobile robot path planning, an improved artificial potential field model (IAPFM) was established, then a new path planning method ... To overcome the shortcomings of the traditional artificial potential field method in mobile robot path planning, an improved artificial potential field model (IAPFM) was established, then a new path planning method combining the IAPFM with optimization algorithm (trust region algorithm) is proposed. Attractive force between the robot and the target location, and repulsive force between the robot and the obstacles are both converted to the potential field intensity; and filled potential field is used to guide the robot to go out of the local minimum points ; on this basis, the effect of dynamic obstacles velocity and the robot's velocity is consid thers and the IAPFM is established, then both the expressions of the attractive potential field and the repulsive potential field are obtained. The trust region algorithm is used to search the minimum value of the sum of all the potential field inten- sities within the movement scope which the robot can arrive in a sampling period. Connecting of all the points which hare the minimum intensity in every sampling period constitutes the global optimization path. Experiment result shows that the method can meet the real-time requirement, and is able to execute the mobile robot path planning task effectively in the dynamic environment. 展开更多
关键词 trust region optimization algorithm path planning artificial potential field mobile robot potential field intensity
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