MAVERIC: An Autonomous Balloon System for Mars Exploration R.A. Buckland1, N.E. Jay2, D.C. Rowe2, C.V. Serdean1, T.Worley2
1 University of Kent at Medway, Maidstone Road, Chatham, Kent, ME5 9UQ, UK
2 University of Kent at Canterbury, Electronics Laboratory, Canterbury, Kent, CT2 7NT, UK
Email: {rab, nej1, dcr2, cvs, tw2}@https://www.doczj.com/doc/7a3669553.html,
Abstract: This paper describes the architecture of a prototype autonomous balloon system for Mars exploration, developed by final year undergraduates at the University of Kent. The system uses a state-of-the-art embedded Linux core (CerfCube, XScale) powerful enough to navigate the balloon using GPS data, and to transmit real time video and other scientific data to a mobile ground station. We have found that this architecture is extremely versatile, and is likely to be suitable for a wide variety of autonomous platform applications.
Keywords: Mars balloon, autonomous platforms, embedded systems, remote access laboratory.
1. Introduction
Robotic planetary surface exploration is now 40 years old. The early Surveyor missions to the Moon and Viking missions to Mars consisted of fixed landing vehicles with basic robotic manipulation capability. The Soviet Lunakhod rover missions of the 1970s added significant mobility, but with direct control from Earth.
The Mars Pathfinder mission in 1997, demonstrated the utility of a small roving vehicle with elementary autonomous capabilities.
After several notable mission failures, NASA plans to launch two Mars Excursion Rovers this year, and ESA will carry the British Beagle2 lander to Mars orbit, from where it will descend to the Martian surface and deploy a small ‘mole’ for surface and sub-surface sampling [1].
In the early 1980s, Prof. Jacques Blamont [2] pointed out that whereas conventional roving vehicles would only be able to explore in the local domain of the landing site with currently available or foreseen technologies, a balloon floating in the Martian atmosphere could conduct surveys on a global scale.
Some early designs for Mars balloon systems were based on the idea of an ‘instrumented snake’. By day, as the gas in its envelope expanded, the balloon would rise and be borne by Martian winds. By night, it would descend; its rate of descent and horizontal motion near the surface being reduced by the instrumented snake being dragged along the surface.
In 2000, Pioneer Astronautics demonstrated a ‘hot air balloon’ which inflated using solar heated methanol [3]. The 25 ft3 balloon was inflated at an altitude of over 100,000 ft from a pint-sized container.
Since the year 2000, in a unique collaboration with the Australian Space Research Institute [4], the University of Kent has been able to offer final year undergraduates the opportunity to design and construct small payloads for launch by Zuni sounding rockets from Woomera, South Australia. In the 2002-2003 academic year, this programme is being extended to include the testing of a roving vehicle and a balloon system in a Martian terrain analogue area on the Woomera Range. The MAVERIC (Mars Airborne Vessel for Exploration and Research with Intelligent Control) project, undertaken by three final year B.Eng students, has focused on candidate electrical and computer system solutions for autonomous control of a balloon operating in the Martian atmosphere. Elements such as power supply, propulsion, sensors and sensory interfaces, navigation, communication and intelligent control have been integrated swiftly, economically and efficiently using commercial off- the-shelf (COTS) components.
2. Candidate Designs
Implementation of such a system is subject to several constraints. First, the system needs a fair
amount of intelligence (computing power) in order to be capable of handling a wide variety of input sensors and at the same time to control the navigation process. Yet, in spite of this requirement, the power consumption should be as low as possible. Moreover, in a real mission, the weight (and size) of the payload should be kept low, since this has a significant impact on the size of the balloon and more importantly on the cost of launch from Earth to Mars. On the other hand,
it is a good idea to have a design capable of multiple incremental improvements.
All these requirements combined together, constitute a significant constraint imposed on the designer. Bearing in mind the above and the fact that in reality the balloon will be tested in the Australian desert, several alternatives were considered. After a careful analysis, three of the most promising solutions were selected. The first and the most obvious solution was to employ a system based on microcontrollers in order to control the entire system. This can lead to a potentially complex design, using several 8 bit PIC microcontrollers, each of them handling a certain aspect of the design. This is indeed an appealing solution, but its limited computing power and future expansibility could constitute a drawback.
The second alternative was to use a laptop motherboard as the computer system. This solution was considered unsuitable due to the relatively high power consumption, limited future expansion, more difficult interfacing with the peripherals, and the size/weight of the entire ensemble. Furthermore, several hardware/software modifications were required in order to eliminate some of the redundant components like the keyboard, floppy drive and the hard-disk (which needs to be replaced with a solid state memory, much more reliable and capable of withstanding mechanical shocks).
The third solution was to use commercial low powered embedded computer systems. The final decision was to use this solution, combined with a microcontroller based unit used mainly for interfacing with the sensors. Again, several embedded systems were selected as possible candidates, as TABLE 1 identifies.
TABLE 1. Embedded system candidates
Name CPU Memory Storage
Capacity External Connections
Arcom Pegasus
AMD SC520, AM5x86, 133MHz 64MB 16MB
10/100, RS232, parallel
port
Arcturus uCdimm ColdFire 5272 Motorola ColdFire
RISC 8MB 2MB 10/100, USB, RS232 Intrinsyc CerfCube
XScale
Intel PXA250, 400MHz
64MB 32MB
2x10/100, 3xRS232, USB host/controller,
JTAG, PCMCIA
FIGURE 1. CerfCube Structure
After comparing the three embedded systems, it was decided to use the Intrinsyc CerfCube. There are several reasons for this selection: faster processor allowing for processing of digital video, large amount of system memory, largest flash storage capacity, several RS232 ports, 10/100 Ethernet connection, presence of USB ports and easy upgradeability via the PCMCIA slot (e.g. 802.11b wireless cards, extra storage, such as 512MB flash, 1GB IBM Microdrive). The only disadvantage of the CerfCube was its price compared with the Arcom system, but this was well compensated for by its excellent features. A simplified structure of the CerfCube is shown in FIGURE 1.
Furthermore, the system runs an embedded Linux OS which is free, open-source and widely used and supported around the world. There are many programming tools and utilities available for software development, and due to its open-source philosophy,
in case of any problems with the drivers or with the OS itself, these can be easily rectified compared with an closed-source operating system such as Microsoft Windows CE.
3. Practical Implementation
The block schematic of the entire system is presented in FIGURE 3.
The digital sensor interface is built around a PIC 16F877 microcontroller which acts as an interface between the sensor array and the main computer system via an RS232 interface. The main computer system handles all aspects related to navigational strategy and control, data logging, telemetry and communications.
Flight control and navigation relies on an on-board
802.11b PCMCIA card
Power
USB 1.1 Host
USB 1.1 Slave
JTAG connector
10/100 Ethernet Network
RS232 Serial Ports
Second 10/100 Ethernet Port
FIGURE 2. The CerfCube
GPS receiver and partially on data supplied by the sensor array (e.g. digital compass). Based on this data, the main computer issues the appropriate commands for the motor actuators. All relevant data is logged and stored in the flash memory. The GPS module communicates directly with the CerfCube via one of the RS232 ports. The software deals with the interpretation of the data supplied by the GPS module (e.g. NMEA protocol).
An important part of the system is the aerial imaging subsystem which uses a high resolution (640x480 pixels) USB webcam to capture and send video data using the onboard radio transmitter. Interfacing with the onboard computer is conveniently done by using one of the USB ports provided by the
CerfCube.
The communication subsystem handles all bidirectional data flow, and uses a PCMCIA wireless card based on the 802.11b protocol, interfaced with an external antenna in order to maximise the communication range. The system uses the licence-free 2.4GHz microwave band which has several channels for public use, can offer a bandwidth of up to 11Mbps, and steps down to 5.5Mbps, 2.5Mbps and 1Mbps. This means that the connection can still continue even with degraded signal strength and that the link is less likely to be lost. Besides the video stream, the system is capable of sending telemetry data and receiving commands from the mission base.
FIGURE 3
. Block schematic of the MAVERIC system
MARS ROOM
SERVER
CONTROL ROOM
CLIENTS
FIGURE 4. Architecture of the Remote Access Laboratory
4. Results and Further Work
As part of the formal evaluation of their project work, the student team has successfully demonstrated control of the propulsion system from a networked PC. The communication subsystem was operated over 400 metres and tested to 11 Mbps, and the location of the balloon payload, as recorded by the Flight Control System (FCS) was plotted over a period of time to validate the GPS receiver’s interface with the FCS.
The successful development of key elements of the MAVERIC system design enables us to offer a Remote Access Laboratory experience for robotic education which uses the same system architecture, based on a CerfCube core.
As the UK’s Beagle2 Mars lander heads for the Red Planet, and as a contribution to increasing public, and particularly school pupils’, awareness of the science and technologies behind planetary surface exploration, the University of Kent will be offering Desktop Explorers the opportunity to plan and conduct simulated Mars surface exploration missions using a model roving vehicle on a 4 x 4 metre Martian surface. The first demonstrations of this facility will take place during the ‘Walking With Robots’ residential summer school, 2-4 August.
It is envisaged that school pupils, working in teams of four, will be given several challenges. The control teams will not have any direct access to the Martian surface, but will send commands to and receive telemetry from the roving vehicle via an Internet link between a PC in the Control Centre and a server in the Mars Room which in turn will communicate via a wireless link carrying IP traffic with the roving vehicle (FIGURE 4).
Telemetry available to the teams will include regularly updated images from a miniature camera on board the rover and from a panoramic camera looking vertically downwards from the ceiling of the Mars Room. The latter camera images are to simulate data available from a spacecraft in Mars orbit. Other telemetry data will include wheel rotation counts for use in simulating missions with strict power usage constraints.
In the first challenge, the teams will control the roving vehicle in real time, but with a delay built into the communications link of the order of tens of seconds to illustrate the difficulties that would be experienced in a real mission to Mars. A typical task would be to drive the vehicle from one corner of Mars to the opposite corner, turn the vehicle around to face its starting point and take a picture of the Earth (a suitable poster on the wall of the Mars Room) rising above the Martian terrain.
In the second challenge, the teams will be able to plan a path through the Martian terrain, and then implement that plan by downloading a sequence of commands to the onboard computer of the roving vehicle. Some limited supervisory command activity during the simulated mission will be allowed.
Extensions of this basic experience are envisaged. Depending on acquisition of a suitable level of operational funding, we plan to offer the Mars Room to secondary schools in Kent and then elsewhere in the UK supported by a suitable support package for teachers.
In the longer term, we plan to develop a Remote Access Balloon system capable of feeding real-time imaging and other data straight to a web server. This system will join MAVERIC’s architecture with the idea of a Remote Access Laboratory and it will be built around the existing CerfCube core.
5. Acknowledgements
Grateful acknowledgement is made to Intrinsyc [5] for the kind donation of a CerfCube system and for their subsequent technical support. The authors also want to express their gratitude to Trimble [6] for donating a GPS receiver.
References
1. http://www.beagle
https://www.doczj.com/doc/7a3669553.html,
2. J. Blamont, “Exploring Mars by Balloon”, The
Planetary Report, May/June 1987, pp 8-7.
3. L. David, “Balloon to Soar Over Martian Atmosphere”,
Space News, 4 September 2000.
4. https://www.doczj.com/doc/7a3669553.html,.au
5. https://www.doczj.com/doc/7a3669553.html,/
6. https://www.doczj.com/doc/7a3669553.html,/
福州格致中学2014-2015学年第一学段 高一英语《必修一》模块考试 第二部分：英语知识运用 单项填空 从每题所给的A、B、C、D四个选项中，选出可以填入空白处的最佳答案，并在答题卡上将该选项涂黑。 21.In _______ distance is a tall tree which is said to have ______ history of over 500 years. A. the; a B. /; / C. a; a D. the; / 22.--- Look! The telephone is broken. Someone damaged it _______ purpose. --- That may be right. But perhaps it was broken ________ accident. A. on; on B. on; by C. by; by D. by; on 23.It might be very difficult to find _______ of the information. A. cause B. resource C. source D. course 24. Shall we go there by bus or by taxi? The ______ seems to be quicker. A. late B. latter C. later D. lately 25. After living in the United States for fifty years, he returned to the small town where he ______. A. brought up B. grew up C. gave up D. turned up 26. The engine of the ship was out of order and the bad weather ________ the helplessness of the crew(船员) at sea. A. added to B. added up to C. added up D. was added to 27. --- Daddy, I don’t want to go to Jimmy’s birthday. --- You had better go. ______ you make a promise, you have to keep it. A. Even B. Once C. Unless D. In case 28. --- Won’t you stay for lunch? --- No, thanks, I _______ my uncle at the airport at 10:30. A. met B. have met C. meet D. am meeting 29. ________ out for food, Some work in the nest as guards or workers. A. All the bees not go B. Both the bees don’t go C. Not all the bees go D. All the bees go 30. The old town has narrow streets and small houses _______ are built close to each other. A. they B. where C. what D. that 31. --- Don’t you know our town at all? --- No, It is the first time I _______ here. A. was B. am coming C. came D. have come 32. Can you make sure _____ the gold ring? A. where Alice had put B. where had Alice put C. where Alice has put D. where has Alice put 33. He decided to help the poor girl _______ were killed in the earthquake. A. which parents B. parents of them C. whose parents D. whom parents 34. The settlement is home to nearly to 1,000 people, many of _______ left their village homes for a better life in the city. A. whom B. which C. them D. who 35. ---We could invite John and Barbara to the Friday night party. --- Yes, _______ ? I’ll give them a call right now. A. why not B. what for C. why D. what 第二节完形填空（共20 小题；每小题一分，满分20分） 阅读下面短文，从短文后各题所给的四个选项（A,B,C,D）中选出可以填入相应空白处的最佳选项，并在答题卡上将该选项涂黑。 This little story I’m going to tell you happened when I was about 11 years old and I’II never forget it. I was at my friend Jenny’s __36__ after school one day, and we were doing (or not doing) homework.. __37__ I was there, Jenny’s mom came over to visit. I don’t remember her name__38__ what her face looked like. I just remember her hands, her voice and the__39__ she taught me. I can still see her hand __40__ for mine in our introduction. __41__ were so
【2019最新】高一英语上学期期末考试试题 高一英语试卷 第二部分阅读理解（共两节，满分40分） 第一节（共15小题：每小题2分，满分30分） 阅读下列短文，从每题所给的四个选项（A、B、C和D）中选出最佳选项，并在答题卡上将该项涂黑。 A Americans like to travel on vacations. Today more and more travelers in the United States are spending nights at small houses or inns instead of hotels. They get a room for the night and the breakfast for the next morning. Staying at a bed-and-breakfast inn is much different from staying at a hotel. Usually the cost is much less. Staying at an inn is almost like visiting someone’s hom e. The owners are glad to tell about the area and the interesting places to visit. Many vacationists say they enjoy the chance to meet local families. 21. Where do more and more travelers in the USA like spending nights? ________.
25. 第一部分听力(共两节。满分30分) 第一节(共5小题；每小题l．5分，满分7．5分) 听下面5段对话。每段对话后有一个小题，从题中所给的A、B、C三个选项中选出最佳选项，并标在试卷的相应位置。听完每段对话后，你都有l0秒钟的时间来回答有关小题和阅读下一小题。每段对话仅读一遍。 1．What is the probable relationship between the speakers? A. Father and daughter． B. Doctor and patient． C. Teacher and student． 2．Why can’t the machine work according to the woman? A．The power may have been cut off． B．There is something wrong with it． C．Both of the speakers can’t operate it． 3．What does the woman mean? A She is tired of keeping pets． B She wants to have a dog． C She won’t have a dog as a friend． 4．What can we learn from the conversation? A．The man will invite Mary to dinner． B The man will buy his daughter a gift． C．Mary has a lovely girl． 5．Which of the following does the woman like best? A. Fishing．13．Swimming．C．Climbing． 第二节(共15小题；每小题l．5分，满分22．5分) 听下面5段对话或独白。每段对话或独自后有几个小题，从题中所给的A、B、C 三个选项中选出最佳选项，并标在试卷的相应位置。听每段对话或独白前，你将有时间阅读各个小题，每小题5秒钟；听完后，各小题将给出5秒钟的作答时间。每段对话或独自读两遍。 听第6段材料。回答第6，7题。 6．What season is it now? A Spring． B Summer． C Autumn． 7．What will the speakers do? A. Drive to San Diego． B．Have take—away food in the park． C. See an outdoor movie． 听第7段材料。回答第8,9题。 8．What color is the tie the man is looking for? A. Green． B. Blue． C. Brown．
2012-2013学年度上学期期末考试 高一英语试题【新课标】 说明：本试题满分150分，所有答案填写在答题卷上。写在其它地方无效。 第一部分：听力（共三节，满分30分） 第一节（共5小题；每小题1．5分，满分7．5分） 听下面一段对话，回答第1小题。 1.How did the girl get to school this morning? A．On foot．B．By bus．C．In a car． 听下面一段对话，回答第2小题。 2.Who has been fooled? A．Sue．B．Bob．C．Nobody． 听下面一段对话，回答第3小题。 3.Are the keys in the backpack? A．No, they aren’t．B．Yes, they are．C．We don’t． 听下面一段对话，回答第4小题。 4.What kind of party will they have? A．A money-raising party．B．A birthday party．C．A costume（服装） party． 听下面一段对话，回答第5小题。 5.Why did the girl cook herself? A．Because she likes cooking． B．Because she came back home late． C．Because she wanted to help her parents． 第二节（共11小题；每小题1．5分，满分16．5分） 听下面一段对话，回答第6和第8三个小题。 6.What’s the woman’s favouite hobby? A．Bowling．B．Collecting coins．C．Boating． 7.What countires has the woman been to? A．Canada and China．B．Mexico and America．C．Japan and Canada． 8.Why doesn’t the man have a hobby? A．Because he is too lazy． B．Because he has to wok outside in the garden． C．Because his work takes up too much of his spare time． 听下面一段对话，回答第9至第11三个小题。 9.What do you think the woman’s job is? A．A truck driver．B．A policeman．C．A journalist（新闻记者）． 10.When did the car accident happen? A．Around half to seven． B．While the man was waiting for the green light． C．When the man was passing the crossing．
福州格致中学2015级高一学段第一学期质量评定 高一年级第五次月考英语试卷 时间：100分钟分值120分 ★祝考试顺利★（完型填空启用备用卷题号不同答题卡区域注意区别） 第Ⅰ卷选择题（共两部分，满分70分） 第一部分阅读理解（共两节，满分40分） 第一节、完形填空（共20小题；每小题1.5分，满分30分） 阅读下面短文，从短文后所给各题的四个选项（A、B、C和D）中，选出可以填入空白处的最佳选项。 Most of us are highly aware of various channels through which we can obtain information on food safety. A majority of us have shown much __36___ in experts and authorities and taken a(n) __37___ part in science activities organized by such experts. __38_, we do not always form an accurate picture When there is __39_news about one brand, our trust in all brands or similar products tends to be __40___ . We would doubt not only the brand in __41___ but also similar brands when a safety issue (问题）_42___ in the news. At the same time，our purchase __43___ change as food safety incidents occur. We are becoming _44___ confident in domestic(国内的）food companies ，for they have done too little in publishing and sharing food safety __45__ so far. As a result ，we would turn to __46__ brands more often. Food safety incidents in China have attracted a lot of attention. As a matter of fact ，we only have a very _47__ knowledge base on the issue. In developed countries，there have been relatively _48__ measures and response system toward safety issues. Therefore, the __49___ in those countries are less likely to become over-panicked and form serious _50 about all brands. Food companies should pay more attention to our insights, listen to our voices, _51___ the opinions of experts and authorities ,have effective strategies for response _52____ various media channels, and __53___ information in time and face the public honestly. In addition ，both the government and an independent third - party should have a role to play in providing information about food companies__54___ in raw material selection, production and distribution (流通) However, this might require several years and we still need to learn more about food __55___ 36. A. respect B.enthusiasm C. distrust D. confidence 37. A. slight B. broad C. active D. natural 38. A. However B. Consequently C. Meanwhile D. Furthermore 39. A. negative B. exciting C. detailed D. special 40. A. protected B. affected C. increased D. preserved
2019级高一上学期期中考试 英语试题 2018年11月本试卷分第I卷（选择题）和第II卷（非选择题）两部分，共12页。满分150分，考试时间120分钟。考试结束后，将答题卡和答题纸一并交回。答卷前，考生务必将自己的姓名、准考证号、考试科目填涂在答题卡和答题纸规定的地方。 第I卷(选择题，共100分) 第一部分：听力（共两节, 满分30分） 第一节（共5小题，每小题1.5分，满分7.5分） 听下面5段话对话。每段对话后有一个小题，从题中所给的A,B,C 三个选项中选出最佳选项，并标在试卷的相应位置。听完每段对话后，你都有10秒钟的时间来回答有关小题和阅读下一小题。每段对话仅读一遍。 1.What is probably the woman ? A.A doctor B. A taxi driver C. A policewoman 2. What’s the matter with the woman’s husband A. He is having a serious headache. B.There is something wrong with his leg. C.He was knocked down by an ambulance. 3. What does the man think of the newest Readers? A. Just so-so. B.Wonderful. C. Dull. 4. How old is Mary now? A.Twenty. B.Twenty-eight. C.Thirty. 5. Where does the conversation probably take place? A.In the hospital B.In a supermarket C.In a coffee bar. 第二节（共15小题；每小题1.5分，满分22.5分） 听下面5段话或独白。每段对话和独白后有几个小题，从题中所给的A,B,C三个选项中选出最佳选项，并标在试卷的相应位置。听每段对话和独白前，你将有时间阅读各个小题，每小题5秒钟，听完后，各小题将给出5秒时间作答。每段对话或独白读两遍。 听第6段材料，回答第6，7题。 6.How does the girl feel at first？ A.Nervous. B.Confident? C.Relaxed. 7. When will the English speech contest start? A.At 2:00pm. B.At 3:00pm. C.At 5:00pm. 听第7段材料，回答第8, 9题。 8. What does the woman think of the man’s plan for the weekend？
阜蒙县第二高中2017--2018学年度上学期高一期末考试 英语试卷 时间：100分钟总分：150分 第一部分：阅读理解（共两节，满分40分） 第一节（共15小题；每小题2分，满分30分） A A teenager needs to have a sense of independence in their life to feel secure （安全的）. To some teenagers independence means a lot to them, and I think that some parents don’t allow their teenagers enough independence. Independence has something to do with freedom. Some kids are not allowed to go anywhere alone, and the only thing their schedule includes is going to school, coming home, going to sleep, and repeating the process the next day. Parents tend to be afraid that their kids can get hurted if they go outside into the world. But if parents control their kids too much, they may never learn to live on their own. The best way for a teenager to learn lesson is through experience. I think it is beneficial for teenagers to have freedom. Teenagers’ lack of freedom can also stop them from having good friendship at school. Some might say that this is a good thing, because it helps them focus more on their school work. I argue that this can only discourage them not to do their school work. Some parents do not allow their children to be around their friends outside the school, thinking that this will get them into trouble. But I don’t think so. Instead, isn’t this a good reason for parents to get their children a cellphone? Cellphones allow teenagers to stay in touch with their parents, and communicate better with their friends. Privacy is another issue between parents and their teenagers. Teenagers tend to enjoy relaxation by themselves in their own room. This also gives them a sense of independence. It often annoys teenagers when their parents enter their room when they are not home. I know that my mom always goes in m y room when I’m not home, and this has brought me to the point where I have asked many times to get a lock on my door. 1. What is the main idea of the second paragraph? A. Kids know how to live independently. B. Some parents allow their kids no freedom. C. It benefits teenagers to have freedom. D. Kids have a dull routine every day 2. In the opinion of the author, ___________. A. parents should make it easy for kids to communicate with their friends B. good friendships between kids harm their school work C. it is unnecessary for a kid to have a cellphone D. kids should focus on the school work 3. How do teenagers usually feel when their parents enter their rooms in their absence?
高一英语期末检测试题 本试卷分第I卷（选择题）和第II卷（非选择题）。第I卷1至8页，第II卷9至10页。满分150分，考试时间120分钟。考试结束后，将第II卷和答题卡一并交回。 第I卷（共105分） 注意事项： 1．答第I卷前，考生务必将自己的姓名、考号、考试科目涂写在答题卡上。 2．每小题选出答案后，用2B铅笔把答题卡上对应题号的答案标号涂黑。如需改动，用橡皮擦干净以后，再选涂其他答案标号。不能答在试题卷上。 第一部分听力（共两节，满分30分） 做题时，先将答案标在试卷上。录音内容结束后，你将有两分钟的时间将试卷上的答案转涂到答题卡上。 第一节（共5小题；每小题1.5分，满分7.5分） 听下面5段对话。每段对话后一个小题，从题中所给的A、B、C三个选项中选出最佳选项，并标在试卷的相应位置。听完每段对话后，你都有10秒钟的时间来回答有关小题和阅读下一小题。每段对话仅读一遍。 听下面5段对话。每段对话仅读一遍。 1. What will the man have for breakfast? A. Eggs. B. Bread. C. Coffee. 2. Why does the man visit the woman? A. To say sorry to the woman. B. To borrow some milk. C. To help cook the meal. 3. What is the man doing? A. Asking the way. B. Helping the woman. C. Working in an office. 4. What is the time now? A. 4:45. B. 5:00. C. 5:30. 5. What does the man offer to do? A. Drive for the woman. B. Find a parking lot. C. Carry the boxes for the woman. 第二节（共15小题；每小题1.5分，满分22.5分） 听下面5段对话。每段对话后有几个小题，从题中所给的A、B、C三个选项中选出最佳选项，并标在试卷的相应位置。听每段对话前，你将有时间阅读各个小题，每小题5秒钟；听完后，各小题给出5秒钟的作答时间。每段对话读两遍。 听第6段材料，回答第6至7题。 6. Which of the following does the man like? A. Fish. B. Tea. C. Coffee. 7. What is the woman’s attitude towards the man? A. Cold. B. Friendly. C. Careful.
试卷第1页，总5页 福州格致中学2017-2018学年第一学段 高一物理检测 命题题：林枝钦 审核：王宇 日期：2017.11.7 （完卷时间：70分钟 全卷满分：100分） 一．选择题（每题4分，共40分，其中1-6题为单项选择，7-10题为多项选择；多项选择选全对得4分，选不全得2分，错选不得分） 1．下列各组物理量中全部是矢量的是（ ） A ．位移、时间、速度、加速度 B ．速度、平均速度、位移、加速度 C ．质量、路程、速度、平均速度 D ．位移、路程、时间、加速度 2．下面几组力中，可能成为平衡力的有（ ） A ．3N 、4N 、8N B ．2N 、5N 、9N C ．4N 、6N 、8N 、12N D ．7N 、6N 、12N 、26N 3．一物体由某一高度做自由落体运动，第1s 内下降的高度是总高度的1/16，g=10m/s 2，则（ ） A ．物体下落的高度为5m B ．物体下落的高度为25m C ．物体下落的高度为45m D ．物体下落的高度为80m 4．一个光滑的圆球搁在光滑斜面和光滑的竖直挡板之间，如图．当竖直挡板由竖直逆时针转到由图示虚线位置至水平位置过程中，则圆球受到的弹力（ ） A ．斜面对圆球的弹力先变小后变大 B ．斜面对圆球的弹力逐渐变大 C ．挡板对圆球的弹力先变小后变大 D ．挡板对圆球的弹力逐渐变小 5．如图所示，两个质量均为m 的物体分别挂在支架上的B 点（如图甲所示）和跨过滑轮的轻绳BC 上（如图乙所示），图甲中轻杆AB 可绕A 点转动，图乙中水平轻杆一端A 插在墙壁内，已知θ=30°，则图甲中轻杆AB 受到绳子的作用力F 1和图乙中滑轮受到绳子的作用力F 2分别为（ ） A ．F 1=mg 、F 2= mg B ．F 1= mg 、F 2=mg C ．F 1= mg 、F 2=mg D ．F 1= mg 、F 2=mg
高一英语上学期期末考试试题 试卷时长：120分钟卷面分值：150 第一部分听力(共两节，满分30分) 第一节(共5小题；每小题1.5分，满分7.5分) 听下面5段对话。每段对话后有一个小题，从题中所给的A、B、C三个选项中选出最佳选项。听完每段对话后，你都有10秒钟的时间来回答有关小题和阅读下一小题。每段对话仅读一遍。 Text 1 1．What's the food like? A．Very bad.B．Not good. C．Pretty good. Text 2 2．What are the two speakers doing? A．They are having a meeting. B．They are talking on the phone. C．They are listening to the radio. Text 3 3．What are the two speakers going to do? A．Find out what the weather will be like tomorrow. B．Play in the park. C．Take a walk around the lake. Text 4 4．What does the woman mean? A．She's too busy to help the man today. B．She'll finish the report by noon. C．She will have time later on the day. Text 5 5．What are the two speakers doing? A．They are climbing stairs. B．They are walking down the hill. C．They are talking about the lift. 第二节(共15小题；每小题1.5分，满分22.5分)
福州格致中学（鼓山校区）2021—2022学年度上学期期末模拟 高一英语试题 第一部分：英语知识运用 (共三节，满分 60 分) 第 一节：单 项 （共 15 分，每小题 1 分） 1. ---- Do you know what is on recently? ---- Sorry, I don ’t know, but I ’ll go and . A. find out B. take out C. figure out D. watch out 2. Why don ’t you just your own business and leave me alone? A. make B. open C. consider D. mind 3. — I hear you won the prize in the English Contest last week. — That was the second time that I the prize. A. have got B. got C. get D. had got 4. A number of students playing on the playground, but I don ’t know what the exact number . A. is; is B. are; are C.is; are D. are; is 5. The film we saw last night is called The Bridges of Madison County , which is a novel by Robert James. A. based on B. basing on C. based at D. basing at 6. —Ron, I congratulate you on your success. —Thanks, but the honor to all the people here. A. is belonged B. belongs C. is belonging D. belonged 7. I’d like a room window looks out over the sea. A. that B. where C. whose D. which 8. It is the third time that she has won the race, has surprised us all. A. that B. where C. which D. what 9. I don’t know the problem, for it’s beyond my power . A. how to deal with B. what to deal with C. how to deal with it D. what to do with it 10. —Sorry, sir, your computer isn’t ready yet. It at present. ―That’s all right. A. is repaired B. is being repaired C. hasn’t repaired D. has been repaired 11. The villagers went out to the mountain the missing child. A. in a search of B. looking after C. searched for D. in search of 12. The present media have changed our daily communication. The messages most of us rely are briefer than they once were. A. to which B. on which C. from that D. in what
11-12学年高一上学期期末考试 英语 本试卷分第Ⅰ卷(选择题) 和第II卷(非选择题) 两部分，共120分。考试时间120分钟。 第I卷(选择题三部分共85分) 第二部分英语知识运用(共两节, 满分35分) 第一节单项填空(共15小题；每小题1分，满分15分) 请认真阅读下面各题，从题中所给的A、B、C、D四个选项中，选出最佳选项，并在答题卡上将该项涂黑。 21. Such ________ medical equipment is in ________ danger of breaking down, if not take n good care of. A. a; the B. a; / C. /; the D. /; / 22. Let’s paint one side of the paper red, and _______ side black. A. the other B. another C. the others D. one another 23. Last week, only two people came to look at the house, _______ wanted to buy it. A. none of them B. both of them C. none of whom D. neither of whom 24. _______ the Internet is of great help, I don’t think it’s a good idea to spend too much time on it. A. If B. Because C. Although D. As 25. The manager of the company told us that very little _______ was made of the waste material in the past. A. cost B. value C. use D. matter 26. If you aren’t interested in the subjects your teachers suggest, you can ______ some of them. A. enjoy B. drop C. leave D. prove 27. His movie won several awards at the film festival, _______ was beyond his wildest dream. A. which B. that C. that D. it 28.—The window is dirty. —I know. It _______ for weeks. A. hasn’t cleaned B. didn’t clean C. wasn’t cleaned D. hasn’t been cleaned 29. You can’t imagine ______ when they received these nice Christmas presents. A. how they were excited B. how excited were they C. how excited they were D. they were how excited 30. The under-water meeting in Maldives has been put off _______ the bad weather. A. in charge of B. in search of C. instead of D. because of 31.—What about going to the cinema this evening? —Oh, I don’t know. I’ve got a bit of a headache. _______, John’s coming to see me, so I ought to stay in. A. However B. In other words C. What’s more D. Though 32.—Cathy, the door bell is ringing! I’m doing the dishes. —Mum, I see who it is. A. would B. will C. am about to D. am going to 33. The hotel wasn’t perfectly good, but I ________ in many worse hotels.