2010 a survey of mobile robots for distribution power line inspection P
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2010年职称英语综合类A级真题及答案Almost Human?Scientists are racing to build the world’s first thinking robot. This is not science fictio n: some say they will have made it by the year 2020. Carol Packer reports.Machines that walk, speak and feel are no longer science fiction. Kismet is the name of an a ndroid (机器人) which scientists have built at the Massachusetts Institute of Technology (M IT). Kismet is different from the traditional robot because it can show human emotions. It s eyes, ears and lips move to show when it feels happy, sad or bored. Kismet is one of the f irst of a new generation of androids —— robots that look like human beings —— which can imitate human feelings. Cog, another android invented by the MIT, imitates the action of a mother. However, scientists admit that so far Cog has the mental ability of a two-year-o ld.The optimists (乐观主义) say that by the year 2020 we will have created humanoids (机器人) w ith brains similar to those of an adult human being. These robots will be designed to look l ike people to make them more attractive and easier to sell to the public. What kind of jobs will they do? In the future, robots like Robonaut, a humanoid invented by NASA, will be do ing dangerous jobs, like repairing space stations. They will also be doing more and more of the household work for us. In Japan, scientists are designing androids that will entertai n us by dancing and playing the piano.Some people worry about what the future holds: will robots become monsters (怪物)? Will pe ople themselves become increasingly like robots? Experts predict that more and more people w ill be wearing micro-computers, connected to the Internet, in the future. People will have m icro-chips in various parts of their body, which will connect them to a wide variety of gadg ets (小装置). Perhaps we should not exaggerate (夸大) the importance of technology, but o ne wonders whether, in years to come, we will still be falling in love, and whether we will still feel pain. Who knows?11 Kismet is different from traditional robots becauseA it thinks for itself.B it is not like science fiction.C it can look after two-year-olds.D it seems to have human feelings.12 What makes Cog special?A It looks like a mother.B It behaves like a child.C It can imitate the behavior of a mother.D It has a huge brain.13 In about 15 years’ time from now, robotsA will become space designers.B will look like monsters.C will behave like animals.D will think like humans.14 In the future robots will alsoA explore space.B entertain people.C move much faster.D do all of the housework.15 What is the writer’s attitude to robots in the future?A Critical.B Hostile.C Objective.D Enthusiastic.参考答案:11. D 12. C 13. D 14. B 15. C。
2010年12月大学英语四级考试模拟题二22010年12月大学英语四级考试模拟题二Part I Writing (30 minutes)Directions:For this part,you are allowed 30 minutes to write a composition on the topic:WILL PHONES KILL LETTER WRITING?You should write at least 120 words according to the outline given below in Chinese:1. 年轻人越来越趋向于打电话2. 信件是否会被电话取缔3. 我的观点Part II Reading Comprehension (Skimming and Scanning)(15 minutes)Directions:In this part,you will have 15 minutes to go over the passage quickly and answer the questions on Answer Sheet 1.For questions 1-7,markY (for YES)if the statement agrees with the information given in the passage;N (for NO)if the statement contradicts the information given in the passage;NG (for NOT GIVEN)if the information is not given in the passage.For questions 8-10,complete the sentences with the information given in the passage.Holy Squid!Photos Offer First Glimpse of Live Deep-Sea GiantLike something straight out of a Jules V erne novel,an enormous tentacle creature looms out of the inky blackness of the deep Pacific waters.But this isn‘t science fiction. A set of extraordinary images captured by Japanese scientists mark the first-ever record of a live giant squid (Architeuthis)in the wild.The animal—which measures roughly 25 feet (8 meters)long—was photographed 2,950 feet (900 meters)beneath the North Pacific Ocean. Japanese scientists attracted the squid toward cameras attached to a baited fishing line.The scientists say they snapped more than 500 images of the massive cephalopod before it broke free after snagging itself on a hook. They also recovered one of the giant squid’s two longesttentacles,which severed during its struggle.The photo sequence,taken off Japan‘s Ogasawara Islands in September 2004,shows the squid homing in on the baited line and enveloping it in “a ball of tentacles.”Tsunemi Kubodera of the National Science Museum in Tokyo and Kyoichi Mori of the Ogasawara Whale Watching Association report their observations this week in the journal Proceedings of the Royal Society B.“Architeuthis appears to be a much more active predator than previously suspected,using its elongated feeding tentacles to strike and tangle prey,”the researchers write.They add that the squid was found feeding at depths where no light penetrates even during the day.Giant BreakthroughDespite people’s fascination with this deep-sea behemoth,the giant squid‘s life and habits have remained largely a mystery. The little information known has been mostly based on dead and dying specimens that were caught by commercial fishing boats or washed ashore.The mysterious creature has inspired countless sea monster tales and has been the subject of various scientific expeditions.Since the mid 1990s there have been a number of research trips in search of giant squid. Cameras attached to deep-diving subs or sperm whales have been used to try to capture the elusive animals on film,but without success.The Japanese researchers used sperm whales as guides to help them pinpoint likely giant squid haunts. Over the years whalers have reported finding a high number of large squid beaks in the mammals’stomachs,pegging sperm whales as primary predators of large squid.The images are generating considerable excitement among squid experts.“I think it‘s wonderful that we’ve finally got a picture of a living giant squid,”said Richard Ellis,a research associate at the American Museum of Natural History in New York and author of The Search for the Giant Squid.“I thought it would onl y be a matter of time before someone got images of Architeuthis,”he added.“After all,it‘s not an endangered species,not even all that rare,and it’s one of the largest of all invertebrates. So the Japanese film finaly breaks through and renders the statement ‘nobody has ever seen a living giant squid’inoperative.”Squid expert Martin Collins of the British Antarctic Survey based in Cambridge,England,says the new images are a “fantastic”achievement.The marine biologist says he was skeptical that a dedicated giant squid hunt would succeed. He thought the first wild sighting would probably come by accident.“Fair play to these guys who‘ve made the effort,gone outthere and looked in what they thought was a good area,and found it,”he said.Hunting for CluesCollins is especially interested in clues the images might provide to the way giant squid swim and hunt in the deep ocean.“Seeing the animals on film gives you a tremendous insight into how they live down there,”he said. “It shows they are pretty active animals,and that answers a big question that’s been out there for some time.”Collins says there were two competing schools of thought among giant squid experts.“One was the idea that [giant squid]were fairly inactive and just drifted around,dangling their tentacles below them like fishing lures to catch what came by,”he said.“The other theory was that they were actually quite active. This new evidence supports this,suggesting they are active predators which can move reasonably quickly.”“The efforts the squi d went to untangle itself [from the baited fishing line]also shows they are capable of quite strong and rapid movement,”he added.The study team reports that the severed tentacle repeatedly gripped the boat deck and crew after it was hauled aboard. The squ id‘s tentacles are armed with suckers,each ringed with tiny teeth to help snare prey.Measuring 18 feet (5.5 meters)long,analysis of the tentacle confirmed it came from a giant squid and allowed the researchers to estimate the total length of the animal.But the researchers caution that their data assume the tentacle was severed at it base. If not,the squid may have been considerably larger. The longest giant squid on record measured59 feet (18 meters),including its two elongated tentacles.Shedding Light on Giant SquidGiant squid,along with their close cousins colossal squid (Mesonychoteuthis),have the largest eyes of any animal.“Giant squid do have particularly large eyes,which would suggest vision is important to them. Having a large eye isn’t unusual in deep-sea animals-you see it quite often in fish.”The fact that the animal caught on film was swimming in total darkness suggests the species detects prey using alternative light sources. “The only light down there is likely to be light produced by other animals,”said Collins of the British Antarctic Survey.The Japanese team thinks that research techniques similar to their own could be used to bring about more close encounters with giant squid. Ellis of the American Museum of Natural History agrees.“I‘m sure we can learn a lot from an analysis of these images,”he said. “And now that we have an idea of where to look for [the squid],we will undoubtedly get more pictures.”1. The passage talks mainly about the studying of a live giant squid by American scientists.2. The giant squid was photographed 2,950 feet beneath the North Pacific Ocean.3. The observations by Tsunemi Kubodera and Kyoichi Mori was reported in the journal Proceedings of Royal Society B.4. The Japanese film is a breakthro ugh in the study of the giant squid’s life and habits.5. There are three competing schools of thought among giant squid experts.6. The giant squid are capable of quite strong and rapidmovement.7. The longest giant squid on record measured 18 feet.8. Giant squid,along with their close cousins colossal squid,have the largest ________________.9. The giant squid swimming in total darkness detects prey using ________________.10. The Japanese team thinks that research techniques similar to their own could be used to bring about more ________________.Part III Listening Comprehension (35 minutes)Section ADirections:In this section,you will hear 8 short conversations and 2 long conversations. At theend of each conversation,one or more questions will be asked about what was said. Both the conversation and the questions will be spoken only once. After each question there will be a pause. During the pause,you must read the four choices marked [A],[B],[C]and [D],and decide which is the best answer. Then mark the corresponding letter on Answer Sheet 2 with a single line through the centre.11. [A]He‘ll be speaking at the end of the meeting. [C]He suddenly decided not to speak.[B]He was supposed to speak last night instead. [D]He already spoke very briefly tonight.12. [A]It’s too high. [C]It‘s cheap indeed.[B]It’s acceptable. [D]The woman should have bargained for it.13. [A]At two o‘clock. [C]At four o’clock.[B]At three o‘clock. [D]At five o’clock.14. [A]Shop assistant and customer. [C]Store keeperand customer.[B]Post clerk and customer. [D]Waitress and customer.15. [A]His girlfriend complained of his going to the party without her.[B]He was together with his girlfriend yesterday.[C]He has been busy dating his girlfriend these days.[D]He brought his girlfriend to the party.16. [A]She regretted having bought the second-hand car.[B]It is unnecessary to rent another house.[C]They should sell their second-hand car and buy a new one.[D]They can afford a second-hand car.17. [A]She loves the film too. [C]She asks the man to repeat his words.[B]She doesn‘t think much of the film. [D]It’s not as good as she expected.18. [A]Go out with his wife. [C]Stay at home with his wife.[B]Work for extra hours. [D]Go out with his boss.Questions 19 to 22 are based on the conversation you have just heard.19. [A]It‘s hereditary. [C]He combs his hair too much.[B]The shampoo he used caused it. [D]He is old enough to lose hair.20. [A]Use some special shampoo.[B]Wear a wig.[C]Don’t try to comb hair over the bald or thin patch.[D]Go to the doctor for advice.21. [A]Over the radio. [C]At the man‘s house.[B]At a doctor’s office. [D]At a drug store.22. [A]It suits him. [C]It looks old.[B]It looks ridiculous [D]It‘s getting worse.Questions 23 to 25 are based on the conversation you have just heard.23. [A]Once a week. [C]Five every month.[B]Three every month. [D]Two every month.24. [A]When there are more than twelve people. [C]When there are fifteen people. [B]When there are five people. [D]When there are more than fifteen people.25. [A]Call the office. [C]Pay the money.[B]Sign your name on the notice board in advance. [D]There is no need to reserve a place. Section BDirections:In this section,you will hear 3 short passages. At the end of each passage,you will hear some questions. Both the passage and the questions will be spoken only once. After you hear a question,you must choose the best answer from the four choices marked [A],[B],[C]and [D]。
备战2022年中考英语考前时事热点话题阅读+题型专练热点80 人工智能及其巨大影响一、完型填空Now, it seems that artificial intelligence(人工智能) is being more and more popular in our life, and it has greatly influenced the ways we live, work and play. Can you 1 that you can play table tennis with a robot one day?Recently, a scientist has invented a special robot that can be a table tennis 2 . That 3 people can learn how to play table tennis not only from humans but also from a robot.Named Forpheus, the smart table tennis robot is quite special. It can study the 4 of human players and the speeds of the ball. In this way, it can 5 judge(判断) the players’ skill levels. Then it uses the information to 6 the ways to play. If the players are just beginners, Forpheus will play in a slow and easy way. But if the players are better ones, the robot will play in a 7 and more difficult way. 8 , while playing, it encourages players to try their best with words like: “Good job!”, “e on!” and so on. At the same time, i t gives some good 9 to improve their skills. So, it is both a good partner and a clever coach.Science and technology is developing quickly these days and no one knows what will happen in the future. “In the next 20 years, it will be 10 that one robot teaches another to play table tennis or even invents another one!” Takurya, the inventor of the robot, said.1. A. think B. find C. imagine D. suppose2. A. player B. star C. student D. coach3. A. shows B. means C. makes D. proves4. A. languages B. movements C. thoughts D. positions5. A. quietly B. slowly C. exactly D. carefully6. A. lead B. take C. change D. work7. A. fast B. faster C. slow D. slower8. A. What’s more B. However C. After all D. First of all9. A. abilities B. advantages C. attention D. advice10. A. possible B. impossible C. sure D. unsure【答案】CDB BC CBADA【解析】如今,人工智能在我们的生活中越来越受欢迎,它极大地影响了我们的生活、工作和娱乐方式。
第一部分阅读理解考点2 科普研究类一、(2018年全国卷Ⅰ)DWe may think we're a culture that gets rid of our worn technology at the first sight of something shiny and new,but a new study shows that we keep using our old devices(装置) well after they go out of style.That’s bad new s for the environment — and our wallets — as these outdated devices consume much more energy than the newer ones that do the same things.To figure out how much power these devices are using,Callie Babbitt and her colleagues at the Rochester Institute of Technology in New York tracked the environmental costs for each product throughout its life —from when its minerals are mined to when we stop using the device.This method provided a readout for how home energy use has evolved since the early 1990s.Devices were grouped by generation.Desktop computers,basic mobile phones,and box-set TVs defined 1992.Digital cameras arrived on the scene in 1997.And MP3 players,smart phones,and LCD TVs entered homes in 2002,before tablets and e-readers showed up in 2007.As we accumulated more devices,however,we didn't throw out our old ones."The living-room television is replaced and gets planted in the kids' room,and suddenly one day,you have a TV in every room of the house," said one researcher.The average number of electronic devices rose from four per household in 1992 to 13 in 2007.We're not just keeping these old devices — we continue to use them.According to the analysis of Babbitt's team,old desktop monitors and box TVs with cathode ray tubes are the worst devices with their energy consumption and contribution to greenhouse gas emissions(排放)more than doubling during the 1992 to 2007 window.So what's the solution(解决方案)? The team's data only went up to 2007,but the researchers also explored what would happen if consumers replaced old products with new electronics that serve more than one function,such as a tablet for word processing and TV viewing.They found that more on-demand entertainment viewing on tablets instead of TVs and desktop computers could cut energy consumption by 44%.32.What does the author think of new devices?A.They are environment-friendly.B.They are no better than the old.C.They cost more to use at home.D.They go out of style quickly.33.Why did Babbitt's team conduct the research?A.To reduce the cost of minerals.B.To test the life cycle of a product.C.To update consumers on new technology.D.To find out electricity consumption of the devices.34.Which of the following uses the least energy?A.The box-set TV.B.The tablet.C.The LCD TV.D.The desktop computer.35.What does the text suggest people do about old electronic devices?A.Stop using them.B.Take them apart.C.Upgrade them.D.Recycle them.二、(2018年全国卷Ⅱ)BMany of us love July because it’s the month when nature’s berries a nd stone fruits are in abundance.These colourful and sweet jewels form British Columbia’s fields are little powerhouses of nutritional protection.Of the common berries, strawberries are highest in vitamin C, although, because of their seeds, raspberries contain a little more protein (蛋白质), iron and zinc (not that fruits have much protein).Blueberries are particularly high in antioxidants (抗氧化物质).The yellow and orange stone fruits such as peaches are high in the carotenoids we turn into vitamin A and which are antioxidants.As for cherries (樱桃), they are so delicious who cares? However, they are rich in vitamin C.When combined with berries of slices of other fruits, frozen bananas make an excellent base for thick, cooling fruit shakes and low fat “ice cream”.For this purpose, select ripe bananas for freezing as they are much sweeter.Remove the skin and place them in plastic bags or containers and freeze.If you like, a squeeze of fresh lemon juice on the bananas will prevent them turning brown.Frozen bananas will last several weeks, depending on their ripeness and the temperature of the freezer.If you have a juicer, you can simply feed in frozen bananas and some berries or sliced fruit.Out comes a “soft-serve” creamy dessert, to be eaten right away.This makes a fun activity for a children’s party;they love feeding the fruit and frozen bananas into the top of the machine and watching the ice cream come out below.24.What does the author seem to like about cherries?A.They contain protein.B.They are high in vitamin A.C.They have a pleasant taste.D.They are rich in antioxidants.25.Why is fresh lemon juice used in freezing bananas?A.To make them smell better.B.To keep their colour.C.To speed up their ripening.D.To improve their nutrition.26.What is “a juicer” in the last paragraph?A.A dessert.B.A drink.C.A container.D.A machine.27.From which is the text probably taken?A.A biology textbook.B.A health magazine.C.A research paper.D.A travel brochure.三、(2018年天津卷)CThere’s a new frontier in 3D printing that’s beginning to come into focus:food.Recent development has made possible machines that print, cook, and serve foods on a mass scale.And the industry isn’t stopping there.Food productionWith a 3D printer, a cook can print complicated chocolate sculptures and beautiful pieces for decoration on a wedding cake.Not everybody can do that — it takes years of experience, but a printer makes it easy.A restaurant in Spain uses a Foodini to “re-create forms and pieces” of food that are “exactly the same,” freeing cooks to complete other tasks.In another restaurant, all of the dishes and desserts it serves are 3D-printed,rather than farm to table.Sustainability(可持续性)The global population is expected to grow to 9.6 billion by 2050, and some analysts estimate that food production will need to be raised by 50 percent to maintain current levels.Sustainability is becoming a necessity.3D food printing could probably contribute to the solution.Some experts believe printers could use hydrocolloids (水解胶体) from plentifulrenewables like algae(藻类) and grass to replace the familiar ingredients(烹饪原料).3D printing can reduce fuel use and emissions.Grocery stores of the future might stock "food" that lasts years on end, freeing up shelf space and reducing transportation and storage requirements.NutritionFuture 3D food printers could make processed food healthier.Hod Lipson, a professor at Columbia University, said, “Fo od printing could allow consumers to print food with customized nutritional content, like vitamins.So instead of eating a piece of yesterday’s bread from the supermarket, you’d eat something baked just for you on demand.”ChallengesDespite recent advancements in 3D food printing, the industry has many challenges to overcome.Currently, most ingredients must be changed to a paste(糊状物) before a printer can use them, and the printing process is quite time-consuming, because ingredients interact with each other in very complex ways.On top of that, most of the 3D food printers now are restricted to dry ingredients, because meat and milk products may easily go bad.Some experts are skeptical about 3D food printers, believing they are better suited for fast food restaurants than homes and high-end restaurants.46.What benefit does 3D printing bring to food production?A.It helps cooks to create new dishes.B.It saves time and effort in cooking.C.It improves the cooking conditions.D.It contributes to restaurant decorations.47.What can we learn about 3D food printing from Paragraphs 3?A.It solves food shortages easily.B.It quickens the transportation of food.C.It needs no space for the storage of food.D.It uses renewable materials as sources of food.48.According to Paragraph 4, 3D-printed food ________.A.is more available to consumersB.can meet individual nutritional needsC.is more tasty than food in supermarketsD.can keep all the nutrition in raw materials49.What is the main factor that prevents 3D food printing from spreading widely?A.The printing process is complicated.B.3D food printers are too expensive.C.Food materials have to be dry.D.Some experts doubt 3D food printing.50.What could be the best title of the passage?A.3D Food Printing:Delicious New TechnologyB.A New Way to Improve 3D Food PrintingC.The Challenges for 3D Food ProductionD.3D Food Printing:From Farm to Table四、(2018年江苏卷)BIn the 1760s, Mathurin Roze opened a series of shops that boasted(享有)a special meat soup called consommé.Although the main attraction was the soup, Roze’s chain sh ops also set a new standard for dining out, which helped to establish Roze as the inventor of the modern restaurant.Today,scholars have generated large amounts of instructive research about restaurants.Take visual hints that influence what we eat:diners served themselves about 20 percent more pasta(意大利面食)when their plates matched their food.When a dark-colored cake was served on a black plate rather than a white one, customers recognized it as sweeter and more tasty.Lighting matters, too.When Berlin restaurant customers ate in darkness, they couldn’t tell how much they’d had:those given extra-large shares ate more than everyone else, but were none the wiser—they didn’t feel fuller, and they were just as ready for dessert.Time is money,but that principle means different things for different types of restaurants.Unlike fast-food places, fine dining shops prefer customers to stay longer and spend.One way to encourage customers to stay and order that extra round:put on some Mozart(莫扎特).When classical, rather than pop, music was playing, diners spent more.Fast music hurried diners out.Particular scents also have an effect:diners who got the scent of lavender(薰衣草)stayed longer and spent more than those who smelled lemon, or no scent.Meanwhile, things that you might expect to discourage spending—"bad"tables, crowding, high prices —don’t necessarily.Diners at bad tables —next to the kitchen door, say —spentnearly as much as others but soon fled.It can be concluded that restaurant keepers need not "be overly co ncerned about ‘bad’ tables,"given that they’re profitable.As for crowds, a Hong Kong study found that they increased a restaurant’s reputation, suggesting great food at fair prices.And doubling a buffet’s price led customers to say that its pizza was 11 p ercent tastier.58.The underlined phrase "none the wiser"in paragraph 3 most probably implies that the customers were .A.not aware of eating more than usual B.not willing to share food with othersC.not conscious of the food quality D.not fond of the food provided59.How could a fine dining shop make more profit?A.Playing classical music.B.Introducing lemon scent.C.Making the light brighter.D.Using plates of larger size.60.What does the last paragraph talk about?A.Tips to attract more customers.B.Problems restaurants are faced with.C.Ways to improve restaurants’ reputation.D.Common misunderstandings about restaurants.五、(2018年北京卷)DPreparing Cities for Robot CarsThe possibility of self-driving robot cars has often seemed like a futurist’s dream,years away from materializing in the real world.Well,the future is apparently now.The California Department of Motor Vehicles began giving permits in April for companies to test truly self-driving cars on public roads.The state also cleared the way for companies to sell or rent out self-driving cars,and for companies to operate driverless taxi services.California,it should be noted,isn’t leading the way here.Companies have been testing their vehicles in cities across the country.It’s hard to predict when driverless cars will be everywhere on our roads.But however long it takes,the technology has the potential to change our transportation systems and our cities,for better or for worse,depending on how the transformation is regulated.While much of the debate so far has been focused on the safety of driverless cars(and rightfully so),policymakers also should be talking about how self-driving vehicles can help reduce traffic jams,cut emissions(排放) and offer more convenient,affordable mobilityoptions.The arrival of driverless vehicles is a chance to make sure that those vehicles are environmentally friendly and more shared.Do we want to copy — or even worsen — the traffic of today with driverless cars? Imagine a future where most adults own individual self-driving vehicles.They tolerate long,slow journeys to and from work on packed highways because they can work,entertain themselves or sleep on the ride,which encourages urban spread.They take their driverless car to an appointment and set the empty vehicle to circle the building to avoid paying for parking.Instead of walking a few blocks to pick up a child or the dry cleaning,they send the self-driving minibus.The convenience even leads fewer people to take public transport —an unwelcome side effect researchers have already found in ride-hailing(叫车) services.A study from the University of California at Davis suggested that replacing petrol-powered private cars worldwide with electric,self-driving and shared systems could reduce carbon emissions from transportation 80% and cut the cost of transportation infrastructure(基础设施) and operations 40% by 2050.Fewer emissions and cheaper travel sound pretty appealing.The first commercially available driverless cars will almost certainly be fielded by ride-hailing services,considering the cost of self-driving technology as well as liability and maintenance issues(责任与维护问题).But driverless car ownership could increase as the prices drop and more people become comfortable with the technology.Policymakers should start thinking now about how to make sure the appearance of driverless vehicles doesn’t extend the worst aspects of the car-controlled transportation system we have today.The coming technological advancement presents a chance for cities and states to develop transportation systems designed to move more people,and more affordably.The car of the future is coming.We just have to plan for it.47.According to the author,attention should be paid to how driverless cars can _____.A.help deal with transportation-related problemsB.provide better services to customersC.cause damage to our environmentD.make some people lose jobs48.As for driverless cars,what is the author’s major concern?A.Safety.B.Side effects.C .Affordability .D .Management .49.What does the underlined word "fielded " in Paragraph 4 probably mean?A .Employed .B .Replaced .C .Shared .D .Reduced .50.What is the author’s attitude to the future of self -driving cars?A .Doubtful .B .Positive .C .Disapproving .D .Sympathetic . 六、(2017年新课标卷Ⅰ)A build-it-yourself solar still (蒸馏器) is one of the best ways to obtain drinking water in areas where the liquid is not readily available .Developed by two doctors in the U .S .Department of Agriculture, it ’s an excellent water collector .Unfortunately, you must carry the necessary equipment with you, since it ’s all but impossible to find natural substitutes . The only components required, though, are a 55''⨯ sheet of clear or slightly milky plastic, six feet of plastic tube, and a container — perhaps just a drinking cup — to catch the water .These pieces can be folded into a neat little pack and fastened on your belt .To construct a working still, use a sharp stick or rock to dig a hole four feet across and three feet deep .Try to make the hole in a damp area to increase the water catcher ’s productivity .Place your cup in the deepest part of the hole .Then lay the tube in place so that one end rests all the way in the cup and the rest of the line runs up — and out — the side of the hole .Next, cover the hole with the plastic sheet, securing the edges of the plastic with dirt and weighting the sheet ’s center down with a rock . The plastic should now form a cone(圆锥体) with 45-degree-angled sides . The low point of the sheet must be centered directly over, and no more than three inches above, the cup .The solar still works by creating a greenhouse under the plastic .Ground water evaporates (蒸发) and collects on the sheet until small drops of water form, run down the material and fall off into the cup . When the container is full, you can suck the refreshment out through the tube, and won ’t have to break down the still every time you need a drink .32.What do we know about the solar still equipment from the first paragraph?A .It’s delicate .B .It’s expensive .C .It’s complex .D .It’s portable .33.What does the underlined phrase “the water catcher” in paragraph 2 refer to?A.The tube.B.The still.C.The hole.D.The cup.34.What’s the last step of constructing a working solar still?A.Dig a hole of a certain size.B.Put the cup in place.C.Weight the sheet’s center down.D.Cover the hole with the plastic sheet.35.When a solar still works, drops of water come into the cup form .A.the plastic tube B.outside the holeC.the open air D.beneath the sheet七、(2017年新课标卷Ⅱ)When a leafy plant is under attack,it doesn’t sit quietly.Back in 1983,two scientists,Jack Schultz and Ian Baldwin,reported that young maple trees getting bitten by insects send out a particular smell that neighboring plants can get.These chemicals come from the injured parts of the plant and seem to be an alarm.What the plants pump through the air is a mixture of chemicals known as volatile organic compounds,VOCs for short.Scientists have found that all kinds of plants give out VOCs when being attacked.It’s a plant’s way of crying out.But is anyone listening? Apparently.Because we can watch the neighbors react.Some plants pump out smelly chemicals to keep insects away.But others do double duty.They pump out perfumes designed to attract different insects who are natural enemies to the attackers.Once they arrive,the tables are turned.The attacker who was lunching now becomes lunch.In study after study,it appears that these chemical conversations help the neighbors.The damage is usually more serious on the first plant,but the neighbors,relatively speaking,stay safer because they heard the alarm and knew what to do.Does this mean th at plants talk to each other? Scientists don’t know.Maybe the first plant just made a cry of pain or was sending a message to its own branches,and so,in effect,was talking to itself.Perhaps the neighbors just happened to “overhear” the cry.So information was exchanged,but it wasn’t a true,intentional back and forth.Charles Darwin,over 150 years ago,imagined a world far busier,noisier and more intimate(亲密的) than the world we can see and hear.Our senses are weak.There’s a whole lot going on.32.What does a plant do when it is under attack?A.It makes noises.B.It gets help from other plants.C.It stands quietly D.It sends out certain chemicals.33.What does the author mean by “the tables are turned” in paragraph 3?A.The attackers get attacked.B.The insects gather under the table.C.The plants get ready to fight back.D.The perfumes attract natural enemies.34.Scientists find from their studies that plants can .A.predict natural disasters B.protect themselves against insectsC.talk to one another intentionally D.help their neighbors when necessary 35.what can we infer from the last paragraph?A.The word is changing faster than ever.B.People have stronger senses than beforeC.The world is more complex than it seemsD.People in Darwin’s time were more imaginative.八、(2017年新课标卷Ⅲ)The Intelligent Transport team at Newcastle University have turned an electric car into a mobile laboratory named “DriveLAB” in order to understand the challenges faced by older drivers and to discover where the key stress points are.Research shows that giving up driving is one of the key reasons for a fall in health and well-being among older people, leading to them becoming more isolated(隔绝) and inactive.Led by Professor Phil Blythe, the Newcastle team are developing in-vehicle technologies for older drivers which they hope could help them to continue driving into later life.These include custom-made navigation(导航) tools, night vision systems and intelligent speed adaptations.Phil Blythe explains:“For many older people, particularly those living alone or in the country, driving is important for preserving their independence, giving them the freedom to get out and about without having to rely on others.”“But we all have to accept that as we get older our reactions slow down and this often results in people avoiding any potentially challenging driving conditions and losing confidence in theirdriving skills.The result is that people stop driving before they really need to.”Dr Amy Guo,the leading researcher on the older driver study, explains, “The DriveLAB is helping us to understand what the key points and difficulties are for older drivers and how we might use technology to address these problems.“For example, most of us would expect older drivers always go slower than everyone else but surprisingly, we found that in 30mph zones they struggled to keep at a constant speed and so were more likely to break the speed limit and be at risk of getting fined.We’re looking at the benefits of systems which control their speed as a way of preventing that.“We hope that our work will help with technological solutions(解决方案) to ensure that older drivers stay safer behind the wheel.”32.What is the purpose of the Drivel AB?A.To explore new means of transport.B.To design new types of cars.C.To find out older driver`s problems.D.To teach people traffic rules.33.Why is driving important for older people according to Phil Blythe?A.It keeps them independent.B.It helps them save time.C.It builds up their strength.D.It cures their mental illnesses.34.What do researchers hope to do for older drivers?A.Improve their driving skills.B.Develop driver-assist technologies.C.Provide tips on repairing their cars.D.Organize regular physical checkups.35.What is the best title for the text?A.A new Model Electric CarB.A Solution to Traffic ProblemC.Driving Service for eldersD.Keeping Older Drivers on the Road九、(2017年北京卷)Hollywood’s theory that machines with evil(邪恶) minds will drive armies of killer robots is just silly.The real problem relates to the possibility that artificial intelligence(AI) may become extremely good at achieving something other than what we really want.In 1960 a well-known mathematician Norbert Wiener,who founded the field of cybernetics(控制论),put it this way:“If we use,to achieve our purposes,a mechanical agency with whose operation we cannot effectively interfere(干预),we had better be quite sure that the purpose put into the machine is the purpose which we really desire.”A machine with a specific purpose has another quality,one that we usually associate with living things:a wish to preserve its own existence.For the machine,this quality is not in-born,nor is it something introduced by humans; it is a logical consequence of the simple fact that the machine cannot achieve its original purpose if it is dead.So if we send out a robot with the single instruction of fetching coffee,it will have a strong desire to secure success by disabling its own off switch or even killing anyone who might interfere with its task.If we are not careful,then,we could face a kind of global chess match against very determined,super intelligent machines whose objectives conflict with our own,with the real world as the chessboard.The possibility of entering into and losing such a match should concentrate the minds of computer scientists.Some researchers argue that we can seal the machines inside a kind of firewall,using them to answer difficult questions but never allowing them to affect the real world.Unfortunately,that plan seems unlikely to work:we have yet to invent a firewall that is secure against ordinary humans,let alone super intelligent machines.Solving the safety problem well enough to move forward in AI seems to be possible but not easy.There are probably decades in which to plan for the arrival of super intelligent machines.But the problem should not be dismissed out of hand,as it has been by some AI researchers.Some argue that humans and machines can coexist as long as they work in teams—yet that is not possible unless machines share the goals of humans.Others say we can just “switch them off” as if super intelligent machines are too stupid to think of that possibility.Still others think that super intelligent AI will never happen.On September 11,1933,famous physicist Ernest Rutherford stated,with confidence,“Anyone who expects a source of power in the transformation of these atoms is talking moonshine.” However,on September 12,1933,physicist Leo Szilard inventedthe neutron-induced(中子诱导) nuclear chain reaction.67.Paragraph 1 mainly tells us that artificial intelligence may .A.run out of human controlB.satisfy human’s real desiresC.command armies of killer robotsD.work faster than a mathematician68.Machines with specific purposes are associated with living things partly because they might be able to .A.prevent themselves from being destroyedB.achieve their original goals independentlyC.do anything successfully with given ordersD.beat humans in international chess matches69.According to some researchers,we can use firewalls to .A.help super intelligent machines work betterB.be secure against evil human beingsC.keep machines from being harmedD.avoid robots’ affecting the worl d70.What does the author think of the safety problem of super intelligent machines?A.It will disappear with the development of AI.B.It will get worse with human interference.C.It will be solved but with difficulty.D.It will stay for a decade.十、(2017年浙江卷)Getting less sleep has become a bad habit for most American kids.According to a new survey(调查) by the National Sleep Foundation,51% of kids aged 10 to 18 go to bed at 10 pm or later on school nights,even though they have to get up early.Last year the Foundation reported that nearly 60% of 7- to 12-year-olds said they felt tired during the day,and 15% said they had fallen asleep at school.How much sleep you need depends a lot on your age.Babies need a lot of rest: most of them sleep about 18 hours a day! Adults need about eight hours.For most school-age children,tenhours is ideal(理想的).But the new National Sleep Foundation survey found that 35% of 10- to 12-year-olds get only seven or eight hours.And guess what almost half of the surveyed kids said they do before bedtime? Watch TV.“More children are going to bed with TVs on,and there are more opportunities(机会) to stay awake,with more homework,the Internet and the phone,” says Dr.Mary Carskadon,a sleep researcher at Brown University Medical School.She says these activities at bedtime can get kids all excited and make it hard for them to calm down and sleep.Other experts say part of the problem is chemical.Changing levels of body chemicals called hormones not only make teenagers’ bodies develop adult characteristics,but also make it hard for teenagers to fall asleep before 11 pm.Because sleepiness is such a problem for teenagers,some school districts have decided to start high school classes later than they used to.Three years ago,schools in Edina,Minnesota,changed the start time from 7:25 am to 8:30 am.Students,parents and teachers are pleased with the results.25.What is the new National Sleep Foundation survey on?A.American kids’ sleeping habits.B.Teenagers’ sleep-related diseases.C.Activities to prevent sleeplessness.D.Learning problems and lack of sleep.26.How many hours of sleep do 11-year-olds need every day?A.7 hours.B.8 hours.C.10 hours.D.18 hours.27.Why do teenagers go to sleep late according to Carskadon?A.They are affected by certain body chemicals.B.They tend to do things that excite them.C.They follow their parents’ examples.D.They don’t need to go to school early.十一、(2017年江苏卷)Population ChangeWhy is the world’s population growing? The answer is not what you might think.The reason for the explosion is not that people have been reproducing like rabbits,but that people have stopped dropping dead like flies.In 1900,people died at the average age of 30.By 2000 the average age was 65.But while increasing health was a typical feature of the 20th century,。
2010年11三笔真题互联网推进了中国经济社会发展。
在经济领域,互联网加速向传统产业渗透,产业边界日益交融,新型商务模式和服务经济加速兴起,衍生了新的业态。
互联网在促进经济结构调整、转变经济发展方式等方面发挥着越来越重要的作用。
互联网成为推动中国经济发展的重要引擎。
包括互联网在内的信息技术与产业,对中国经济高速增长作出了重要贡献。
互联网与实体经济不断融合,利用互联网改造和提升传统产业,带动了传统产业结构调整和经济发展方式的转变。
互联网发展与运用还催生了一批新兴产业,工业咨询、软件服务、外包服务等工业服务业蓬勃兴起。
信息技术在加快自主创新和节能降耗,推动减排治污等方面的作用日益凸显,互联网已经成为中国发展低碳经济的新型战略性产业。
中国政府将大力推动电子商务类、教育类网站发展,积极推进电子政务建设,支持发展网络广播、网络电视等新兴媒体,倡导提供形式多样、内容丰富的互联网信息服务,以满足人们多样化、多层次的信息消费需求。
The Internet is helping promote the economic and social development of China. In the economic sector, the Internet has spread its influence into traditional industry, which leads to the emergence of new business models and service economy, generating new types of industries. The Internet is playing an increasingly important role in promoting economic restructuring and transforming the pattern of economic development.The Internet has become an engine promoting the economic development of China. IT including the Internet and its industry has made significant contributions to the rapid growth of the Chinese economy.The combination of the Internet and the real economy, the reform and enhancement of traditional industry through IT, have given an impetus to the restructuring of traditional industry and changing of the pattern of its development. The development and application of the Internet has given rise to the emergence of many new industries. Services for the development of industries such as industrial counseling, software service and outsourcing are mushrooming. The role of IT in promoting independent innovation, energy conservation, emission reduction and environmental protection has become ever more prominent. The Inter-net has emerged as a new strategic industry in China’s development of low-carbon economy.The Chinese government will vigorously promote the development of websites featuring e-commerce and education, give impetus to the building of e-government, advocate the development of emerging media such as online radio and online television, and call for the provision of varied and rich Internet information services to satisfy the diversified, multi-leveled needs of information consumption.2010年6月政府白皮书-中国互联网状况Full Text: The Internet in China中华人民共和国国务院新闻办公室前言Foreword互联网是人类智慧的结晶,20世纪的重大科技发明,当代先进生产力的重要标志。
2010年雅思写作机经汇总2010年10月09日Some countries have introduced a law to limit working hours for employees. How this law can be introduced?Do you think it is a positive or a negative development?2010年10月14日In some countries, it is illegal for companies to reject job applicant for their age, is this a positive or negative development?2010年10月23日Some people think pollution and damage of environment are resulted from a country developing and becoming richer, and this is hard to be avoided. To what extent do you agree or disagree?2010年09月04日Mobile phones have made life easier: you can answer the work call and home call at any place, any time. Does this development has more positive or negative effects on both individuals and society? Discuss both views and give your own opinion.2010年09月11日Some people think it is necessary to use animals for testing medicines intended for human use. Others, however, think it is cruel to do that. Discuss both of these views and give you own opinion.2010年09月25日A report indicated that many children between 7 to 11 spend too much time watching television and/or play video games.How does the problem affect the children, their families and society? What measures can be taken to control it ?2010年08月05日In many parts of the world children and teenagers are committing more crimes.Why is this case happening?How should children or teenagers be punished?2010年08月14日The major cities in the world are growing fast, as well as their problems. what are the problems that young people living in cities are facing with? Give solutions to these problems.2010年08月21日Charities and organizations always give special names to particular days such as 'National Children's Day' and 'National Non-smoking Day'.What are the causes of these particular days? How effective are they? 2010年08月28日In many cities, planners have separated schools, homes, shops, offices in specific areas which were widely separated from each other. Do you think advantages of this policy overweigh disadvantages to the city residents?2010年07月31日Some people believe that university students should pay all the cost of studies because university education only benefit the students themselves not the society as a whole. To what extent do you agree or disagree?2010年07月10日More and more young people hold important positions in government. Some people think it is not suitable but others think otherwise.Discuss both views and give your own opinion.2010年07月15日Some people think adults should learn practical skills by themselves, while others think they should learn from teachers.Discuss both views and give your own opinion2010年07月17日The movement of people from agricultural areas to cities to work can cause serious problems in both places.What are the serious problems and what measures can be taken to solve this problem?2010年06月05日Some groups, such as poor people and people from rural areas, think universities should make it especially easy for them to get access to university education. To what extent do you agree or disagree?2010年06月17日To what extent do you agree that societies benefit from international tourism and business?2010年06月19日An increasing number of people change their career and place of residence several times during their life time.Is this a positive or negative development?2010年06月26日International travel often leads people to have some prejudices rather than broad-mind.What are the main reasons of this phenomenon?What do you think people can do to get better understanding of the countries they visit?2010年05月8日Schools should concentrate on teaching students the academic subjects that will be useful for their future careers. Subjects such as music and sports are not useful.To what extent do you agree or disagree?2010年05月15日Nowadays, distance-learning programs are such common thing for us (the study material by post, by internet), but some people argue that courses can never be taken as good as those by attending in a college or university in person. To what extent do you agree or disagree? 2010年05月20日Some people think children should obey the rules their parents and teachers set and listen to them, but others think less control will help children to deal with their future adult life.Discuss both views and give your own opinion.2010年05月29日Many people who leave school hold a negative attitude towards learning. Why does this happen? How to solve the problem?2010年04月10日Some people think that cheaper and cheaper travel by air is beneficial but other people think it has drawbacks to environment and the resourses of the world.Discuss both views and give your own opinion.2010年04月15日Some people think that men and women have different qualities. Therefore, some certain jobs are suitable for men and some jobs are suitable for women.To what extent do you agree or disagree.2010年04月17日Some people think the governments should act to decide how people live in order to make a healthier life. Others think individual should decide their own lifestyle. What do you concern about?Discuss both views, and give your opinion.2010年04月24日It has been suggested that everyone in the world want to own a car, a TV and a fridge. Do you think disadvantage of such a development outweigh advantages?2010年03月06日The survey shows that in many countries, the people are living longer but increased life expectancy has many implications for the aging individuals and for society as a whole. What are the possible effects of longer living for individuals and society ?2010年03月18日Some people think zoos are cruel and all the zoos should be closed. However, some people think zoos are useful to protect the rare animals.Discuss both these views and give your opinion2010年03月20日Lately, more and more work has done by machines. Do you think the positive effects of the development overweigh the negative effects on individual and society?2010年03月27日Studies suggest that children spend more time on watching TV than they did in the past and spend less on doing active or creative things. why do you think this is a case? What measurement and methods can be used to tackle with it.2010年02月06日Air travel can only benefit the richest people in the world. The ordinary people can get no advantage with the development of air travel. To what extent do you agree or disagree?2010年02月11日Some people think that politicians have the greatest influence on the world. Other people, however, believe that scientists have the greatest influence.Discuss both of views and give your opinion.2010年02月20日Most countries want to improve standard of living through economic development, however, others think social value is lost as a result.Do you think the advantages of economic development outweigh the disadvantages?2010年02月27日Technological progress in the past century has its negative effect, despite its remarkable contribution. To what extent do you agree or disagree?2010年01月09日Some people believe that the charity organisations should give aid to those in greatest need,wherever they live. Some people believe that the charity organisations would better concentrate on helping people who live in own country instead.Discuss both views and give your opinion.2010年01月14日In today’s world, it is private companies rather than government who pay for and carry out most on scientific research.Do you think the advantages outweigh the disadvantages?2010年01月23日The gap between the rich and the poor is becoming more wider, the rich more richer, the poor even more poorer, what problems can the situation cause and give the solutions.2010年01月30日Today there is a great increase in anti-social behavior and lack of respect to others. What are the causes of this? What measures can be taken to reduce this problem?2009年雅思写作机经汇总2009年12月03日Some people tend to take contemporary jobs, for they have the time to do other things they are interested in. Do the advantages outweigh the disadvantages?2009年12月05日Nowadays, people always throw the old things away when they buy new things; whereas in the past, old things were repaired and used again. What factors cause this phenomenon? What effects the phenomenon leads to?2009年12月12日Recently some people can work from home using modern technology. Some say this only benefits the workers, but not the employers. To what extent do you agree or disagree?2009年12月19日crime is a problem all over the world and there is nothing that can be done to prevent it,to what extent do you agree or disagree.2009年11月07日In some countries, the rate of teenagers criminal acts is increasing. What are the reasons and give your measures to reduce it.2009年11月14日Some people say that professional workers such as doctors, nurses and teachers who make greater contribution to the society should be paid more than those people in the field of sports and entertainment. To what extent do you agree or disagree?2009年11月19日Some people think governments should introduce new technology to improve people’s life while others think free education is the better choice.Discuss both views and give your own opinion.2009年11月21日Individuals and individual countries can not help everyone who needs help in the world, so we should be only concerned about our own communities and countries.2009年10月08日Some people think that family life and parents have great influence on children's development, while others consider that external influence plays a more important role in children's life, discuss both views and give your own opinion.2009年10月10日An increase in production of consumer goods results in damage of the natural environment. What are the causes and possible solutions? 2009年10月24日Some people think university education should prepare students for employment. Other people think university has other functions. Discuss both views and what do you think the function of university education.2009年10月31日The environment problems facing today's world are so great that there is little ordinary people can do to improve the situation. Government and large companies should be responsible for reducing the amount of damage being done to the environment.To what extend do you agree or disagree?2009年09月05日Some people think young people should go to university to further their education while others think they should be encouraged to work as car mechanics or builders etc. to serve society.Discuss both views and give your own opinion.2009年09月12日Caring for children is probably the most important thing of the society. It is suggested that all mothers and fathers should be required to take the childcare training courses.To what extent do you agree or disagree with the statement?2009年09月17日Some people think that all the lawbreakers should be sent into the jail, while others believe that they should also be made to do some work or learn some skills in the community. What is your opinion? 2009年09月26日In some countries,some high school leavers are choosing to work or travel for a period of time before going to the university. Discuss theadvantages and disadvantages for those school leavers’ decision. Give your own opinion and reasons using your own experience.2009年08月08日The development of technology changes the way people connect with each other. In which way does the development of technology change the types of relationships among people? Does it have positive or negative effects on the relationships?2009年08月13日The subjects and lesson contents are decided by the authorities such as the government. Some people argue that teachers should make the choice. To what extent do you agree or disagree?2009年08月22日News media is more influential nowadays. Some people think it is a negative development. To what extent do you agree or disagree? 2009年08月29日In the past, people used to travel to see the difference from their home country. However, the sceneries in places around the world seem similar nowadays. What are the causes of these similarities? Do you think that the advantages of this similarity outweigh the disadvantages?2009年07月04日Money for postgraduate research is limited. Therefore some people think financial support from governments should be only provided for scientific research rather than research for less useful subjects. Do you agree or disagree?2009年07月11日Some people argue that the companies and private individuals should pay the bill of cleaning up the pollution they produced, while othersbelieve that it is the government’s responsibility. What is your opinion?2009年07月23日Many people are optimistic about the 21st century and see it as an opportunity to make positive changes to the world.To what extent do you agree or disagree with their optimism? What changes would you like to see in the new century?2009年07月25日Nowadays sending children to boarding school is becoming increasingly popular. What is the reason? Do you think it is a positive development?2009年06月11日Recently, the food travels thousands of miles from the farm to the consumer. Some people think it would be better to our environment and economy if people only eat local produced food. Do the advantages outweigh the disadvantages?2009年06月13日Recent research shows that majority of the criminals who are sent into the prison continue to commit crime after they are set free. What do you think in the case? What should be done to solve this problem?2009年06月20日Some people believe that all the children in school are required to learn at least one foreign language. However, others say that those who are not talented do not have to learn. What is your opinion? 2009年06月27日Developing countries require international organization’s help. Some people prefer financial aid while others think practical aid and advice are better. Discuss both views and give your own opinion.2009年05月09日Some people believe that teenagers should learn all school subjects, while others claim that students should focus on the subjects that they are best at or that they are interested in. Discuss both views and give your opinion.2009年05月16日It has been believed that people reading for pleasure have developed better imagination and language skills than people who prefer to watch TV. Do you agree or disagree?2009年05月21日A hundred years ago, people think that human race is steadily improving in every area of life. Nowadays, there is no certainty of this case. In which areas do you think we have made important progress nowadays? In which areas do you think we still need to make progress?2009年05月30日Fossil fuels, such as coal, oil, natural gas, are used in many countries, but in some countries, the use of alternative sources of energy, including wind and solar power, are encouraged. Is this trend a positive or a negative development?2009年04月04日Nowadays people live in the society where consumer goods are relatively cheaper to buy. Do you think its advantages outweigh its disadvantages?2009年04月18日If the product is of good quality and meets people’s needs, people will buy it. Therefore, advertising is unnecessary and is no more than a type of entertainment. To what extent do you agree or disagree? 2009年04月25日Some people think computer and Internet are important in children's study, but others think students can learn more effectively in schools and with teachers. Discuss both views and give your own opinion. 2009年04月30日Some people think museums should be enjoyable places to attract and entertain young people. Other think the purpose of museums is to educate, not to entertain. Discuss both views and give your own opinion.2009年03月05日Newspapers have become an enormous influence on people’s ideas and opinions. Why is this the case? Is it a desirable or undesirable situation?2009年03月07日Some people believe music plays an important role in society, while others think it is only a form of entertainment for individuals. Discuss both views and give your own opinion.2009年03月14日More and more students choose to go to another country for their higher education. Do you think the benefits outweigh the problems associated with it?2009年03月21日It is more important for the government to spend money on promoting the healthy lifestyle to prevent the illness rather than on the treatment for people who are already ill.To what extent do you agree or disagree?2009年02月07日Rich countries often give financial aid to poor contries, but it does not solve the poverty, so rich countries should give other types of help to the poor countries rather than the financial aid.To what extent do you agree or disagree?2009年02月12日Nowadays, technology developments are causing environmental problems. Many people think that we should live a simpler life while others believe that technology can solve environmental problems. Discuss both views and give your own opinion.2009年02月21日Some people believe that environmental problems are too big for individuals to deal with, while others think that individuals should take some action. Discuss both views and give your opinion.2009年02月28日Some people believe that the best way to improve public health is by increasing the number of sports facilities. Others think that this has little effect and other measures are required. Discuss both views and give your opinion.2009年01月10日Range of technology available of individuals will increase the gap of rich and poor. To what extent do you agree or disagree?2009年01月15日Students at schools and universities learn far more from lessons with teachers than from other sources(such as the Internet, television),To what extent do you agree or disagree?2009年01月17日Nowadays, people in some countries can choose to live and work anywhere they want, because of the improvement of the communication technology and transport.Discuss its advantages and disadvantages.2011年1月8日some people think that robots are very important for humans' future development. others, however,think that robots are dangerous inventi on that could have negative effects on society.discuss both these views and give your own opinion.2011年1月15日Employers tend to hire equal numbers of male and female employees. Do the disadvantages outweigh its disadvantages?2011年1月22日There is an increasing amount of anti-social behavior and lack of respect for others. Who should be responsible for this? What actions should be taken?2011年2月12日Some people think travelling abroad is a valuable experience for young people, Others think it wastes too much time and is quite expensive. How can countries do to make tourism ensure the development?2011年2月17日Some people think the government should provide financial support to creative arts such as painting,music,theatre; Others argue that creative arts should find financial support themselves instead. Discuss both views and give your own opinion.2011年2月19日Some people think women should play an equal role to men in a country's police force and military force, or the army. Others think women are not suitable for this kind of work. Discuss both views and give your own opinion.2011年2月26日Many people believe that countries should produce food for all population to eat and import food as little as possible. To what extent do you agree or disagree?2011年3月5日Some people believe that the government should spend money on saving languages which have few users from dying out. Others argue that it is a waste of public resources. Discuss both views and give your own opinion.2011年3月12日Competitiveness is becoming an important quality for people to have in many societies. How does competitiveness affect individuals? Do you think it is a positive or a negative development?2011年3月19日Around the world it is likely that more adults will work from home,and more children will study from home,as computer technology becomes cheaper and accessible. Do you think this will be a positive or negative development?。
Unit4 Topic3 Topic3 China is the third nation that sent a person into space.单词检测1 ________________ v.证明2 ________________ 月球探测器3 ________________ n.传说;传奇故事4 ________________ n.重要性,意义5 ________________ adv.独立地,自主地6 ________________ n.望远镜7 ________________ n.娱乐;招待8 ________________ n.&v.怀疑,疑惑9 ________________ 无疑地= there is no doubt that10 ________________ adj.极小的,微小的11 ________________ prep.在···里adv.在里面12 ________________ adv.通常,正常情况下13 ________________ v.取消,撤销;废止14 ________________ n.工作场所15 ________________ v.连接,把……联系起来16 ________________ 例如17 ________________ adv.而且prep.除···之外(还)18 ________________ adv.正确地,恰当地19 ________________ n.仆人,佣人20 ________________ adj.确定的,无疑的;一定会···21 ________________ 确切,肯定22 ________________ 独自,单独(个体上的)23 ________________ n.警告,告诫24 ________________ model v.可以,可能25 ________________ n.家务劳动,家务活课下注释小练培优第一阶——基础过关练一、单词填空1.They decided to ________ (取消) the activity because of its hidden danger.2.One of the three on the spaceship will conduct the ________ (太空漫步).3.They have evidence to ________ (证明) that she is guilty.4.It is difficult to separate ________ (传说) from truth.5.What was the __________ (意义) of that last remark?6.I’ll run ahead and ________ (警告) them.7.The more you can _______(与...相连)things with other things together, the better you will learn.8.I can tell you for c________ that I am always honest.9.Students should think i________ instead of asking others for help.10.Nick is such an honest boy that I have no reason to d________ what he said.二、用括号中所给单词的适当形式填空11.At last, he succeeded in ________ (prove) that he was right.12.— How long has the high-speed railway “Fuxing Hao” ________ (connect) Beijing to Shanghai been in service?— Since June 26, 2017. And it travels at a speed of 350 kilometres per hour.13.Yesterday the young man climbed to the top of the mountain on ________ (he) own.14.You kept me ________ (wait) for so long.15.I hope to ________ (achievement) my dreams in the future.16.I advise you ________ (study) harder to make computers serve us better.17.Spaceships are ________ (main) controlled by computers.18.People choose jobs for other reasons ______(beside)money.19.He _________(normal)buys a newspaper on his way to his company.20.Computers have both advantages and disadvantages, so we should use them ________ (proper).三、完成句子21.如果丹尼尔参加这个游戏类节目,他可能获奖。
班级姓名学号分数Unit 8 How do you make a banana milk shake?单元测试(A卷·夯实基础)(时间:60分钟,满分:100分)一、词汇填空(本题共15小题,每小题1分,共15分。
)1.P____________ the button ,you can turn it on or turn it off.2.F________, he beat me in the tennis game.3.Her lemon juice was too sour (酸的), so she added more s________.4.If you feel bad and go to the doctor, the doctor first asks you to take your ________ (体温).5.A few minutes later, the big snow ______(覆盖) the trees.6.If the tea is too strong, _______(添加) some more water.7.Do you like to drink _________(酸奶)?8.Please ________ (原谅) me for arriving late for school.9.How do people ____________ (庆祝) Mid-Autumn Festival?10.Would you like to put some ________(黄油)on the bread?11.I eat three ________ (三明治) every morning.12.Betty, get two ________(勺) of chicken soup for your grandpa.13.—Would you like some juice, Mike?—No, thanks. Just now Alice ________ (倒出) a cup of tea for me.14.My sister wants to be a singer(歌手), so she is ________(做准备) for the coming competition.15.Kate had some bread and ________(奶酪)this morning.二、用括号内所给单词的适当形式填空(本题共10小题,每小题1分,共10分。
高三英语科技产品对社会的影响分析单选题50题1. With the popularity of smartphones, people are more likely to communicate with others _______.A. by writing lettersB. through instant messaging appsC. via pigeon postD. by telegraph答案:B。
解析:本题考查科技产品对社交交流方式的影响。
选项A写信这种方式在智能手机普及之前比较常见,现在由于智能手机的普及,人们更多地通过即时通讯软件交流,所以A不符合。
选项B通过即时通讯软件,这是智能手机普及后人们常用的社交交流方式,符合题意。
选项C信鸽邮递在现代社会几乎不被用于社交交流,不符合现状。
选项D电报也已经是很古老的通讯方式,现在很少用于社交交流。
2. Social media platforms allow people to _______ their daily lives with friends and family easily.A. hideB. shareC. denyD. forget答案:B。
解析:本题考查社交媒体平台在社交方面的功能。
选项A隐藏不符合社交媒体平台的主要功能,人们使用社交媒体不是为了隐藏日常生活。
选项B分享,这是社交媒体平台的一个重要功能,人们可以轻松地和朋友家人分享日常生活,符合题意。
选项C否认也不符合社交媒体平台的功能。
选项D忘记与社交媒体平台的功能完全相悖。
3. The rise of video - call apps has made it possible for people to have face - to - face conversations _______.A. only in the same cityB. only during business hoursC. regardless of distanceD. only with family members答案:C。
A Survey of Mobile Robots for Distribution Power Line Inspection Jaka Katraˇs nik,Franjo Pernuˇs,and Boˇs tjan LikarAbstract—The purpose of this paper is to present the most im-portant achievements in thefield of distribution power line inspec-tion by mobile robots.Stimulated by the need for fast,accurate, safe and low-cost power line inspection,which would increase the quality of power delivery,thefield of automated power line in-spection has witnessed rapid development over the last decade. This paper addresses automated helicopter inspection,inspection withflying robots and inspection with climbing robots.Thefirst attempts to automate power line inspection were conducted in the field of helicopter inspection.In recent years,however,the research was mostly focused onflying and climbing robots.These two types of robots for automated power line inspection are critically as-sessed according to four important characteristics:design require-ments,inspection quality,autonomy and universality of inspection. Besides,some general not yet identified problems and tasks of in-spection robots,which should be addressed in the future,are pre-sented.In conclusion,the two robot types have specific benefits and drawbacks so that none can currently be considered generally ad-vantageous.Index Terms—Automatic visual inspection,mobile robots,power distribution line inspection,power distribution line maintenance.I.I NTRODUCTIONO UR society is becoming increasingly more dependent on reliable electric power supply.Since power outages cause substantialfinancial losses to producers,distributors and con-sumers of electric power,it is in the common interest to mini-mize failures of power lines.In order to detect defects as early as possible and to plan efficiently the maintenance activities,dis-tribution networks are regularly inspected.The two most common methods of power line inspection are foot patrol and helicopter-assisted inspection[1],[2].In the foot patrol inspection,a team of usually two people walk from pylon to pylon and inspect the power line.Visual inspection is car-ried out with the help of binoculars and sometimes with IR and corona detection cameras.Such an inspection can be highly ac-curate but only for the surfaces of power line equipment that can be well seen from the ground.Furthermore,visual inspection is slow,tedious,monotonous and subjective so that even larger de-fects can sometimes be overlooked.Helicopter-assisted inspection is also becoming commonly used for power line inspection.The pilotflies the helicopter over the power lines,while the camera operatorfilms the conductors, insulators,pylons and the objects below the lines.Thefilming is typically done with a color,IR and corona detection camera.TheManuscript received July29,2009.First published December04,2009;cur-rent version published December23,2009.Paper no.TPWRD-00886-2008. The authors are with the Faculty of Electrical Engineering,University of Ljubljana,1000Ljubljana,Slovenia(e-mail:jaka.katrasnik@fe.uni-lj.si). Digital Object Identifier10.1109/TPWRD.2009.2035427video material is then manually inspected in the office to pro-vide extensive inspection reports with images of the defects.Al-though far faster in comparison to the foot patrol inspection,he-licopter-assisted inspection is more expensive and usually less accurate.The abovementioned disadvantages of the foot patrol and he-licopter-assisted inspections calls for automation of power line inspection.Thefinal goal of the research activities in thisfield is to develop an automatic inspection approach that would be more accurate,less expensive and at least as fast as helicopter-assisted inspection.An obvious solution is to develop autonomous mo-bile robots,the research of which has mainly focused on two robot types:aflying robot thatflies above power lines and a climbing robot that travels along the conductors.Both of these robots could potentially achieve similar inspection speeds as helicopter-assisted inspection,better inspection accuracy and better price performance.In comparison to the foot patrol in-spection,often requiring climbing on the power lines,inspec-tion by mobile robots would be safer,less tedious,objective and much faster.In the last decades,a significant amount of research has been conducted in thefield of automatic power line inspection, but a review of all different approaches to the problem has not been published yet,with an exception of a short technical review,addressing exclusively inspection with aerial vehicles [3].This paper surveys scientific work that has been done in the field of overhead power line inspection,including automated helicopter-assisted inspection and inspection withflying and climbing robots.The proposed solutions are critically assessed and problems that still need to be solved efficiently are brought forth.Other tasks that could be performed by an inspection robot and possible future research activities are also presented. It should be mentioned that thefield of robotic power line inspection is changing very rapidly and that this paper is only a survey of the research done so far.New achievements could have been presented by the time this paper is published.II.P ROBLEM D ESCRIPTIONThis section briefly presents the defects that need to be in-spected,and the most common robotic inspection approaches.A.Power Line DefectsThe defects on the power lines occur on conductors,in-sulators,power line supporting towers and other power line equipment[4],[5].Two of the most common defects on ACSR (Aluminum Conductor,Steel Reinforced)conductors are: corrosion of aluminum strands and mechanical damage.Until broken strands appear on the surface of the conductor and the defect can be visually detected,corrosion can only be identified0885-8977/$26.00©2009IEEEFig.1.Obstacles on conductors:(a)suspension insulator;(b)strain insulator;(c)damper;(d)spacer;and(e)aircraft warning light.with a special device[6]and with measuring the increase of conductor temperature.Mechanical damage of the conductor, which is caused by wind-induced vibrations,manifests itself as broken strands near the clamps and otherfittings.Because broken strands are sharp,the electricfield on the surface of the strands is very high and triggers the corona effect,which can be efficiently inspected by an UV camera.Defects on insulators are different for each insulator type. Glass cap-and-pin insulator defects can usually be detected vi-sually,while porcelain cap-and-pin insulators fail mostly due to corrosion,which is difficult to detect.Detecting defective composite insulators is also demanding.Visual inspection is the most commonly used inspection technique.Other inspection methods are thermography and imaging with an UV camera. Supporting towers,other power line equipment(spacers, clamps,dampers,arcing horns…)and vegetation also need to be inspected.Towers and power line equipment deteriorate with age and they are also damaged by vandalism.Vegetation presents a big problem as trees normally grow around half a meter per year(e.g.,Norway Spruce annual growth rate is between60cm and90cm)and in extreme cases even up to4 meters per year[7].The distance between vegetation and power line conductors must therefore be regularly checked.B.Power Line Inspection RobotsThe majority of problems associated with automated heli-copter-assisted inspection are related to the automation of power line tracking,visual defect detection and measurement of power line safety distance.All of the abovementioned problems are re-lated to the acquisition of high-quality images,which is ham-pered by helicopter vibrations and movement,as well as by many other image acquisition artifacts.Similar problems need to be solved when developing aflying robot for power line inspection.A small helicopter is usually used,because it is more agile and consumes less fuel.It is also better than a small airplane,as it has the ability to hover.This robot has to be able to autonomouslyfly along the power lines andfind the defects.The robot also has to be as energy-effi-cient as possible in order to perform long inspection runs.The key issues that need to be solved here are position control,au-tomatic power line tracking,obstacle avoidance(Fig.1),com-munication,image acquisition,automatic fault detection,mea-suring power line safety distance,and power pick-up from the power line.Another inspection approach,which has been in development for many years,is inspection by a climbing robot.The robot travels suspended from the conductor and has to be able to cross obstacles along the power line(Fig.1).For this reason,a complex robotic mechanism is required.The robot functionality should include autonomous traveling along the conductor,auto-matic visual inspection and at least semi-autonomous obstacle crossing,i.e.,autonomous crossing of known or predictable obstacles.Another important problem is also electromagnetic shielding of the robot as the electricfield strength on the surface of the conductors can be as high as1.5MV/m under normal conditions and even higher in the presence of defects.The mag-neticfield on the surface of conductors can also be enormous, approximately10mT for a conductor carrying1000A.On the other hand the magneticfield could also be exploited for robot power supply.III.A UTOMATED H ELICOPTER-A SSISTED I NSPECTION One of thefirst articles on automating helicopter-assisted inspection[8]addressed some of the problems,specifically, tracking the power line,especially the poles of distribution networks that need careful inspection,and image acquisition stabilization.A tracking algorithm for power line poles was developed and tested on a scaled laboratory test rig.The initial position of the pole would be obtained with differential global positioning system(DGPS).The pole recognition was done on the basis of two vertical lines and two horizontal lines of the top cross arm.The reported success rate of the pole recognition algorithm was65%–92%on videos recorded at helicopter inspection.However,the image processing rate of2to8images per second was rather small and the recognition did not work well when background was cluttered.The authors concluded that the concept is feasible,although problems with robustness could arise in real environments with complex backgrounds and varying lighting conditions.Visual tracking of poles of distribution lines with corner detection and matching was investigated in[9].For corner detection,the zoom invariant CVK(named after Cooper, Venkatesh,Kitchen)method described in[10]was proposed.It was found suitable for corner detection of the tops of the power line poles.Because the method detects multiple matches for one physical corner,detected corners have to be aggregated. Corner matching is then performed on two consecutive images using a basic corner matcher.Relatively good stability of the whole system was reported.For accurate inspection,the quality of images taken from the helicopter has to be as high as possible.Images taken from an on board camera often get blurred,due to constant vibration and translational movement of the helicopter.In[11],this problem was thoroughly investigated and minimal optical stabilization requirements were defined.Small movements of the helicopter can be compensated by mounting the camera on gyro-stabilized gimbals,which lock the sightline to an inertial reference.Trans-lational helicopter movement can only be compensated with vi-sual tracking of the object of interest.It was found that for suf-ficient inspection detail,the image blur should not be more than 1%and that the stabilized platform must achieve optical stabi-lization better than100–200(micro radians).KATRAˇSNIK et al.:SURVEY OF MOBILE ROBOTS487 Automatic defect detection from videos of power lines wasalso considered[12]in a form of computer vision based de-fect detection system,developed for detecting arc marks and cut wires.The developed algorithm had a relatively high suc-cess rate of97.8%but since the rate of false positives detections was not reported,defect detection performance cannot be ob-jectively assessed.IV.I NSPECTION W ITH UA VSince inspection with unmanned aerial vehicle(UA V)is in some aspects very similar to the automated helicopter inspec-tion,both concepts share some common problems.The most obvious three,namely,camera stabilization,pole tracking and automatic defect detection have already been addressed in the previous section.An evaluation of using an UA V for power line inspection[1]indicated that this inspection approach could be faster than foot patrol and would yield the same or even better accuracy than costly helicopter inspection.It was concluded that the system is feasible from a technical point of view.Most of the research in UA V power line inspection has been conducted in the two research groups that we address in the following. A.University of Wales Research GroupThe research group led by D.I.Jones is developing a visually guided UA V for inspection of power distribution networks.For their air vehicle they chose an electrically powered ducted fan rotorcraft[13].This type of aircraft is better suited for power line inspection than the Sikorsky type ly, ducted fan rotorcraft is safer,because the blades of the rotor are not exposed,and very efficient at hover and at low speeds, which is important for high quality inspection.Designing the vehicle was not the main research interest,as there are many such aircrafts commercially available.The vehicle would be equipped with gyro-stabilized cameras,navigation and position regulation,a computer for image and other sensor data pro-cessing,a communication link and a system for electric power pick up.The main research objectives were to design a system for position and attitude control of the vehicle,to design a guidance system forflying over the obstacles and re-attaching to the power line,and to design a power pick-up system.1)Position and Attitude Control:In[14]and[15]an algo-rithm for estimating the position and attitude of the vehicle from an image of three conductors of the power transmission line was presented.The algorithm was based on Hough transform. The results in the laboratory environment and in the testingfield were good,despite the constantly changing lighting and back-ground clutter.A mathematical model of a ducted fan rotorcraft with the center of gravity above the aircraft center was also presented and used for the development of the control system.This was car-ried out by moving a mass in the rotorcraft,positioned above the center of gravity,left or right.When the mass is moved,the craft tilts and accelerates in the same direction.The control system receives input about the craft’s position and attitude from the computer vision algorithm.This control system with visual power line tracking was tested in a laboratory test bed with simulated wind gusts andperformed Fig.2.(a)Flying robot in development by the University of Wales research group.1—rotorcraft;2—power pick up mechanism;3—camera used for power line tracking and obstacle avoidance;4—power lines.(b)The ELEV A project flying robot.5—helicopter;6and7—the cameras used for stereo vision; 8—power line.very well.The position and attitude estimation algorithm was found relatively robust even when one of the side conductors was not detected.2)Guidance System:Although there are usually not many obstacles around the power lines,the robot must be able to avoid all the obstacles reliably,especially when not controlled by a human operator.A computer vision solution to this problem was proposed in[16].Positions of the obstacles were determined by opticalflow.The obtained positions were used in the path-plan-ning algorithm based on the distance transform.The algorithm was tested in a laboratory environment using a test rig with a scaled version of a power line.The proposed approach was found appropriate but the method was too sensitive to variations in background,lighting,and perspective.An important problem was also the computing power because image analysis demands were high,and rapid obstacle detection was required.3)Power Pick-Up:In order for the aircraft to be light enough and,at the same time,have a long inspection duration and dis-tance,a power pick-up system for powering directly from the lines is required.The mechanism proposed in[17],illustrated in Fig.2(a),consists of two cranked links connected with a hor-izontal suspension bar that isfixed to the craft.Two servo motors control the angle of the two links and maintain constant contact with the outer conductors.The controller was designed to com-pensate for the movement of the vehicle and to control the servo motors so that the contact force between the links and the con-ductors was constant.The problem of transforming electrical energy at distribution network voltages(33kV and higher)to a low voltage needed for electronics and vehicle drive still needs to be solved.This mechanism is feasible only for power distri-bution lines that have the same physical configuration as shown in Fig.2(a).488IEEE TRANSACTIONS ON POWER DELIVERY,VOL.25,NO.1,JANUARY2010B.ELEVA Project GroupThe goal of the Electric power Line Exploration using Aerial Vehicle(ELEV A)project is to develop an autonomous heli-copter that wouldfly along power line by means of a stereo com-puter vision system[18].The helicopter[see Fig.2(b)]would also record the conductor so that it could be inspected later.The aircraft chosen for this task was a small Sikorsky type helicopter with a good payload capacity.A3-D computer vision system that computes the helicopter’s trajectory on the basis of power transmission line images and a control system that controls the helicopter’s position using inertial sensors were developed. The computer vision system uses a vector-gradient Hough transform for cable detection and stereo vision for determining the position of the cable relative to the helicopter.This cable is also simultaneously recorded.Roll and pitch were controlled by LQG(Linear Quadratic Gaussian)controller,while a PID con-troller was used for yaw.The controllers were implemented on the basis of measured dynamic characteristics of the helicopter. Because only position of the helicopter could be measured,all other required variables were estimated by the Kalmanfilter. The robustness was tested when the helicopter was in hover by pulling it with a cable.The regulation worked well in the pres-ence of such external disturbances.This robot was developed for power distribution line inspection,however the concept is also applicable to power transmission line inspection.C.Other WorkIn[19]the problem of automated measuring the distance be-tween power lines and vegetation on the ground was addressed via a stream of stereo images.These images were taken from an airplaneflying over the power lines.A fundamental problem with the images from the prototype system was that the power lines were usually difficult to detect,although the power line py-lons were clearly visible.The proposed strategy was to recover the vegetation surface using stereo vision,identify successive power poles,model the conductors between successive poles as a catenary,and measure the distance between the vegetation sur-face and the modeled line.V.C LIMBING R OBOTSAn alternative approach to power line inspection is by means of a climbing robot that can climb along the conductor and over-come various obstacles on the power lines.The main advantage of this concept is the inspection ly,close prox-imity to the line and low vibrations highly increase the quality of image acquisition.On the other hand,development and con-struction of a robot mechanism for overcoming obstacles on the line is extremely difficult.The main research problem with climbing robots is therefore the development of a robot mech-anism and its control system for obstacle crossing.The prox-imity of the conductor also brings problems related to electro-magnetic shielding as sensitive electronics and sensors have to be protected from the strong electric and magneticfields.A.Robot Mechanisms and Obstacle TraversingOne of thefirst operational robotic mechanisms for power line inspection was the robot presented in[20].The robot con-sisted of a drive,an arc shaped rail,a guide rail manipulator and a balancer with its controller inside.The robot could travel on slopes of up to30.When the robot would arrive at an ob-stacle,it would unpack its rail and mount it on the conductor on both sides of the obstacle.Then the drive mechanism would re-lease the conductor and travel on the rail to the other side.The robot was able to negotiate towers and other equipment on over-head ground wires.Not having proper electromagnetic shielding and mechanisms for overcoming obstacles on lines under high voltage,the proposed robot was not suitable for the inspection of high voltage lines in operation.A more complex robot mechanism,under development by the Chinese Academy of Sciences in Shenyang[21],had two arms (front arm and rear arm)and a body.Each arm had4degrees of freedom and a gripper with a running wheel.The body also had a running wheel with a gripper.When overcoming obstacles,the robot would release the conductor with the front arm,elongate it over the obstacle and grasp the conductor on the other side.Then the body would release and the two arms would move the body across the obstacle,where it would grip the conductor again. Finally,the rear arm would move across the obstacle.This robot could overcome all standard obstacles on phase conductors of overhead power distribution lines and could also be adapted to work on power transmission lines without bundled conductors. Because of the complexity of this mechanism another robot [22]was developed in Shenyang.This robot consists of a body with two arms that have a special gripper combined with a driving wheel.The gripper presses on the conductor from the left and right side of the wheel.The main disadvantage was that the gripper could not handle large torque,which can easily occur when crossing obstacles.For that reason,a very effective obstacle crossing strategy,also simplifying the design of the robot,was presented[23](see Fig.3).When the robot would detect an obstacle ahead,it would stop,grasp the conductor with the front arm and move its body under the front arm in order to minimize the torque when crossing the obstacle[Fig.3(a)]. Next,the rear arm would lift the running wheel up and the front arm would rotate the robot around its axis.Finally,the rear arm would lower the wheel on the conductor[Fig.3(b)].The same process would then be repeated with the arms’roles changed. Because of this obstacle traversing strategy,the robot arms need only two degrees of freedom,the torques in the joints and on the conductor are small and consequently the motors do not need to be as powerful and heavy.A similar mechanism,under development by the Wuhan Uni-versity in China,was presented in[24].It also had two arms, each having one translational joint,two rotational joints and a running wheel(see Fig.4).Direct kinematics and a dynamic model were derived for this mechanism,which were then used for dynamic simulation.The simulation confirmed the correct-ness of the dynamic model.A new type of gripping mechanism for this robot was presented in[25].This gripper consists of one drive wheel and seven wheels for stability,which grasp the conductor from the top and the bottom.This robotic hand can hold the conductor stably and at the same time travel along it. The paper also presents the optimal geometrical composition for the stability of the manipulator.The influence of theflexi-bility of the overhead transmission line on the dynamic response of the robot was studied in[26].The robot was modeled as aKATRA ˇSNIK et al.:SURVEY OF MOBILE ROBOTS489Fig.3.Obstacle traversing strategy proposed in [23].The sequence of jointmovements is designated with numbers from 1to7.Fig.4.Wuhan University robot.The joints of the robot are denoted with num-bers from 1to 8.rigid body and the conductor model consisted of finite elements.These two models were coupled and a simulation of the robot crossing an obstacle was performed.It was found out that the conductor flexibility has great impact on the robot’s dynamic re-sponse when crossing the obstacles.The greater the span of the transmission line,the greater the flexibility of the conductor.A robot,similar to the one presented in [20],was proposed in [27].This robot is an upgrade of a line de-icing and cleaning robot,which was developed by the same group [28].The robot is equipped with large natural rubber wheels,which enable simple rolling over small obstacles (splices,dampers and clamps).The robot is composed of three parts:the wheel frame,the arm frame and the center frame [see Fig.5(a)].The wheel frame is used when travelling on the line and when climbing over obstacles,before the arm frame grasps the conductor.The arm frame is used for grasping the conductor on the other side of the obstacle.The center frame links the other two frames and enables the movement of the arm frame to the other side of the obstacle.The obstacle crossing process can be seen in Fig.5(b).Yet another robot design with obstacle traversing strategy was presented in [29].Inspired by the motion of a cabbage worm [30],the robot consists of a body and three arms.The front and the rear arm are used for propulsion and traction when moving on the line without obstacles,while the center arm is only used for stability when crossing obstacles.Altogether,the robot has seven rotational and one translational joint and moves by ex-tending and contracting the front and the rear arms.First,the rear arm grasps the conductor;then the front and the reararmsFig. 5.(a)Outline of the robot proposed in [27].1—driving wheel;2—gripper;3—wheel frame;4—center frame;5—arm frame.(b)Obstacle crossingstrategy.Fig.6.Obstacle traversing strategy presented in [29].The sequence of the process is indicated with numbers from 1to 6.stretch out;next,the front arm grasps the conductor and the arms contract;then the cycle repeats.The robot design and its ob-stacle traversing strategy can be seen in Fig.6.The robots presented in the last 4paragraphs were designed only for power lines with suspension type insulators.Because these robots are all suspended from the conductor they cannot overcome pin type insulators.However,the robots are appli-cable to both distribution and transmission power lines.B.Robot Control SystemThe main purpose of the robot control system is to navi-gate the robot over obstacles on the line.Based on sensor data about the obstacle on the line,the control system guides the robot over the obstruction.One of the first robot control algo-rithms for power line inspection was described in [20].A more complex control system,using a distributed expert system that was divided between the robot and the ground station,was de-scribed in [21].The robot control system would run on an em-bedded PC/104based computer,connected to the ground sta-tion with a wireless data link and a separate image transmis-sion channel.The robot expert system consisted of an infer-ence engine,knowledge base,static database,external infor-mation input module and decision-making module.The infer-ence engine would decide what commands to execute,given the sensor information and information in the static database.490IEEE TRANSACTIONS ON POWER DELIVERY,VOL.25,NO.1,JANUARY2010Sensors would provide information about current position of the robot and the obstacles around it,while the static database would contain data about towers and other obstacles on the line.The robot expert system would plan the path of the robot arms so that the robot would overcome the obstacle successfully.The ground station would be used for monitoring and guiding the robot.Similar distributed expert system designs were presented in[22]and[31].C.Robot SensorsThe sensors on the climbing robot are used for robot control, power line inspection and monitoring of important parameters (power supply voltage,temperature inside the robot body,etc.). One of the most important sensory problems is the detection and position estimation of an obstacle on the conductor.This is often done with a proximity sensor,which is simple but usu-ally does not provide enough information for automatic obstacle crossing.The type of the obstacle has to be known for automatic crossing.In[32],a computer vision method for obstacle recog-nition and distance measurement was presented.The method determines the obstacle types directly from the images.An el-lipse represents a suspension insulator string and two circles left and right of the conductor a strain insulator string.After the ob-stacle is recognized,its position is also located with stereo vi-sion.The method was tested on a real power line for which the error of7%was reported.Position of the conductor can also be obtained with computer vision with just a single camera.In [22],a camera-in-hand system was used for the measurement of conductor position.If the diameter of the conductor is known, its position can be easily estimated from the images,acquired by the camera mounted on the robot arm close to the gripper. The camera was also used for grasping control.Stereo vision for conductor position estimation was proposed[29]. Another important sensory problem is the elimination of vibrations of the robot from the sensor data.Power lines and consequentially the climbing robot vibrate,as they are under the influence of wind and other disturbances.These vibrations cause motion blur on acquired images and small deformations of robot arms,which reduce the precision of conductor lo-calization[33].Elimination of motion blur from the acquired images was studied in[34].The proposed algorithm was quite effective,as the direction and magnitude of the motion blur can be rather accurately estimated.D.Power SupplyPower lines could provide the inspection robot with energy for its operation,because it is possible to extract energy from the line through its magneticfield.This concept was presented in[35].A magnetic iron core was placed around the conductor. Current induced in the secondary coil around the core was mea-sured at different numbers of windings of the secondary.It was shown that the current reaches its maximum value at a certain number of secondary windings and,as expected,that the power transferred to the secondary coil increases with the current of the power line.For energy storage,lithium-ion and lithium-ion polymer batteries were proposed in[27]and[29],as these have the best power to weight ratio.VI.C OMPARISON OF R OBOT T YPESTo compare the two basic robot types as objectively as pos-sible wefirst investigated which problems still need to be solved in order to develop a working and practically useful robot.Then we identified the most difficult problems that will require more time,effort,and money for a feasible solution.The main char-acteristics of both robot types were also analyzed to determine which robot is better in inspection,which is more autonomous and which can be more easily adapted to different power lines. These issues are addressed in a critical discussion and compar-ison of the two robot types,which we address in the following.A.Discussion of the Proposed SolutionsThe hardware problems that would need more attention in the future are wireless communication and power supply.A com-munication link that has a very low latency,high bandwidth and long range is of the utmost importance.Low latency is impor-tant when the robot is guided manually,as quick responses to wind disturbances can save the robot from crashing.High band-width is also important when the robot is manually guided as for an effective guidance,it is crucial for the robot operator to get as much visual feedback about the robot surroundings as pos-sible.Long communication range provides more comfort to the users of the robot who can control the robot from further away and thereby avoid driving over difficult terrain.Besides,more kilometers of the power line can be inspected in a singleflight. Behavior of wireless communication antennas close to the high voltage power lines is another problem that needs to be consid-ered for a reliable operation.As weight is very limited on helicopters,very little energy is usually available,making the inspection sessions relatively short.Consequently,supplying power from the power line has been researched[17].Although original,the proposed system is limited to only one type of power line and has not been tested in the working environment yet,so that its effectiveness remains questionable.A similar system for supplying power from dif-ferent and bigger power lines would be very difficult to imple-ment,as the distances between conductors are larger and volt-ages higher.Regarding software,theflying robots associate many com-plex problems.The most challenging is probably visual naviga-tion(visual position control and guidance)along the power line, which is a prerequisite for automatic inspection.The results ob-tained by the University of Wales research group were not satis-fying as visual position control failed in difficult outside condi-tions,which can appear frequently.If position control fails,the helicopter can crash into the power line and cause an outage. The guidance system is also still in its infancy,being latent and not very reliable.Visual position control system developed in the ELEV A project uses stereo vision and seems more robust, but can only follow one conductor and cannot avoid obstacles. Automatic visual power line inspection is an important problem that has not been addressed by the two research groups.In[12],however,the proposed algorithm worked quite well,yet being limited to detecting only arc marks and cut wires.Automatic visual inspection system should inspect conductors,insulators and other power line equipment as well as detect corona and conductor overheating.This would require。