灾难救援机器人研究现状、关键性能及展望

对日本、美国和中国等国家灾难救援机器人的研究现状和研究计划进行综述。根据世界各国救援机器人技术的研究现状,结合救援机器人在实际应用中取得的经验和教训,归纳和总结出救援机器人的关键性能为：存活能力、运动能力、感知能力、通信能力和作业能力。研究结果表明,灾难救援机器人研究逐步从试验研究转入到实际应用,多种技术融合化、多智能体网络化是今后灾难救援机器人研究的发展方向。防灾、减灾和救灾事关人民生命和财产安全,是国家公共安全的重要组成部分。救援机器人技术是国家发展迫切需要的战略必争的核心技术之一,将在国民经济和安全中起着重要作用并具有重大的战略意义。

供排气管对接机械手的机构研究与参数优化

根据水下救援作业中连接供排气管的需求,失事对象救生围壁的结构形式,遵循水下机械手机构选型原则,设计了一种专用的六功能气管对接水下机械手,并从机械手工作空间和轻量化要求两方面建立了机械手的数学模型,对其机构参数进行了优化设计。最后对优化结果进行了分析和工作空间的仿真。结果表明该机械手的设计能满足供排气管对接作业要求,达到了预期目的。

一种水面救助机器人

本文介绍一种能在恶劣海况下 ,向遇险船舶送递导引缆绳和向落水人员快速送递救生圈的水面救助机器人 .该机器人具有抗涌浪能力强、体积小、重量轻、速度快以及机动灵活的特点 ,还可广泛应用于其他领域

基于ROV援潜救生自主作业方法研究

利用ROV代替潜水员进行潜艇供排气管对接作业是援潜救生的发展趋势，其中供排气管对接技术是为失事艇员提供生命保障的关键技术。由于水下作业环境比较复杂以及水下作业难度大等特点，人工遥控ROV进行援潜对接供排空气管作业过程中，还停留在只是能够打开潜艇供排气系统花甲板盖的工作上，还没有实现对类似接通供排空气管精确作业的工作。受到海流、风浪、失事潜艇周围较大涡流、供排气管的拖曳阻力、水下可视条件以及高精度定位等因素的限制，作业任务越复杂，要求ROV系统上机械手精确定位精度越高，操纵的难度也越大，由人工操作很难实现。在现有ROV人工操作的基础上，使ROV系统具有自主作业功能，更能发挥其在对接空气管作业中的能力，提高作业效率，缩短救援时间，因此本文在现有ROV基础上扩展预编程自主控制驾驶功能模块即ROV-A系统，借助预编程技术ROV-A系统在对接空气管作业中的一些特殊任务时能够实现自主作业功能。 本文结合中国科学院沈阳自动化研究所水下机器人中心未来援潜救生关键技术研究内容，针对为失事潜艇接通空气管作业中的一些关键技术，开展基于具有自主作业能力的ROV-A系统自主作业方法研究，深入研究了具有自主作业能力ROV-A系统的运动规划与协调控制技术以及水下作业力控制技术，以实现高精度的机械手末端位置控制与期望力跟踪；针对潜艇供排气系统的已知结构研究了水下目标定位技术，为对接空气管的特定需求发展具有自主作业能力的水下作业技术提供理论依据。重点研究针对系统特点的运动规划与多性能指标实现归一化问题；研究基于系统动力学模型误差的系统位姿控制问题；研究基于阻抗力控制水下作业目标定位问题；在系统运动规划与控制研究的基础上，研究能实现机械手末端精确轨迹跟踪的控制策略问题以及力控制问题。本论文研究内容如下： （1）根据ROV-A系统特点，从描述系统的空间位置和姿态着手，研究了ROV-A系统的空间运动学与基于Kane方法的动力学，得出载体基座自由运动模式的系统空间运动数学模型，为论文后续研究工作奠定了基础。 （2）针对对接空气管作业中的一些高精度和复杂的作业，研究了系统作业时的运动规划问题。针对系统运动学冗余、作业规划约束性能指标多，例如机械手可操作性，关节限制，载体的姿态，避障等等，结合梯度投影法和最小范数伪逆矩阵法以及任务优先逆运动学方法，引入模糊控制技术，将模糊控制的定性知识表达与任务优先逆运动学算法相结合，以水下作业末端位置控制及轨迹跟踪为前提，对系统运动分配、关节限位、避免奇异有无海流下的系统性能优化等运动规划进行了研究，仿真证明运动规划算法的有效性。 （3）研究了基于动力学模型的系统基本控制问题。针对系统动力学模型的复杂性和不精确性，在基于载体输出反馈控制的基础上，设计了基于输出反馈自适应控制算法，通过自适应学习的方式直接逼近系统动力学方程状态量之间的非线性关系，在外界不停扰动下逐渐提高系统的控制精度；基于Lyapunov稳定性理论，证明了存在外界干扰和自适应逼近误差条件下ROV-A系统控制器的闭环稳定性；通过仿真实验验证控制系统的有效性，为系统的控制提供了一种新思路。同时在基于位置运动控制的基础上引入了力控制，通过对常规PID外环力控制器基础上的改进，在系统离线规划的前提下实现力与位置控制的解耦，通过仿真验证期望力的稳定跟踪。 （4）研究了基于ROV-A系统阻抗力控制的水下矩形围壁环境约束的位置定位方法。通过在对具有先验知识的矩形围壁环境约束的学习理解基础上，应用外部阻抗力控制环包容内部位置运动控制环的控制策略。利用力传感器的反馈信息变化确定系统末端执行器与约束环境的接触特征点，根据环境的先验知识推理出环境定位信息。通过计算机仿真实验验证了水下具有先验知识环境的定位方法和ROV-A系统的控制策略的有效性。仿真结果证明定位方法和控制策略是可行的。 （5）结合系统控制，分析了系统在为失事潜艇对接空气管作业中的恒定和时变两种期望力输入作业模式，提出了基于在线运动规划下外部力控制环包容内部位置环控制方法，利用ROV-A系统完成了为失事潜艇自主对接空气管中两个典型作业。介绍了整个控制方法的组成和执行过程，分析了综合控制策略，最后通过仿真实验分析了综合力控制方法的性能，包括恒力和时变期望力输入进行了深入研究。

植物对环境污染的磁学响应机理研究

With development of industry and acceleration of urbanization, problems of air quality as well as their influences on human health have recently been regarded highly by current international communities and governments. Generally, industrializations can result in exhausting of a lot of industry gases and dusts, while urbanization can cause increasing of modern vehicles. Comparing with traditional chemical methods, magnetic method is simple, rapid, exact, low-cost and non-destructive for monitoring air pollution and has been widely applied in domestic and international studies. In this thesis, with an aim of better monitoring air pollution, we selected plants (highroad-side perennial pine trees (Pinus pumila Regel) along a highroad linking Beijing City and the Capital International Airport, and tree bark and tree ring core samples (willow, Salix matsudana) nearby a smelting industry in northeast Beijing) for magnetic studies. With systemic magnetic measurements on these samples, magnetic response mechanism of contamination（e.g. tree leaves, tree ring）to both short- and long-term environmental pollution has been constructed, and accordingly the pollution range, degree and process of different time-scale human activities could be assessed. A series of rock magnetic experiments of tree leaves show that the primary magnetic mineral of leaf samples was identified to be magnetite, in pseudo-single domain (PSD) grain size range of 0.2-5.0 μm. Magnetite concentration and grain size in leaves are ascertained to decrease with increasing of sampling distance to highroad asphalt surface, suggesting that high magnetic response to traffic pollution is localized within a distance of about 2 m away from highroad asphalt surface. On the other hand, highroad-side trees and rainwater can effectively reduce the concentration of traffic pollution-induced particulate matters (PMs) in the atmosphere. This study is the first time to investigate the relationship of smelting factory activities and vicissitudes of environment with tree rings by magnetic methods. Results indicate that magnetic particles are omnipresent in tree bark and trunk wood. Magnetic techniques including low-temperature experiment, successive acquisition of IRM, hysteresis loops and SIRM measurements suggest that magnetic particles are predominated by magnetite in pseudo-single domain state. Comparison of magnetic properties of tree trunk and branch cores collected from different directions and heights implies that collection of magnetic particles depends on both sampling direction and height. Pollution source-facing tree trunk wood contains significantly more magnetic particles than other sides. These indicate that magnetic particles are most likely intercepted and collected by tree bark first, then enter into tree xylem tissues by translocation during growing season, and are finally enclosed in a tree ring by lignifying. Correlation between magnetic properties such as time-dependent SIRM values of tree ring cores and the annual steel yields of the smelting factory is significant. Considering the dependence of magnetic properties in sampling directions, heights, and ring cores, we proposed that magnetic particles in the xylem cannot move between tree rings. Accordingly, the SIRM and some other magnetic parameters of tree ring cores from the source-facing side could be contributed to historical study of atmospheric pollution produced by heavy metal smelting activities, isoline diagrams of SIRM values of all the tree rings indicate that air pollution is increasing worse. We believed that a synthetic rock magnetic study is an effective method for determining concentration and grain size of ferromagnets in the atmospheric PMs, and then it should be a rapid and feasible technique for monitoring atmospheric pollution.

金钱启动与道德的关系及道德认同的调节

In this article, we begin from the research about how money influences the behavior of people, and try to discuss how money influences people's moral judgment on the five degrees of morality (harm/care, fairness/reciprocal, loyalty/in-group, authority/respect, purity/sanctity). Meanwhile, we try to discuss whether the money priming is based on the mechanism of competition priming. Besides that, we want to find out whether moral identification and positive vocabulary could rescue the change of moral judgment after money priming. The money priming in this research is based on picture priming and syntax priming; the competition priming and moral identification priming are based on imagination priming. We chose the undergraduate, graduate student and adult as sample, combined the scale investigation with computer based experiment. This research contains five standard case experiments, which form three. Based on all the research above, we have some conclusions: 1. Money priming has impacts on moral judgment, which are not consistent on different degree of morality. But the total effect of money priming is that it changes moral judgment to a worse state. 2. Money priming is not complete competition priming, but social value orientation (including competition orientation) could mediate the influence of money priming on moral judgment. Generally, people with personal orientation or competition orientation could be influenced more easily by money priming. 3. After money priming, the moral judgment could be influence by moral identification and positive vocabulary. In all, both the moral judgment and positive vocabulary could make the moral judgment to a better state. But the function of them may be different, moral identification is more related to moral cognition and positive vocabulary is more related to moral emotional regulation. This research is based on priming method, and supports the money influence on psychology, the concept of morality and moral identification with experimental evidence. Also this research discusses the measurement of morality.