机器人插件作业的视觉导引方法研究

插件作业 (parts mating)是装配机器人的一项基本作业环节 .本文介绍了以双目立体视觉实现该作业的视觉导引方法 .该方法通过采用人机交互方式 ,借助于人的智慧 ,提高了图像特征提取和匹配的准确性和可靠性、可直观准确地给出插件作业的动作参数 ,克服了自动视觉计算复杂、鲁棒性差的缺点 ,适用于机器人遥操作作业 .实验表明 ,基于人机交互的机器人插件作业在立体视觉导引下是完全可行的

中国北方中新世风尘物质来源及古气候的地球化学指示

The most prominent tectonic and environmental events during the Cenozoic in Asia are the uplift of the Himalaya-Tibetan plateau, aridification in the Asian interior, and onset of the Asian monsoons. These caused more humid conditions in southeastern China and the formation of inland deserts in northwestern China. The 22 Ma eolian deposits in northern China provide an excellent terrestrial record relative to the above environmental events. Up to date, many studies have focused on the geochemical characters of the late Mio-Pleistocene eolian deposits, however, the geochemical characteristics of the Miocene loess and soils is still much less known. In this study, the elemental and Sr-Nd isotopic compositions of the eolian deposits from the Qinan (from 22.0 to 6.2 Ma) and the Xifeng (from 3.5 Ma until now) loess-soil sections were analyzed to examine the grain size effects on the element concentrations and the implications about the dust origin and climate. The main results are as follows: 1. The contents of Si, Na, Zr and Sr are higher in the coarser fractions while Ti and Nb have the highest contents in the 2-8 μm fractions. Al, Fe, Mg, K, Mn, Rb, Cu, Ga, Zn, V, Cr, Ni, LOI have clear relationships with grain-size, more abundant in the fine fraction while non significant relationship is observed for Y. Based on these features, we suggest that K2O/Al2O3 ratio can be used to address the dust provenance, and that VR (Vogt ratio = (Al2O3+K2O)/(MgO+CaO+Na2O)) can be used as a chemical weathering proxy for the Miocene eolian deposits because of their relative independence on the grain size. Meanwhile, SiO2/Al2O3 molar ratio is a best geochemical indicator of original eolian grain size, as suggested in earlier studies. 2. Analyses on the Sr and Nd isotope composition of the last glacial loess samples (L1) and comparison with the data from the deserts in northern China suggest that that Taklimakan desert is unlikely to be the main source region of the eolian dust. In contrast, these data suggest greater contributions of the Tengger, Badain Jaran and Qaidam deserts to the eolian dust during the last glacial cycle. Since the geochemical compositions (major, trace, REE and Sr, Nd isotope) of loess samples for the past 22 Ma are broadly similar with the samples from L1, these data trend to suggest relatively stable and insignificant changes of dust sources over the past 22 Ma. 3. Chemical weathering is stronger for Miocene paleosol samples than for the Plio-Pleistocene ones, showing warmer/more humid climatic conditions with a stronger summer monsoon in the Miocene. However, chemical weathering is typical of Ca-Na removal stage, suggesting a climate range from semiarid to subhumid conditions. These support the notion about the formation of a semi-arid to semi-humid monsoonal regime by the early Miocene, as is consistent with earlier studies.

块体理论赤平投影解析法与关键块体滑落概率研究—以锦屏二级水电站皮带机隧道为例

Block theory is an effective method on stability analysis of fractured rigid rock mass. There are a lot of discontinuous planes developed in rock mass of Jinping II hydropower station conveyor tunnel, so the stability of conveyor tunnel is related with whether there are unstable blocks on excavation planes. This paper deals with the stability of conveyor tunnel with stereo-analytical method for block theory on the basis of detailed investigation of rock mass data, and makes judgements on the movable blocks sliding types which are induced by all rock discontinuous planes and every excavation plane of conveyor tunnel. A conclusion is obtained that the sliding type of blocks is mainly single sliding, and a relatively few sliding types of double-sided sliding and vertical block falling; Also, the obvious statistical distribution result on movable blocks in conveyor tunnel indicates that there are a bit more instability blocks in left wall, left and right arches than right wall. In this paper, the stochastic probability model is drawn into block theory to study the sliding probability of key block on the basis of detailed investigation of its rock mass data and the development of the discontinuous planes in rock mass of Jinping II hydropower station conveyor tunnel. And some following conclusions are obtained. The relationship between trace length and the probability of instability of key block is inverse ratio. The probability of 1-3m primary joints are relatively higher. Key block containing joints J2 is relatively stable and the reinforcement of the arch would be crucial in the conveyor tunnel. They are all useful to offer effective reinforcement design and have important engineering values.

准噶尔盆地热历史与油气

Based on the temperature data from 196 wells and thermal conductivity measurements of 90 rock samples, altogether 35 heat flow data are obtained. The results show that the Junggar basin is a relatively "cold basin" at present. The thermal gradients vary between 11.6 and 26.5 ℃/km, and the thermal conductivity change from 0.17 to 3.6 W/mK. Heat flow ranges from 23.4 to 53.7 mW/m~2 with a mean of 42.3 ± 7.7 mW/m~2. The heat flow pattern shows that heat flow is higher on the uplifts and lower on the depressions. The overall low present-day heat flow in the Junggar Basin reflects its stable cratonic basement and Cenozoic tectonothermal evolution characterized by lithospheric thickening, thrust and fault at shallow crust as well as consequently quick subsidence during the Late Cenozoic. The study of the basin thermal history, which is one of the important content of the basin analysis, reveals not only the process of the basin's tectonothermal evolution, but also the thermal evolution of the source rocks based on the hydrocarbon generation models. The latter is very helpful for petroleum exploration. The thermal history of the Junggar basin has been reconstructed through the heat flow based method using the VR and Fission track data. The thermal evolutions of main source rocks (Permian and Jurassic) and the formations of the Permian and the Jurassic petroleum systems as well as the influences of thermal fields to petroleum system also have been discussed in this paper. Thermal history reconstruction derived from vitrinite reflectance data indicates that the Paleozoic formations experienced their maximum paleotemperature during Permian to Triassic with the higher paleoheat flow of around 70-85 mW/m~2 and the basin cooled down to the present low heat flow. The thermal evolution put a quite important effect on the formation and evolution of the petroleum system. The Jurassic petroleum system in the Junggar basin is quite limited in space and the source rocks of Middle-Lower Jurassic entered oli-window only along the foreland region of the North Tianshan belt, where the Jurassic is buried to the depth of 5-7 km. By contrast, the Middle-Lower Permian source rocks have initiated oil and gas generation in latter Permian to Triassic, and the major petroleum systems, like Mahu-West Pen 1 Well, was formed prior to Triassic when later Paleozoic formation reached the maximum paleotemperature.

中国东海陆架盆地构造-热演化研究

East China Sea Shelf Basin (ECSSB), as a basin with prospect of oil & gas resource and due to its special geological location on the west margin of the west Pacific, attracts a lot of attention from many geologists in the world.Based on systematic temperature measurements, bottom hole temperature (BHT) and the oil temperature data, the geothermal gradients in the ECS SB are calculated and vary from 25 to 43°C/km, with a mean of 32.7°C/km. The geothermal gradient in Fuzhou Sag has the higher value(40.6°C/km) in Taibei Depression than that in others. The lower value (27.2 °C/km) occurs in in Xihu Depression. The middle values occurs in Jiaojiang and Lishui sags in Taibei Depression with a mean value of 34.8 °C/km. Incorporated with the measured thermal conductivity, heat flow values show that the ECSSB is characterized by present-day heat flow around 70.6mW/m2, varying between 55 and 88 mW/m2. No significant difference in heat flow is observed between the Xihu and the Taibei Depressions. These heat flow data suggest that the ECSSB is geothermally not a modem back-arc basin.Applying the paleogeothermal gradient based method, thermal history is reconstructed using vitrinite reflectance (VR) and apatite fission track (AFT) data. The results suggest that the thermal history was different in the Taibei and the Xihu depressions. Paleo-heat flow values when the pre-Tertiary formations experienced their maximum temperature at the end of the Paleocene reached a mean of 81 mW/m2 in the Taibei Depression, much higher than the present-day value. The lower Tertiary sediments in the Xihu Depression experienced maximum temperatures at the end of Oligocene and reached a mean paleo-heat flow value of 83.4 mW/m2. The time, when the paleo-heat flow reached the maximum value, suggests that the ECSSB rifted eastward.Tectonic subsidence analysis shows that the timing of the major rifting episode was different across the ECSSB. The rifting occurred from the Late Cretaceous to the early Eocene in the Taibei Depression, followed by thermal subsidence from the late Eocene to the end of Miocene. In contrast, in the Xihu Depression the initial subsidence lasted until the early Miocene and thermal subsidence to the end of Miocene. From Pliocene to the present, an accelerated subsidence took place all along the West Pacific margin of the east Asia.The thermal lithosphere thickness is determined by temperature profile in the lithosphere, the mantle adiabat or the dry basalt solidus. It indicates that the thermal lithosphere reached the thinnest thickness at the end of Eocene in the Taibei Depression and the end of Oligocene in the Xihu Depression, respectively, corresponding with a value of 57-66km and 56-64km. In Taibei Depression, the lithosphere thickness decreased 16-22km from the end of Mesozoic to Paleocene. After Paleocene, the thickness increased 13-16km and reached 71-79 km at present-day. In Xihu Depression, From the end of Oligocene to present-day, the thickness increased 10-13km and reached 69-76km at present-day. The evolution of the lithosphere thickness is associated closely with the lithosphere stretching.Combining the reconstructed thermal history and the burial history, the maturation of the Jurassic oil-source rock shows that the main hydrocarbon generation phase was in the mid-Jurassic and a secondary hydrocarbon generation occurred at the end of Paleocene. The secondary generation was controlled mainly by the tectono-thermal background during the Paleocene.

真实和虚拟现实环境下场景识别中的空间更新

Currently，one of the important research areas in Spatial updating is the role of external (for instance visual) and internal (for instance proprioceptive or vestibular) information in spatial updating of scene recognition. Our study uses the paradigm of classic spatial updating research and the experimental design of investigation of Burgess(2004),first, we will explore the concrete influence of locomotion on scene recognition in real world; next, we will use virtual reality technology, which can control many spatial learning parameters and exclude the influence of extra irrelevant variables, to explore the influence of pure locomotion without visual cue on scene recognition, and furthermore, we will explore whether the ability of spatial updating can be transferred to new situations in a short period of time and compare the result pattern in real word with that in virtual reality to test the validity of virtual reality technology in spatial updating of scene recognition research. The main results of this paper can be summarized as follows： 1. In real world, we found two effects: the spatial updating effect and the viewpoint dependent effect, this result indicated that the spatial updating effect based on locomotion does not eliminate the viewpoint dependent effect during the scene recognition process in physical environment. 2. In virtual reality environment, we still found two effects: the spatial updating effect and the viewpoint dependent effect, this result showed us that the spatial updating effect based on locomotion does not eliminate the viewpoint dependent effect during the scene recognition process in virtual reality environment either. 3. The spatial updating effect based on locomotion plays double role in scene recognition: When subjects were tested in different viewpoint, spatial updating based on locomotion promoted scene recognition; while subjected were tested in same viewpoint, spatial updating based on locomotion had a negative influence on scene recognition, these results show us that spatial updating based on locomotion is automated and can not be ignored. 4. The ability of spatial updating can be transferred to new situations in a short period of time , and the experiment in the immersed virtual reality environment got the same result pattern with that in the physical environment, suggesting VR technology is a very effective method to do research on spatial updating of the scene recognition studies. 5. This study about scene recognition provides evidence to double system model of spatial updating in the immersed virtual reality environment.

表征方式对网上购物信息搜索行为影响的工程心理学实验研究

Interface has been becoming a more significant element today which influences the development of shopping on-line greatly. But in practice the attention arisen from society and study made are quite inadequate. Under this circumstance, I focus my study on the purpose of improving understanding of the engineering psychological factors, which definitely will play a crucial role in shopping on-line representation in future, and of the relations between them through the following experimental research. I hope it can give a basic reference to the practical application of shopping on-line representation pattern and continuous study. In current thesis, an analysis was made on the basis of engineering psychology principles from three aspects, i.e. person (users), task and information environment. It was considered that system overview and information behavior model would have great impact on the activities of users on the web and that representation pattern of information system would affect the forming of system overview and behavior pattern and then further after the performances of users in information system. Based on above-mentioned statement, a three-dimensional conceptual model was presented which demonstrates the relations between the crucial factors, which are media representation pattern, system hierarchy and objects in information unit. Thereafter, eight study hypothesis, which are about engineering psychological factors of virtual reality (VR) representation in shopping on-line system, was taken out and four experiments were followed up to testify the hypothesis. -In experiment one, a research was made to study how the three kinds of single media representation pattern influence the forming of system overview and information behavior from the point view of task performance, operating error, overall satisfactory and mental workload etc. -In experiment two, a study of how the combined media representation pattern of system hierarchy influences users' behavior was carried out. -In experiment three, a study of the hierarchy structure feature of VR representation pattern and the tendency of its width and depth to the effects of system behavior was made. -In experiment four, a study of the location relations between different parties in VR scene (information unit) was made. The result is as follows: -During structure dimensional state: Width-increasing caused more damage to the speed of users than depth-increasing in VR representation pattern. Although the performance of subjects was quite slow in wider environment, yet the percentage rate of causing errors was in lowest level. -During hierarchy representation pattern: 1. Between the representation patterns of the three media, no significant differences was found in terms of the speed of fulfilling the task, error rate, satisfactory, mental workload etc. But the pattern with figure- aided gained the worst results on all of these aspects. 2. During primary stage of the task and the first level of the hierarchy, the speed of subjects' performance in VR pattern was slower than that in text pattern. While with developing of the task and going deeper level of the hierarchy, the speed of users' performance in VR representation pattern reached to the highest level. 3. Effects in VR representation pattern was better than that in text pattern in higher level of the system. The representation pattern in highest level has greatest impact on the performance of the system behavior, whereas results of the only VR representation in the middle part of hierarchy would be worst. 4. Activity error in single media representation pattern was more than that in combined media representation pattern. 5. Individual differences among subjects had effects on the representation pattern of the system. During VR environment, behavior tendency of party A had a significant negative correlation to the quantities of errors. -In VR-scene representation: Physical-distance and flash influenced the subjects' task performance greatly, while psychological-distance has no outstanding impact. Subjects' accurate rate of performing increased if objects with same relation were in the same structure position, in the state of close psychological-distance or if the object target flashed (not reliable). Although the article limits the topic only on the present-existing questions and analysis of shopping-on-line, as a matter of fact, it can also apply for other relevant purposes on the web. While the study of this article only gives its emphasis on the researching-task with definite goal, making no consideration of other task conditions and their relations with other navigation tools. So I hope it lay a good start to make continuous research in this areas.

品牌形象的消费行为学分析

Brand image is the attributes set and the related associations of a brand in consumers mind, and it is the subjective reflections of brands. The paper explored the factors of brand image system and their weight. As the traditional means to evaluate weight coefficients are not perfect, a new method, conjoint analysis, was attempted. The factors of brand image were explored through questionnaire. Sports sneaker, toothpaste, and personal stereo were chosen as product sample, and four hundred and twenty university students from Tangshan city and Beijing as subjects(each person evaluated two kinds of products). The first two kinds of products were requisites of students, and sports sneaker belonged to High conspicuous products and toothpaste was low conspicuous product. On the other hand, personal stereo was the sample of development and entertainment products. Several factors of three products brand were taken out with factor analysis. In order to explore the weight of the brand image factors, a contrast of factor contribution ratio method, holistic quartation method and conjoint analysis is made here. Twenty university students evaluated the weight of the image factors of three kinds of brand with holistic quartation method, then they gave the weight of personal stereo with conjoint analysis method. Product function, advertising and propaganda, symbolic meaning, market orientation, brand appetency, consuming experience are the factors of sports sneaker brand image. Product function, advertising and propaganda, market orientation, product grade, corporation image are the factors of toothpaste brand image. Corporation image and product function, advertising and propaganda, consuming experience, symbolic meaning, price and function ratio are the factors of personal stereo brand image. So the hypothesis was proved that brand image is an ordinal and organical system, "ordinal" means the weight of factors are different, "organical" means that brand image can be deposed into several factors and the factors belonged to function components and meaning components (function components are the factors about physical characteristics and function, which are called "hard factors"); meaning factors are those that can show the personality、value and lifestyle of consumers, which are called "soft factors". The research also gave evidence of the hypothesis below: the factor structures of brand image of different product category have commonness and individuality; the function components of low conspicuous products are more important than the high conspicuous products. The exploration of conjoint analysis is what the paper seeks to be some creative in some degree.