基于主动视觉和超声的机器人目标跟踪系统

运动目标跟踪技术是未知环境下移动机器人研究领域的一个重要研究方向。该文提出了一种基于主动视觉和超声信息的移动机器人运动目标跟踪设计方法,利用一台SONY EV-D31彩色摄像机、自主研制的摄像机控制模块、图像采集与处理单元等构建了主动视觉系统。移动机器人采用了基于行为的分布式控制体系结构,利用主动视觉锁定运动目标,通过超声系统感知外部环境信息,能在未知的、动态的、非结构化复杂环境中可靠地跟踪运动目标。实验表明机器人具有较高的鲁棒性,运动目标跟踪系统运行可靠。

移动机器人分布式超声探测系统设计

设计制作了一种基于多处理器的移动机器人分布式超声环境探测系统.该系统由上位工作模式控制模块和下位智能超声传感器阵列组成.下位智能超声传感器选用收发一体式超声传感器,每个传感器均由独立的微处理器控制,完成实时数据处理、抗干扰处理、故障报警以及并行数据通信等功能.上位工作模式控制模块可以根据不同的控制策略,使下位传感器阵列采用“阈值比较法”和“改进型递推均值滤波”算法及EERUF方法并行循环工作模式,实现不同方向传感器分组并行工作,提高了探测的实时性和准确性,以及对移动机器人控制的鲁棒性.仿真和实验的结果都验证了该系统的可靠性和有效性.

基于多微处理器的智能超声探测系统

设计了一种基于多微处理器的智能超声探测系统。该系统采用由上位工作模式控制单元和下位智能超声传感器阵列组成的分布式结构。每个超声传感器均由独立的微处理器控制,并完成实时数据处理、抗干扰处理、故障报警以及数据通信等功能。上位控制单元根据移动机器人的运动状态采用不同的控制策略,使下位传感器阵列分组并行工作,提高了探测系统的实时性;下位传感器采用"阈值比较法"、"改进型递推均值滤波"算法和模糊信息处理技术,提高了探测系统的准确性、可靠性。将该探测系统安装于RIRA-II移动机器人上,进行了基于主动视觉和超声信息的运动目标跟踪实验,实验表明超声探测系统运行可靠、稳定。

基于视觉和超声信息的机器人行为控制

随着机器人应用范围的不断扩展,机器人所面临的工作环境也越来越复杂,多数是未知的、动态的和非结构化的。通过对基于行为的机器人控制技术的研究,设计了一种用于完成多目标任务的移动机器人行为控制系统。将基于行为的控制技术融合进模糊控制的思想中,使移动机器人的行为通过运用模糊控制和基于优先度的行为决策来实现,并且通过视觉信息使机器人能够完成面向目标的任务。

复合机构移动机器人红外和超声阵列信息处理方法

传感器是移动机器人认识和了解外部环境的重要途径。在导航过程中,移动机器人要对当前环境进行实时感知和快速理解,并加以识别从而准确避开障碍物。论文提出一种适用于复合机构移动机器人的红外阵列和超声阵列传感器信息采集和处理方法。结合笔者研制的“基于复合机构的非结构环境移动机器人”,给出了系统具体的软、硬件的设计和局部路径规划实现方法。实验验证了该方法的可靠性和有效性。

移动机器人的障碍物群检测方法

利用激光和超声波传感器在用栅格表示法形成地图的基础上 ,提出了进行数据融合以提取环境特征的新方法 :识别障碍物群。该方法能够在密集障碍物环境中为机器人的路径规划和避障提供准确的环境特征信息 ,提高机器人系统的自主性和实时性。实验结果表明了该方法的有效性。

An Obstacle Cluster Based Data Fusion Method for Mobile Robot

首先给出了一种通过融合多个超声波传感器和一台激光全局定位系统的数据建立机器人环境地图的方法 ,并在此基础上 ,首次提出了机器人在非结构环境下识别障碍物的一种新方法 ,即基于障碍物群的方法 .该方法的最大特点在于它可以更加简洁、有效地提取和描述机器人的环境特征 ,这对于较好地实现机器人的导航、避障 ,提高系统的自主性和实时性是至关重要的 .大量的实验结果表明了该方法的有效性 .

基于模糊聚类理论的超声无损检测缺陷的定量化分析方法研究

本文研究基于模糊聚类理论的超声无损检测缺陷的定量化分析方法.针对基于模式识别的超声定量无损检测中存在的特征提取困难、用一般特征提取方法提取的特征值质量差等问题，提出基于小波分析的缺陷回波信号的特征提取新方法；缺陷成因的复杂性决定了其形状及尺寸等特征一般具有模糊性，本文研究了缺陷识别的模糊聚类方法，以提高缺陷的识别精度及识别结果与客观事实的相符合程度。

环渤海花岗岩体地下油库建设的工程地质力学研究

As a kind of strategic resource，petroleum play an very important role in current social stability, economic development and state safety. Since 1993 China has turned from a net oil exporter into a net oil importer, the figure of imported oil increased from then on. In 2004 China's total energy consumption exceeded Japan’s, and ranked in the second place, just inferior to America. Today China is the world’s third-largest importing nation, accounting for 6% of world imports and 8% of world consumption. Comparing with other strategic petroleum reserve schemes, underground oil storage possess many advantages, such as security, economy, less pollution, save land, suited for strategic reserve and so on, so it is the most ideal form for strategic petroleum reserve. In the background of China Strategic Petroleum Reserve Program started just now, this paper choose Circum-Bo sea region as a study area, and do some system study on the underground oil storage caverns constructed in inter-large granite rock masses in Circum-Bo sea region. On the foundation of a great amount of information come from both home and abroad, firstly this paper analysed the principle, economy, cavern shape, profile dimension, and gain some cognizances and logos, as follows: ①Hard rock mass such as granite is the major rock, in which underground oil storage are constructed; ②Unlined underground oil storage caverns had been wide spread used as a sort of oil storage form abroad, there already exist a suit of skilled experience and technologies to prevent oil product from leaking; ③Compared with surface tanks, underground oil storage cavern possess predominance in economy clearly. In general, it will be more economical when the storage capacity exceed 50000m3. The quality of rock mass is the most important factor for underground storage cost, however such as hydrogeology, storage capacity, the number of storage galleries, the length, storage product, mechanical equipments, geographic location also influent the cost. In designed depth of the underground storage, the rock mass of Jinzhou mainly belong to class Ⅱ, but parts with dykes, clayization alteration, and dense joints are Ⅲ, Ⅳ; ④Now, there are few underground oil storages span more than 25m in both abroad and home. The examples of some ancient underground works and modern underground excavation with wide span surely give us many precious elicitations to construct more great unlined storage caverns, when the rock mass quality is good, cavern shape and construction method also are proper, it is quite possible to construct underground oil storage cavern with span more than 30m . The main axis orientation of Jinzhou underground oil storage cavern is NW direction, the cavern's elevation locate between -53msl and -76msl. The storage's total volume is about 3×106m3, composed of 8 parallel galleries with 950m length, the pillars between them are 45m, and every two of galleries form one unit, which can deposit 75×104m3 for each unit. The product will be stored are Saudi light and Saudi medium crude oil, the main cavern's section is 411.5m2, with 23m height and 19m width. According to the principle and technique of engineering geomechanics, this study supply a sort of system scientific thinking and method for sitting location of underground oil storage in granite region: ① On the foundation of the earth crust stability sub-zone appraise of Circum-Bo sea region, farther research concerning granite distribution, genesis, geological period and fault structure are conducted in stable areas, generally, this paper select Liaoxi, east shore of Liaotung peninsula and Jiaotung peninsula as target areas for underground oil storage regions, where Mesozoic granite is magnitude; ②After roundly comparison in facts of geologic structure, engineering geology, hydrogeology, topography, transportation and so on of three granite distributed areas, at last, selecting Jingzhou granite zone in Liaoxi out as an ideal construction area; ③ Detailed investigation is conducted in the southeast of Baimashi in Jingzhou development district, the final field. Ultrasonic Borehole Television, as a major way to collect original information of borehole rock mass were used, which is very effective to appraise the quality of deep rock mass; ④ According to the field data of tectonic stress, rock mass quality, the spatial distribution of fracture water, some optimum designs in cross section, axial direction and cavern span have been designed for the underground oil storage cavern layout in Jinzhou. To understand the characteristics of swelling alteration rock in Jinzhou granite mass, collected abundant swelling alteration rock engineering examples in granite, which study them in detail, concluded the swelling alteration rock distribute nearly everywhere in China, intruded medium-basic dykes alteration, along discontinuities and mineral hydrothermal alteration with genesis of granite are three main forms clayization alteration rock in granite rock mass. In Jinzhou field, from macro to micro studied the swelling rock which induced by mid-basic dyke intrusion, with weak swelling. In conclusion, this paper conclude the distribution rule and features of expansion alteration rock in filed, and advise some technical suggestions for excavation at swelling alteration rock part. The main features of this paper: ①In the process of site selection, investigation and design, a suit of technique and method of engineering geomechanics metasynthesis were formed, which is significative to guide the large scale underground oil storage cavern sitting location, investigation and design in granite rock mass; ②The detailed discussion on the engineering geology problems in granite mass, such as weathering crust, faults, dykes and clayization alteration rock, are useful for other projects in aspects of site selection, engineering geology evaluation and stability estimation; ③The summary and integration of the genesis, type, countermeasure relate to swelling alteration rock, also is likely to be used for other underground oil storage caverns constructed in swelling alteration granite. In conclusion, this study is meaningful for guiding the large scale underground oil storage for site selection, investigation and design in granite rock mass.

岩石中地震波速度和衰减的应力变化响应研究

Stress change is one of key factors in seismic nucleating and triggering; therefore for understanding and forecasting earthquakes, it is necessary to research on stress status and its changes in rocks. Propagating in underground structures, wave velocity and attenuation contain information on stress changes of the Earth’s interior. For a better understanding of relationship between seismic data and stress changes, modeling and ultrasonic test supply significant references. In this article, acoustoelastic theory is introduced to explain nonlinear elastic characteristics of rocks. Based on the acoustoelastic theory, a solid-fluid coupled model is given to calculate velocity under different stress for porous and liquid fulfilled rocks. Except for the stress-velocity relationship, effects of pore pressure induced stress changes on ultrasonic coda attenuation are also studied. Intrinsic attenuation quality factors are calculated for a comparison purpose. Finally, the relationship between elastic constants and stress changes is thoroughly investigated, a mixture model from two phases of Hooke media is introduced to explain the differences between dynamic and static moduli, a relation among wave length, wave velocities and elastic moduli considering dimension of microstructure, dimension and state of surface between phases is presented. The most important aspect of this work is exploring and establishing relationships between the seismic properties of rocks and changes of their stress conditions, which will have its application in earthquake forecast and seismic hazard.

内蒙古东部喀喇沁地区早中生代底侵作用

Mafic granulite xenoliths have been extensively concerned over the recent years because they are critical not only to studies of composition and evolution of the deep parts of continental crust but to understanding of the crust-mantle interaction. Detailed petrology, geochemistry and isotope geochronology of the Early Mesozoic mafic-ultramafic cumulate xenoliths and mafic granulite xenoliths and their host diorites from Harqin area, eastern Inner-Mongolia have been studied here. Systematic Rb-Sr isochron, ~(40)Ar-~(39)Ar and K-Ar datings for mafic-ultramafic cumulate xenoliths give ages ranging from 237Ma to 221Ma. Geochemical research and forming temperature and pressure estimates suggest that cumulates are products of the Early Mesozoic mantle-derived magmatic underplating and they formed in the magmatic ponds at the lowermost of the continental crust and are later enclaved by the dioritic magma. Detailed study on the first-discovered mafic granulite xenoliths reveals that their modal composition, mineral chemistry and metamorphic P-T conditions are all different from those of the Precambrian granulite exposed on the earth surface of the North China craton. High-resolution zircon U-Pb dating suggests that the granulite facies metamorphism may take place in 253 ～ 236Ma. Hypersthene single mineral K-Ar dating gives an age of 229Ma, which is believed to represent a cooling age of the granulite. As the host rock of the cumulate and granulite xenoliths, diorites intruded into Archean metamorphic rocks and Permian granite. They are mainly composed of grandodiorite, tonalite and monzogranite and show metaluminous and calc-alkaline features. Whole rock and single mineral K-Ar dating yields age of 221 ～ 223Ma, suggesting a rapid uplift in the forming process of the diorites. Detailed field investigation and geochemical characteristics indicate that these diorites with different rock types are comagmatic rocks, and they have no genetic correlation with cumulate and granulite xenoliths. Geochemical model simulating demonstrates that these diorites in different lithologies are products of highly partial melting of Archean amphibolite. It is considered that the Early Mesozoic underplating induced the intrusion of diorites, and it reflects an extensional geotectonic setting. Compression wave velocity V_P have been measured on 10 representative rock samples from the Early Mesozoic granulite and mafic-ultramafic cumulate xenoliths population as an aid to interpret in-situ seismic velocity data and investigating velocity variation with depth in a mafic lower crust. The experiments have been carried out at constant confining pressures up to 1000MPa and temperatures ranging from 20 ℃ to around 1300 ℃, using the ultrasonic transmission technique. After corrections for estimated in situ crustal pressures and temperatures, elastic wave velocities range from 6.5 ～ 7.4 km s~(-1). On the basis of these experimental data, the Early-Mesozoic continental compression velocity profile has also been reestablished and compared with those of the present and of the different tectonic environments in the world. The result shows that it is similar to the velocity structure of the extensional tectonic area, providing new constraints on the Early Mesozoic continental structure and tectonic evolution of the North-China craton. Combining with some newly advancements about the regional geology, the thesis further proposes some constraints on the Mesozoic geotectonic evolution history, especially the features of deep geology of the North China craton.

Sol-gel derived oxides and mixed oxides catalysts with narrow mesoporous distribution

A novel sol-gel process for preparing oxides and mixed oxides sols from precipitation and peptization process is reported in this article. Inorganic salts are used as raw materials in this study. It is found that the amount of acid has great influence on the stability and particle diameter distribution of the precursor sols. Ultrasonic treatment is used to prepare alumina sol at room temperature. The result of Al-27 NMR shows that there exist Al-13(7+) species in the sol. By controlling the sol particles with narrow particle diameter distribution, alumina, titania and silica-alumina (SA) materials with narrow mesoporous distribution are formed by regular packing of sol particles during gelation without using any templates. The results also show that the structure and particle diameter distribution of precursor sol determine the final materials' texture.