MWCNT操作的动力学运动学建模研究

为实现MWCNT操作运动过程的视觉显示,本文建立了MWCNT的动力学模型,据此可推导出推动MWCNT所需施加力的大小,并根据探针的实际受力判断其能否运动;同时还建立了MWCNT的运动学模型,根据探针的实际位置可获得探针操作下MWCNT的新位置与姿态,并借助虚拟现实技术对视觉界面进行实时更新,实现了MWCNT运动过程的实时视觉显示。基于上述视觉显示,操作者可在线控制探针的作用位置与运动轨迹、以及施加在探针上作用力的大小与方向,实现对MWCNT操作过程及结果的在线控制。MWCNT的操作实验初步验证了该模型的有效性。

一个面向复杂任务的多机器人分布式协调系统

基于多智能体系统理论，研讨在非结构，不确定环境下面向复杂任务的多机器人分布式协调系统的实现原理，方法和技术。提出的递阶混合式协调结构，基于网络的通讯模式和基于有限状态机的规划与控制集成方法，充分考虑了复杂任务和真实自然环境的特点，通过构建一个全实物的多移动机器人实验平台，对规划，控制，传感，通讯，协调与合作的各关键技术进行了开发和集成，使多机器人分布式协调技术的研究直接面向实际应用，编队和物料搬运的演示实验结果展示了多机器人协调技术的广阔应用前景。

机器人多传感器实验平台中的图像传感器在线标定研究

本文结合智能机器人多传感器实验平台的研制工作,系统地介绍了图像传感器在线标定的原理和方法,并对标定系统的构成做了概述,同时结合实验对相关问题进行进一步的探讨。

自主/遥控水下机器人水面/水下通信协议设计与实现

为了解决自主/遥控水下机器人（ARV）水面控制台与水下载体之间的通信问题，设计并实现了一种基于分层结构的水面/水下通信协议。该协议根据ARV 通信特殊需求，分为应用层，数据链路层与物理层，各层之间通过事件路由的方式进行调用，层内协议规则通过有限状态机来描述，整个协议结构清晰。ARV 实验结果证明这一通信协议具有传输速率快，可靠性高等优点。

载人潜水器信息显示与存储技术

本文介绍了基于工业以太网的载人潜水器的信息显示与存储技术。详细地描述了该系统的软件结构及各相关模块的特点,并对系统中数据信息流的传递显示与存储做了详细的介绍。目前,该系统已在水池中进行了实验,实验效果良好。

潜水器恒张力收放绞车系统的建模与仿真

在潜水器收放过程中,要求收放绞车具有恒张力控制功能,减小由于波浪起伏对潜水器的冲击。本文根据液压系统的流量连续性方程,建立恒张力收放绞车泵控液压马达系统的数学模型,并对该系统进行了仿真分析,仿真结果表明:该系统能够满足实际的作业工况,且具有良好的动态和稳态工作性能。仿真结果为收放系统的设计提供了依据。

载人潜水器信息显控系统

本文介绍了基于工业以太网的载人潜水器的信息综合显控系统。详细地描述了该系统的软件结构及各相关模块的特点,并对系统中各部分所实现的功能进行了详细的介绍。目前,该系统已在实验室进行了实验,实验效果良好。

深水油气开发中的水下机器人

介绍了国内外深水油气开发中水下机器人的研究状况与发展趋势,提出了针对不同场合研究不同类型水下机器人的建议。

载人潜水器数据采集与监控系统

介绍了基于工业以太网的载人潜水器的数据采集与监控系统。简要地阐述了载人潜水器的重要性。详细地描述了该系统的硬件结构及各智能节点的特点,并对系统中各层所实现的功能进行了详细的介绍。目前,该系统已在实验室进行了实验,实验效果良好。

一种基于优化算法的机械手运动学逆解

本文给出一种基于优化算法的机械手运动学逆解的方法 ,这种优化方法基于信赖域方法 ,,具有超线性的收敛速率 .这种方法不仅具有牛顿方法的快速收敛性 ,又具有理想的总体收敛性 .这种方法较 CCD& BFS有明显的优点 ,可以在一般的 PC机上实现实时求解 .在 P II40 0上仅需不到 10 ms就可以求得最优解 .

大型复杂工程系统研究开发中的方法论问题

本文通过大量事例说明了方法论对完成大型工程项目的重要意义,总结了工程技术中方法论的一般原理,并以此为指导,提出了大型自动化系统开发中的新思路。

敏捷竞争的挑战与思考

在未来持续多变和不可预测的竞争环境中,保持企业的竞争地位和生存发展的重要概念就是由敏捷制造和动态联盟构成的敏捷竞争的概念。动态联盟的思想加上当今高速信息网的建立和CALS提供的支持全球合作的技术和标准,为我们确定先进制造技术的研究计划,帮助中国的广大企业顺利地进入21世纪的国际合作大环境都有着重要的意义。

图书馆学情报学方法论研究统计分析

以图书馆学情报学期刊中较有影响的核心刊物之一《情报理论与实践》为依据,通过对其1995～2004年刊载的有关我国图书馆学情报学方法论研究论文的计量分析,描述出我国图书馆学情报学方法论研究的发展脉络,指出了其中的问题,希望反映出我国图书馆学情报学方法论的应用情况。

基于粗糙集-BP神经网络的发动机故障诊断

由于发动机光谱分析监控数据中磨损微粒种类过多,如果将这些微粒信息直接作为神经网络的输入,则存在输入层神经元过多、网络结构复杂等诸多问题。本文将粗糙集引入到发动机故障诊断中来,利用粗糙集在属性约简方面的优势,删除冗余磨损微粒,提取出重要磨损微粒,并将其作为BP神经网络的输入,建立发动机故障诊断模型。该方法降低输入层的神经元个数,简化了网络结构,缩短网络训练时间,并且由于剔除了冗余磨损微粒,减少了由该部分微粒信息不准确而带来的误差,有效提高了故障诊断的精确度。最后通过算例分析验证了相关算法和诊断模型的准确性和有效性。

东喜马拉雅构造结新生代碰撞变形与岩石圈演化

The Eastern Himalayan Syntaxis (EHS) is one of the strongest deformation area along the Himalayan belt resulted from the collision between Indian plate and the Eurasian Plate since the 50～60Ma, and has sensitivity tracked and preserved the whole collisional processes. It should depend on the detail geological investigations to establish the deformational accommodate mode, and the uplift history, to elucidate the deep structure and the crust-mantle interaction of the Tibet Plateau of the EHS. The deep-seated (Main Mantle Thrusts) structures were exhumed in the EHS. The MMT juxtapose the Gangdese metamorphic basement and some relic of Gangdese mantle on the high Himalayan crystalline series. The Namjagbawa group which is 1200～1500Ma dated by U/Pb age of zircon and the Namla group which is 550Ma dated by U/Pb age of zircon is belong to High Himalayan crystalline series and Gangdese basement respectively. There is some ophiolitic relic along the MMT, such as metamorphic ocean mantle peridotite and metamorphic tholeiite of the upper part of ocean-crust. The metamorphic ocean mantle peridotites (spinel-orthopyroxene peridotite) show U type REE patterns. The ~(87)Sr/~(86)Sr ratios were, 0.709314～0.720788, and the ~(143)Nd/~(144)Nd ratios were 0.512073～0.512395, plotting in the forth quadrant on the ~(87)Sr/~(86)Sr-~(143)Nd/~(144)Nd isotope diagram. Some metamorphic basalt (garnet amphibolite) enclosures have been found in the HP garnet-kynite granulite. The garnet amphibolites can be divided two groups, the first group is deplete of LREE, and the second group is flat or rich LREE, and their ~(87)Sr/~(86)Sr, ~(143)Nd/~(144)Nd ratios were 0.70563～0.705381 and 0.512468～0.51263 respectively. Trace element and isotopic characteristics of the garnet amphibolites display that they formed in the E-MORB environment. Some phlogolite amphibole harzburgites, which exhibit extensive replacement by Phl, Amp, Tc and Dol etc, were exhumed along the MMT. The Phl-Amp harzburgites are rich in LREE and LILE, such as Rb, K etc, and depletes Eu (Eu~* = 0.36 ～ 0.68) and HFSE, such as Nb, Ta, Zr, Hf, P, Ti etc. The trace element indicate that the Phl-Amp harzburgites have island arc signature. Their ~(87)Sr/~(86)Sr are varied from 0.708912 to 0.879839, ~(143)Nd/~(144)Nd from 0.511993 to 0.512164, ε Nd from- 9.2 to - 12.6. Rb/Sr isochrone age of the phlogolite amphibole harzburgite shows the metasomatism took place at 41Ma, and the Amp ~(40)Ar/~(39)Ar cooling age indcate the Phl-Amp harzburgite raising at 16Ma. There is an intense crust shortening resulted from the thrust faults and folds in the Cayu block which is shortened more 120km than that of the Lasha block in 35～90Ma. With the NE corner of the India plate squash into the Gangdese arc, the sinistral Pai shear fault and the dextral Aniqiao shear fault on the both sides of the Great bent of Yalun Zangbu river come into active in 21～26Ma. On the other hand, the right-lateral Gongrigabu strike-slip faults come into activity at the same period, a lower age bound for the Gongrigabu strike-slip fault is estimated to be 23～24Ma from zircon of ion-probe U/Pb thermochronology. The Gongrigabu strike-slip faults connect with the Lhari strike-slip fault in the northwestern direction and with the Saganing strike-slip at the southeastern direction. Another important structure in the EHS is the Gangdese detachment fault system (GDS) which occurs between the sedimental cover and the metamorphic basement. The lower age of the GDS is to be 16Ma from the preliminary 40Ar/39Ar thermochronology of white mica. The GDS is thought to be related to the reverse of the subducted Indian crust and the fast uplift of the EHS. Structural and thermochronology investigation of the EHS suggest that the eastern Tibet and the western Yunnan rotated clockwise around the EHS in the period of 35～60Ma. Later, the large-scale strike-slip faults (RRD, Gaoligong and Saganing fault) prolongate into the EHS, and connect with the Guyu fault and Gongrigabu fault, which suggest that the Indianchia block escape along these faults. Two kind of magmatic rocks in the EHS have been investigated, one is the mantle-derived amphibole gabbro, dioposide diorite and amphibole diorite, another is crust origin biotit-garnet adamellite, biotit-garnet granodiorite and garnet-amphibole-biotite granite. The amphibole gabbro dioposite diorite and amphibole diorite are rich in LREE, and LILE, such as Ba, Rb, Th, K, Sr etc, depleted in HFSE, such as Nb, Ta, Zr, Hf, Ti etc. The ratio of ~(87)Sr/~(86)Sr are from 0.7044 to 0.7048, ~(143)Nd/~(144)Nd are from 0.5126 to 0.5127. The age of the mantle origin magamatic rocks, which result from the partial melt of the raising and decompression anthenosphere, is 8Ma by ~(40)Ar/~(39)Ar dating of amphibole from the diorite. The later crust origin biotite-garnet adamellite, biotite-garnet granodiorite and garnet-amphibole-biotite granite are characterized by aboudance in LREE, and strong depletion of Eu. The ratios of ~(87)Sr-~(86)Sr are from 0.795035 to 0.812028, ~(143)Nd/~(144)Nd from 0.51187 to 0.511901. The ~(40)Ar/~(39)Ar plateau age of the amphibole from the garnet-amphibole-biotite granite is 17.5±0.3Ma, and the isochrone age is 16.8±0.6Ma. Their geochemical characteristics show that the crust-derived magmatic rocks formed from partial melting of the lower curst in the post-collisional environment. A group of high-pressure kaynite-garnet granulites and enclave of high-pressure garnet-clinopyroxene grnulites and calc-silicate grnulites are outcroped along the MMT. The peak metamorphic condition of the high-pressure granulites yields T=800～960 ℃, P=1.4～1.8Gpa, corresponding the condition of 60km depth. The retrograde assemblages of the high-pressure grnulites occur at the condition of T=772.3～803.3 ℃, P=0.63～0.64Gpa. The age of the peak metamorphic assemblages are 45 ～ 69Ma indicated by the zircon U/Pb ion-plobe thermochronology, and the retrograde assemblage ages are 13～26Ma by U/Pb, ~(40)Ar/~(39)Ar thermochronology. The ITD paths of the high-pressure granulites show that they were generated during the tectonic thickening and more rapid tectonic exhumation caused by the subducting of the Indian plate and subsequent break-off of the subducted slab. A great deal of apatite, zircon and sphene fission-track ages, isotopic thermochronology of the rocks in the EHS show that its rapid raising processes of the EHS can be divided into three main periods. There are 35～60Ma, 13～25Ma, 0～3Ma. 3Ma is a turn in the course of raising in the EHS which is characterized by abruptly acceleration of uplifting. The uplift ratios are lower than 1mm .a~(-1) before 3Ma, and higher than 1mm .a~(-1) with a maximum ratio of 30mm .a~(-1) since 3Ma. The bottom (knick point) of the partial anneal belt is 3.8km above sea level in the EHS, and correspond to age of 3Ma determined by fission-track age of apatite. The average uplift ratio is about 1.4 mm .a~(-1) below the knick point. The EHS has raised 4.3km from the surface of 2.36km above sea level since 3Ma estimated by the fossil partial anneal belt of the EHS. We propose a two-stage subduction model (B+A model) basing on Structural, thermochronological, magmatical, metamorphic and geophysical investigations of the EHS. The first stage is the subduction of the Indian continental margin following after the subduction of the Tethys Ocean crust and subsequent collision with the Gangdese arc, and the second stage is the Indian crust injecting into the lower crust and upper mantle of the Tibet plateau. Slab break-off seems to be occurred between these two stages.