可重构星球探测机器人控制系统的设计与实现

介绍了一种新型可重构星球探测机器人系统.基于这种机器人功能和结构的分解特点,设计了模块化控制系统,使用CAN总线技术作为模块间主要通讯方式.提出了控制原理和集中式控制算法,有效地实现了一台子机器人在不同模式状态下自主运动和操作的控制,并通过原理样机实验验证了这套控制系统的可行性.

面向机器人化微纳米操作的光电传感技术研究

微米、纳米尺度下的观测与操作是开展微纳米科学研究，实现微纳米尺度事物的特性发现和加工制造的重要技术手段。微纳米操作的关键技术问题主要包括两个方面：微米、纳米尺度上的操作与观测成像。通过微米、纳米尺度下的观测，可以获取微米、纳米尺度的信息，利用感知与观测信息指导微米、纳米尺度下操作控制。景物视觉观测和三维信息获取与建模在微纳米科学研究中占有着重要的地位。实现微观景物的视觉观测，需要应用光学显微镜构成显微视觉观测系统。根据显微视觉的光学成像机理，应用基于模糊测度算子的显微视觉图像处理方法，可以构建基于模糊测度的景物深度估计数学模型，进而可以实现微观景物的3D测量与重建，这为微米尺度的基于显微视觉观测的运动学建模提供了科学依据。该方法提供了解决微观尺度下微观环境的3D建模的有效技术途径，也为实时动态的视觉3D观测提供了有效技术途径。由于纳米尺度超出了光学成像的基本条件，因而需要采用隧道电流、电子束、原子力等扫描成像方法。其中基于原子力检测原理的纳米光电检测方法，由于具有接触作业功能，因而在纳米尺度上即可以实现观测效果，也可以结合机电系统进行纳米操作，是目前纳米观测与操作研究的主要模式。本文作者以微米尺度下的3D运动学建模问题为研究背景，通过研究分析显微视觉中光学成像的成像规律，建立了关于图像的模糊度判据，并利用该判据完成了微观尺度下的3D视觉观测与运动学建模。通过研究基于光电传感器的原子力检测原理与实现方法，设计研制了AFM系统，以及在此基础上的微米、纳米平台的机器人化操作实验系统。主要工作包括： (1) 针对显微光学成像系统的特点，分析了光学成像过程中聚焦和离焦成像现象发生条件和描述方法；通过研究图像清晰/模糊程度与景物深度之间的关系，给出离焦测度理论依据；通过分析不同测度算子的测量范围和精度要求；建立基于离散测度的深度估计算法；完成了微观尺度的基于模糊测度方法的视觉深度测量实验研究，实现了微执行器的运动学建模与景物3D视觉观测与重建。 (2) 进行了基于光电传感器的原子力测量度原理与实现方法研究，完成了AFM模式的原子力扫描成像方法研究和系统研制。进行了基于光电传感的纳米尺度反馈控制与实现方法研究，设计构建了基于AFM和微/纳米移动平台的机器人化操作技术实验系统。为基于自主技术的纳米操作系统研发提供了关键技术和实现方法。

原子力显微镜Tapping模式探针动力学与操作方法研究

自从1986年G. Binnig 等发明原子力显微镜(AFM)以来，纳米科技研究得到了快速发展，纳米科技研究的最终目标是从纳米甚至分子与原子尺度上制造功能器件或系统，而实现此目标的手段之一是研制能够在纳米尺度上进行精确可控操作的装置、方法与技术。对此，学者们对基于 AFM 的纳米操作进行了大量研究。基于AFM-Tapping模式的纳米观测与操作具有成本低、易实现性等特点，因而近年来成为纳米技术研究的热点。但基于AFM探针的纳米观测和操作的基本理论仍然很不完善，许多情况下缺乏基于探针观测与操作的纳观作用力的合理解释与描述，因此限制了基于探针的纳米技术发展。为了解决这一问题，本论文在国家自然科学基金项目“基于机器人化的纳米操作方法研究(60575060)”的支持下，广泛收集和查阅国内外相关资料，重点开展了AFM-Tapping模式下探针动力学解释方法与建模研究，并进行了基于AFM-Tapping的纳米操作方法研究。主要研究工作如下： 1)针对探针动力学建模问题，开展了基于Hamilton原理和变分原理的有边界条件的探针一维悬臂梁建模方法研究。利用模态叠加法和模态函数正交性对探针各阶模态进行了解耦分析，得到了解耦的探针动力学方程。 2)开展了纳观尺度下探针-样品作用力研究。分析与阐述了毛细力、接触力和摩擦力等纳观尺度作用力；开展了基于Lennard-Jones势模型的不同形状探针与样品间的相互作用势描述方法研究；并根据势能-力之间的关系，研究了可描述半球形探针与样品间相互作用力的数学表达式。 3)开展了基于弹簧振子模型的纳观非线性力作用下探针振动问题分析研究。首次提出了基于探针弹性力与非线性纳观力平衡关系的探针振动状态区域划分方法。在探针振动能量平衡分析的基础上，研究了AFM-Tapping模式中的双稳态现象，进而得到了描述双稳态现象的解析表达式。最后采用Lyapunov指数分析的方法，证明了探针在非线性振动中确实存在着混沌现象。 4)研究了基于AFM-Tapping模式的纳米操作方法。通过研究探针振幅调节控制和预编程作业轨迹规划策略，提出了一种具有增强探针概念的纳米作业方法。该方法可以在参数设定和预编程条件下自动完成纳米尺度的平移和旋转操作，从而可以大大提高纳米操作的效率和精度。实验结果验证了该方法的有效性。本文的工作为纳米操作方法的研究提供了可以借鉴的理论与实验经验，有助于推动基于AFM的纳米操作与制造技术的发展。

基于介电泳的微粒操纵方法研究

一些微纳米尺度的物质，如细胞、DNA、碳纳米管、纳米颗粒等具有很多独特的电磁学、力学、热学以及物理、化学性能，因此在纳米电子学、微纳米机械系统、生物医学、生命科学等领域具有广泛的科学研究价值和应用前景，而目前像原子力显微镜和光镊等微纳操作手段由于价格昂贵、设备体积较大、操作单一化，还无法满足微尺度下的大规模并行化组装的需要。介电泳技术作为一种有效的微纳操纵和装配手段，不需要大型设备、操作简单、能进行批量组装，并且能够与芯片实验室的其它功能模块相结合，已经成为微纳米对象操作中的一项重要技术。介电泳技术利用微电极阵列产生空间电场，使被操纵的微粒发生极化，然后利用两者相互作用而产生的介电泳力，驱动极化的微粒在液体媒质中定向运动，配合流体动力以及势阱技术等，可以实现如细胞分离、DNA展开、细胞阵列排布、CNT批量组装等功能。本文作者以液体环境下的微米尺度的微粒传输和装配为应用背景，在详细分析介电泳技术的形成机制和微粒的各种受力的基础上，建立了以微电极阵列、微流体通道、三维微动平台和显微镜为主的介电泳实验系统，进行了各种介电泳实验，完成了相关微电极阵列的电场解析和数值求解，并对基于介电泳的三维势阱技术进行了研究，介绍了几种三维势阱的加工工艺，对十字交叉势阱电极的电场强度分布进行了仿真和分析，并结合移动波式电泳和势阱电泳的优点，设计了一种能够对微粒进行驱动和捕获的微电极阵列，通过改变施加在电极上的电压相位和大小，可以进行如传输、分层悬浮、微粒捕捉以及微粒释放等功能。本文对利用介电泳技术进行微粒操纵进行了详细的分析，实现了利用介电泳芯片进行聚苯乙烯小球的水平传输，设计了对未知微粒的介电常数特性进行测量的实验，利用傅立叶变换和格林公式对水平交叉电极阵列的电场分布进行了解析求解，完成了三维势阱阵列的仿真和设计。

CFX与USAERO的水下机器人操纵性仿真计算研究

研究了借助计算流体力学软件CFX与USAERO对水下机器人的操纵性进行仿真计算的方法,并将仿真计算结果与模型试验结果对比,验证仿真计算的可行性,指出仿真计算的适用范围.该方法可以对某些现实中难以进行的操纵性试验进行仿真计算,对于研究水下机器人的操纵性尤其是在方案设计阶段的操纵性设计和降低试验成本有一定的现实意义.

主从机械手遥控操作摄像机自动跟踪系统

介绍了一种摄像机云台自动跟踪控制系统 ,该系统用来实现遥控机械手主从操作时摄像机自动跟踪从手末端夹钳的运动以辅助操作员进行遥控操作 ;介绍了系统的组成、工作原理及控制算法 ;实验结果验证了算法的正确性和控制系统的可行性。

机器人力装配操作的顺应综合与实验验证

本文提出并实现了一种机器人装配顺应综合方法。装配操作过程可以表示为一列离散的几何接触状态的改变和转移。通过对不确定性下所有机器人形位进行仿真，得到每一接触形式对应的静态接触力特征。由对基本接触元的分析，求解实现接触状态转换的机器人运动方向，构成顺应的力－错误修复运动方向映射，为规划泊装配运动实现顺应。并在ＰＵＭＡ５６２机器人完成了一类简单装配实验对本文方法进行了验证。

“勇士号”遥控移动式作业机器人

介绍了863智能机器人型号之一──以核工业为应用背景的“勇士号”遥控移动式机器人的作业内容及其主要功能指标，分析了该型号的总体设计思想，同时概括总结了其操作性能、移动性能及计算机系统等方面的技术特点。

三维物体识别及姿态测定的推理系统

本文介绍了三维物体识别及姿态测定的一种新技术，从物体空间域模型出发，通过约束推理及几何推理，在物体三维信息部分给定的条件下，推断预测图象模型，并通过实测的图象数据反馈，推断出隐含在图象中未给定的三维信息，最终实现三维物体识别及姿态测定。整个系统在ＶＩＣＯＭ机上用Ｃ语言完成。

Computer-assisted automatic peak recognition and result evaluation for analysis of chlorinated hydrocarbons in environmental samples

A data manipulation method has been developed for automatic peak recognition and result evaluation in the analysis of organic chlorinated hydrocarbons with dual-column gas chromatography. Based on the retention times of two internal standards, pentachlorotoluene and decachlorobiphenyl, the retention times of chlorinated hydrocarbons can be calibrated automatically and accurately. It is very convenient to identify the peaks by comparing the retention times of samples with the calibrated retention times calculated from the relative retention indices of standards. Meanwhile, with a suggested two-step evaluation method the evaluation coefficients and the suitable quantitative results of each component can be automatically achieved for practical samples in an analytical system using two columns with different polarities and two internal standards. (C) 2002 Elsevier Science B.V. All rights reserved.

社会困境中的行为决策――社会身份与地位的影响

Social dilemmas are defined as such situations in which short-term individual and long-term collective interests are at odds (Hardin, 1968; Messick & Brewer, 1983). Severe social problems lead more and more researchers to pay attention to the issue of social dilemmas. Until now, research has widely examined the factors influencing cooperation in social dilemmas, and provided solutions to social dilemmas. In the need of theory development, previous research generally simplified the situation of realistic social dilemmas. Therefore, few studies have explored the issue of cooperation in social dilemmas in an intergroup situation. On the other hand, there has been little empirical attention for such issues in countries outside of United States and Western Europe. To meet this gap, the present study grounded itself in social identity theories and examined the effect of unequal group status on behavioral decision making in social dilemmas. To this end, the study designed three experiments to examine how individuals with different group status response psychologically and behaviorally to cooperation in intragroup and intergroup social dilemmas. In experiment 1, the study examined how independent and interdependent self- construals affect cooperative behavior in an intragroup social dilemma. The results showed that when individuals were primed with interdependent (as opposed to independent) self-construal, they consistently contributed highly, regardless of context manipulation. In contrast, those primed with independent self-construal contributed less in the investment game but only when placed in a context where group members were encouraged to think about their individual (versus shared) fate. Results supported the idea that independent self-construal in a low interdependent context produces the most competitive behavior and that this effect was partially mediated by the feeling of interaction within a group. In experiment 2, the study examined how the effect of group status on different level of cooperation in a nested social dilemma was moderated by individual status, and what roles ingroup and superordinate identifications played in the above effect. Results found that individuals in higher status groups tended to allocate more to private account and less to subgroup account compared to those in lower status group; individuals in higher status groups allocated more to higher level accounts than to private account, whereas those in lower status acted in a reverse way. The results indicated that group status (compared to individual status) exerted a positive influence on behavioral decision making in social dilemmas, with higher group status contributing more to subgroup as well as collective interests. Results also found that the effect of group status and/or individual status on cooperation in social dilemmas was moderated by sex. As for individual status, results showed that the effect of individual status on subgroup interest was significantly moderated only by the combination of higher ingroup identification and lower superordinate identification. In experiment 3, the study explored how group stability and cognitive categorization interactively influenced the relationship between group status and behavioral decision making in a social dilemma. Results did not support the prediction that group status and stability interactively affected behavioral decision-making in social dilemmas. However, it was found that this relationship was moderated by which level individuals categorized themselves at. When categorization at the individual level was salient, individuals in high status group contributed more to subgroup account than those in low status group if they perceived a stable status hierarchy; whereas they contributed more to private account and less to collective account if they perceived that the status was instable. On the other hand, when categorization at the subgroup level was salient, individuals in high status group contributed less to collective account than those in low status group if they perceived that the status was stable; whereas they contributed less to private account and more to subgroup account if they perceived an instable status relation. In summary, the present study suggests that cooperation with ingroup forms the basis of social harmony, and higher status for everyone in any given group is a necessary for social development. On the other hand, individuals in higher status group tend to be more selfish once they realize that their current status hierarchy is unstable. However, activating their collective identity will to some degree increase the level of their cooperation with the collective. The study thus provides psychological explanations on how to construct group harmony and management suggestions on how to solve social conflicts.

Time-dependent wavepacket approach to the influence of intense fields on the population of molecular excited states

The influence of laser-field parameters, such as intensity and pulse width, on the population of molecular excited state is investigated by using the time-dependent wavepacket method. For a two-state system in intense laser fields, the populations in the upper and lower states are given by the wavefunctions obtained by solving the Schrodinger equation through split-operator scheme. The calculation shows that both the laser intensity and the pulse width have a strong effect on the population in molecular excited state, and that as the common feature of light-matter interaction (LMI), the periodic changing of the population with the evolution time in each state can be interpreted by Rabi oscillation and area-theorem. The results illustrate that by controlling these two parameters, the needed population in excited state of interest can be obtained, which provides the foundation of light manipulation of molecular processes. (C) 2005 Elsevier B.V. All rights reserved.