动态环境中的飞行器实时三维航迹规划方法研究

本文提出了一种新的飞行器三维航迹规划方法—SDS。该方法能够在具有预先未知威胁的飞行环境中在线实时航迹规划。当飞行器上装备的探测器探测到飞行环境中有预先未知的威胁出现时，根据探测到的信息及时更新威胁数据。SDS根据新环境信息局部修正受到影响的航迹段来获得新的全局最优航迹。在每一时刻考虑当前已知的信息下，SDS生成的航迹是满足要求的最优航迹。

智能机器人系统中局部环境特征的提取

本文基于栅格地图和滚动视窗的控制方法 ,提出了一种提取机器人局部障碍物群环境特征的数据融合新方法 .该方法在多个级别对原始数据进行不同程度的抽象和压缩 ,减少机器人内部模块之间或机器人之间、机器人与控制中心进行通讯的数据量 ,提高系统的动态性能 .同时 ,该方法对复杂环境具有良好的自适应性和实时性 .本文分别列举了仿真实验和物理实验结果 ,表明了机器人采用障碍物群的环境特征提取方法可以成功地完成躲避障碍物和路径规划的任务

自主机器人的强化学习研究进展

虽然基于行为控制自主机器人具有较高的鲁棒性，但其对于动态环境缺乏必要的自适应能力，强化学习方法使机器人可以通过学习来完成任务，而无需设计者完全预先规定机器人的所有动作，它是将动态规划和监督学习结合的基础上发展起来的一种新颖的学习方法，它通过机器人与环境的试错交互，利用来自成功和失败经验的奖励和惩罚信号不断改进机器人的性能，从而达到目标，并容许滞后评价，由于其解决复杂问题的突出能力，强化学习已成为一种非常有前途的机器人学习方法，本文系统论述了强化学习方法在自主机器人中的研究现状，指出了存在的问题，分析了几种问题解决途径，展望了未来发展趋势。

胶东蓬家夼式金矿床矿床成因模型与找矿模型研究

The dynamic environments of mineralization in Mesozoic Jiaodong gold mine concentrated area can be devided into two types, compressive environment which related to intracontinental collision and extensional environment which related to intracontinental volcanic rift. The altered rock type (Jiaojia type) and quartz vein type (Linglong type) which related to the former one, were discovered for several years, and became the main types of gold deposits in recent years. A new type gold deposit, syn-detachment altered tectonic breccia type gold deposit, such as Pengjiakuang gold deposit and Songjiagou gold deposit has been discovered on the northeastern margin of Jiaolai Basin. In this paper, the new type of gold deposit has been studied in detail. The study area is located at the northeastern boundaries of Jiaolai Basin, and between the Taocun-Jimo Fault and Wji-Haiyang Fault, in the eastern part of the Jiaodong Block. Pengjiakuang gold deposit and Songjiagou gold deposit occur in a arc-shape detachment fault zone between conglomerate of Lower Cretaceous Laiyang Formation and metamorphic complex of Lower Proterozoic Jingshan Group. Regional geological studies show that Kunyuanshan and Queshan granite intrusions and Qingshanian volcanism were formed in different period of lithospheric thinning of East China in Mesozoic. Granite intrusions were formed in compressive environment, while Qingshanian volcanism were formed in extensional environment. They are all related to the detachment of Sulu Orogenic Belt and the sinistral motion of Tanlu Fault. The Pengjiakuang detachment systems which were formed in the the sinistral motion of Tanlu Fault are the important ore-controlling and ore-containing structure. The Pengjiakuang type gold deposit, controlled by detachment structure, was formed before Yanshanian volcanic period concerning with mixture of meteoric water and magmatic water found in fluid inclusions of gold ores. The minerogenetic epoch has been proposed in 90～120Ma. the host rocks have been extensively subjected to pyritization, silicification, sericitization and carbonatization. Individual ore-body has maximum length of 800m, oblique extension of 500～700m and gold grade of 1～43 * 10~(-6). Native gold is disseminated in silicified, phyllic or carbonatized tectonic breccia. Sulfur, carbon and lead isotope studies on gold ores and wall rocks show that the sulfur come from the metamorphic complex of Lower Proterozoic Jingshan Group, carbon comes from the marble in Jingshan Group, while a part of lead comes from the mantle. The mineralizing fluid is rich in Na~+ and Cl~-, but relatively impoverished in K~+ and F~-. According to the date from hydrogen and oxygen isotopic compositions (δ~(18)OH_2O = 0.59%～4.03%, δDH_2O = -89.5%～97.9%), the conclusion can be reached that the mineralizing fluid of Pengjiakuang gold deposit was a kind of mixed hydrothermal solution which was mainly composed of meteoric water and magmatic water. A genetical model has been formulated. Some apparent anomaly features which show low in the central part and high in the both sides corresponding to the gold-bearing structure, were sum up after analying a vast amount of date by prospecting the orebodies using gamma-ray spectrometer, electrogeochemical parameter technique, controlled source audio magnetic telluric (CSAMT) and shallow surface thermometry in Pengjiakuang gold deposit. The location forecasting problem of buried orebodies has been solved according to these features, and the successful rate is very high in well-drilling. The structural geological-geophysical-geochemical prospecting model has been formulated on the base of the study of geological, geophysical and geochemical characteristics of Pengjiakuang type gold deposit, and the optimum combinational process of geophysical and geochemical prospecting techniques has been summed up. A comparative study shows that the Pengjiakuang type gold deposit, the syn-detachment altered tectonic breccia type gold deposit, is different from Jiaojia type gold deposits and Linglong type gold deposits, in Jiaodong Block. In general, if formed under an extensional tectonic condition and located at detachment fault zone along the margin of Mesozoic Jiaolai basin, and the gold mineralization has also close genetic relationship with alkaline magamtism. Being a new type of gold deposit in Jiaodong gold mine concentrated area, it could be potential to explore in the same regions which processed the same ore-forming geological conditions and mineralization informations.

Modern sedimentary environments and dynamic depositional systems in the southern Yellow Sea

Based on analyses of more than 600 surface sediment samples together with large amounts of previous sedimentologic and hydrologic data, the characteristics of modern sedimentary environments and dynamic depositional systems in the southern Yellow Sea (SYS) are expounded, and the controversial formation mechanism of muddy sediments is also discussed. The southern Yellow Sea shelf can be divided into low-energy sedimentary environment and high-energy sedimentary environment; the low-energy sedimentary environment can be further divided into cyclonic and anticyclonic ones, and the high-energy environment is subdivided into high-energy depositional and eroded environments. In the shelf low-energy environments, there developed muddy depositional system. In the central part of the southern Yellow Sea, there deposited the cold eddy sediments under the actions of a meso-scale cyclonic eddy (cold eddy), and in the southeast of the southern Yellow Sea, an anticyclonic eddy muddy depositional system (warm eddy sediment) was formed. These two types of sediments showed evident differences in grain size, sedimentation rate, sediment thickness and mineralogical characteristics. The high-energy environments were covered with sandy sediments on seabed; they appeared mainly in the west, south and northeast of the southern Yellow Sea. In the high-energy eroded environment, large amounts of sandstone gravels were distributed on seabed. In the high-energy depositional environment, the originally deposited fine materials (including clay and fine silt) were gradually re-suspended and then transported to a low-energy area to deposit again. In this paper, the sedimentation model of cyclonic and anticyclonic types of muddy sediments is established, and a systematic interpretation for the formation cause of muddy depositional systems in the southern Yellow Sea is given.

Analysis of spatio-temporal dynamic pattern and driving forces of urban land in China in 1990s using TM images and GIS

China has witnessed fast urban growth in the recent decade. This study analyzes spatio-temporal characteristics of urban expansion in China using satellite images and regionalization methods. Landsat TM images at three time periods, 1990/1991, 1995/1996, and 1999/2000, are interpreted to get 1:100000 vector land use datasets. The study calculates the urban land percentage and urban land expansion index of every 1 km(2) cell throughout China. The study divides China into 27 urban regions to conceive dynamic patterns of urban land changes. Urban development was achieving momentum in the western region, expanding more noticeably than in the previous five years, and seeing an increased growth percentage. Land use dynamic changes reflect the strong impacts of economic growth environments and macro-urban development policies. The paper helps to distinguish the influences of newly market-oriented forces from traditional administrative controls on China's urban expansion. (c) 2005 Elsevier Ltd. All rights reserved.

Preliminary study of the dynamic origin of the distribution pattern of bottom sediments on the continental shelves of the Bohai Sea, Yellow Sea and East China Sea

The bottom sediment types in the Bohai Sea, Yellow Sea and East China Sea (BYECS) are diversified, and their distribution pattern is very complicated. However, the bottom sediment types can be simplified to be sandy sediment, clayey sediment and mixed sediment, which comprise the complicated distribution pattern of bottom sediment in the BYECS. The continental shelves of the BYECS are broad, with shallow water depths and tidal currents which are permanent and dominate the marine dynamics in the BYECS. Based on numerical simulation of tidal elevations and currents in the BYECS, the rates of suspended load transport and bed load transport during a single tidal cycle for sediments of eight different grain size ranges are calculated. The results show that any sediment, whose threshold velocity is less than that of tidal current, has the same transport trend. Suspended load transport rare, bed load transport rate, and the ratio of the former to the latter decrease with grain size becoming coarser and coarser. The erosion/accretion patterns of sediments with different grain sizes are determined by the sediment transport rate divergences, and the results show that the patterns are the same for sediments with different grain sizes. Three main bottom sediment types, i.e. sandy sediment mainly composed of fine sand, clayey sediment mainly composed of silty clay, and mixed sediment mainly composed of fine sand, silt, and clay, are obtained by computation. The three bottom sediment types and their distribution pattern are consistent not only with sediment transport field and the sea bed erosion/accretion pattern obtained by simulation, but also with field data of bottom sediment types and divisions. In the BYECS, sand ridges form mainly in the areas with strong rectilinear tidal currents, sand sheets form mainly in the areas dominated by strong rotatory tidal currents, and clayey sediments, i.e. mud patches, form mainly in the areas with weak tidal currents. Hence, not only the sandy sediments but also the clayey sediments in the BYECS are formed under the control of the whole tidal current field of the BYECS. The three main bottom sediment types are not isolated respectively-in fact, they constitute a whole tidal depositional system. Under the condition with no cyclonic cold eddy, the clayey sediments in the BYECS can form in weak tidal current environments. Therefore, a cold eddy is not necessary for the deposition of clayey sediments in the BYECS. (C) 2000 Academic Press.