自主移动机器人激光全局定位系统研究

本文介绍了我们研制开发的一种用于自主移动机器人的激光全局定位系统 ,重点描述了该系统的硬件结构和工作原理 ,介绍分析了定位算法 .文章最后介绍了该定位系统在实验室条件下所进行的实验 .实验结果表明 :该系统具有较高的定位精度和抗干扰能力 ,是自主移动机器人理想的定位工具 .

一个用于自治智能移动式机器人导航和监控的实验系统

文中重点讨论了系统实现过程中,任务分解与行走命令下达,时序分配与同步,路标定位与行走误差修正.动态障碍感知,测定与响应和特别情况紧急处理等难题的解决策略及遇到的问题.

Pipeline Architecture and Parallel Computation-Based Real-Time Stereovision Tracking System for Surgical Navigation

This paper studies the development of a real-time stereovision system to track multiple infrared markers attached to a surgical instrument. Multiple stages of pipeline in field-programmable gate array (FPGA) are developed to recognize the targets in both left and right image planes and to give each target a unique label. The pipeline architecture includes a smoothing filter, an adaptive threshold module, a connected component labeling operation, and a centroid extraction process. A parallel distortion correction method is proposed and implemented in a dual-core DSP. A suitable kinematic model is established for the moving targets, and a novel set of parallel and interactive computation mechanisms is proposed to position and track the targets, which are carried out by a cross-computation method in a dual-core DSP. The proposed tracking system can track the 3-D coordinate, velocity, and acceleration of four infrared markers with a delay of 9.18 ms. Furthermore, it is capable of tracking a maximum of 110 infrared markers without frame dropping at a frame rate of 60 f/s. The accuracy of the proposed system can reach the scale of 0.37 mm RMS along the x- and y-directions and 0.45 mm RMS along the depth direction (the depth is from 0.8 to 0.45 m). The performance of the proposed system can meet the requirements of applications such as surgical navigation, which needs high real time and accuracy capability.

Pipeline Architecture and Parallel Computation-Based Real-Time Stereovision Tracking System for Surgical Navigation

This paper studies the development of a real-time stereovision system to track multiple infrared markers attached to a surgical instrument. Multiple stages of pipeline in field-programmable gate array (FPGA) are developed to recognize the targets in both left and right image planes and to give each target a unique label. The pipeline architecture includes a smoothing filter, an adaptive threshold module, a connected component labeling operation, and a centroid extraction process. A parallel distortion correction method is proposed and implemented in a dual-core DSP. A suitable kinematic model is established for the moving targets, and a novel set of parallel and interactive computation mechanisms is proposed to position and track the targets, which are carried out by a cross-computation method in a dual-core DSP. The proposed tracking system can track the 3-D coordinate, velocity, and acceleration of four infrared markers with a delay of 9.18 ms. Furthermore, it is capable of tracking a maximum of 110 infrared markers without frame dropping at a frame rate of 60 f/s. The accuracy of the proposed system can reach the scale of 0.37 mm RMS along the x- and y-directions and 0.45 mm RMS along the depth direction (the depth is from 0.8 to 0.45 m). The performance of the proposed system can meet the requirements of applications such as surgical navigation, which needs high real time and accuracy capability.

instability of standing wave, global existence and blowup for the klein-gordon-zakharov system with different-degree nonlinearities

This paper discusses the Klein–Gordon–Zakharov system with different-degree nonlinearities in two and three space dimensions. Firstly, we prove the existence of standing wave with ground state by applying an intricate variational argument. Next, by introducing an auxiliary functional and an equivalent minimization problem, we obtain two invariant manifolds under the solution flow generated by the Cauchy problem to the aforementioned Klein–Gordon–Zakharov system. Furthermore, by constructing a type of constrained variational problem, utilizing the above two invariant manifolds as well as applying potential well argument and concavity method, we derive a sharp threshold for global existence and blowup. Then, combining the above results, we obtain two conclusions of how small the initial data are for the solution to exist globally by using dilation transformation. Finally, we prove a modified instability of standing wave to the system under study.

A discrete square global grid system based on the parallels plane projection

Knowledge Innovation Project of Chinese Academy of Sciences [KZCX3-SW-347]; National Science Fund for Distinguished Young Scholar [40225004]

A discrete square global grid system based on the parallels plane projection

We developed a direct partitioning method to construct a seamless discrete global grid system (DGGS) with any resolution based on a two-dimensional projected plane and the earth ellipsoid. This DGGS is composed of congruent square grids over the projected plane and irregular ellipsoidal quadrilaterals on the ellipsoidal surface. A new equal area projection named the parallels plane (PP) projection derived from the expansion of the central meridian and parallels has been employed to perform the transformation between the planar squares and the corresponding ellipsoidal grids. The horizontal sides of the grids are parts of the parallel circles and the vertical sides are complex ellipsoidal curves, which can be obtained by the inverse expression of the PP projection. The partition strategies, transformation equations, geometric characteristics and distortions for this DGGS have been discussed. Our analysis proves that the DGGS is area-preserving while length distortions only occur on the vertical sides off the central meridian. Angular and length distortions positively correlate to the increase in latitudes and the spanning of longitudes away from a chosen central meridian. This direct partition only generates a small number of broken grids that can be treated individually.

Influence of convections on dopant segregation in floating-zone crystal-growth system

The steady and axisymmetric crystal growth process of floating zone model was studied numerically to concern with the influence of convection and phase change on effective segregation. An iteration method of numerical simulation considering both thermocapillary and buoyancy effects for GaAs crystal growth gave the effective segregation coefficient, which was compared with the space experiment of GaAs on board the Chinese recoverable satellite. The calculated segregation coefficient of a two-dimensional model was found to be smaller than the one suggested by space experiment with the simplified assumption of an one-dimensional model.

Two Bubbles Thermocapillary Migration Experimental System

An experimental investigation will be performed on the thermocapillary motion of two bubbles in Chinese return-satellite. The experiment will study the migration process of bubble caused by thermocapillary effect in microgravity environment, and their interaction between two bubbles. The bubble is driven by the thermocapillary stress on the surface on account on the variation of the surface tension with temperature. The interaction between two bubbles becomes significant as the separation distance between them is reduced drastically so that the bubble interaction has to be considered. Recently, the problem has been discussed on the method of successive reflections, and accurate migration velocities of two arbitrarily oriented bubbles were derived for the limit of small Marangoni and Reynolds numbers. Numerical results for the migration of the two bubbles show that the interaction between two bubbles has significant influence on their thermocapillary migration velocities with a bubble approaching another. However, there is a lack of experimental validate for the theoretic results. Now the experimental facility is designed for experimenting time after time. A cone-shaped top cover is used to expel bubble from the cell after experiment. But, the cone-shaped top cover can cause temperature uniformity on horizontal plane in whole cell. Therefore, a metal board with multi-holes is fixed under the top cover. The board is able to let the temperature distribution on the board uniform because of their high heat conductivity, and the bubble can pass through it. In the system two bubbles are injected into the test cell respectively by two sets of cylinder. And the bubbles sizes are controlled by two sets of step-by-step motor. It is very important problem that bubble can be divorced from the injecting mouth in microgravity environment. Thus, other two sets of device for injecting mother liquid were used to push bubble. The working principle of injecting mother liquid is to utilize pressure difference directly between test cell and reservoir

Satellite Constellation Design for Complex Coverage

Most traditional satellite constellation design methods are associated with a simple zonal or global, continuous or discontinuous coverage connected with a visibility of points on the Earth's surface. A new geometric approach for more complex coverage of a geographic region is proposed. Full and partial coverage of regions is considered. It implies that, at any time, the region is completely or partially within the instantaneous access area of a satellite of the constellation. The key idea of the method is a two-dimensional space application for maps of the satellite constellation and coverage requirements. The space dimensions are right ascension of ascending node and argument of latitude. Visibility requirements of each region can be presented as a polygon and satellite constellation as a uniform moving grid. At any time, at least one grid vertex must belong to the polygon. The optimal configuration of the satellite constellation corresponds to the maximum sparse grid. The method is suitable for continuous and discontinuous coverage. In the last case, a vertex belonging to the polygon should be examined with a revisit time. Examples of continuous coverage for a space communication network and of the United States are considered. Examples of discontinuous coverage are also presented.

Structure analysis of the SECRAL superconducting magnet system

An advanced superconducting ECR ion source named SECRAL has been constructed at Institute of Modern Physics of Chinese Academy of Sciences, whose superconducting magnet assembly consists of three axial solenoid coils and six sextupole coils with a cold iron structure as field booster and clamp. In order to investigate the structure of sextupole coils and to increase the structural reliabilities of the magnet system, global and local structural analysis have been performed in various operation scenarios. Winding pack and support structure design of magnet system, mechanical calculation and stress analysis are given in this paper. From the analysis results, it has been found that the magnet system is safe in the referential operation scenarios and the configuration of the magnet complies with design requirements of the SECRAL.

Seismic stratigraphy of the Qiongdongnan deep sea channel system, northwest South China Sea

Based on more than 4000 km 2D seismic data and seismic stratigraphic analysis, we discussed the extent and formation mechanism of the Qiongdongnan deep sea channel. The Qiongdongnan deep sea channel is a large incised channel which extends from the east boundary of the Yinggehai Basin, through the whole Qiongdongnan and the Xisha trough, and terminates in the western part of the northwest subbasin of South China Sea. It is more than 570 km long and 4-8 km wide. The chaotic (or continuous) middle (or high) amplitude, middle (or high) continuity seismic facies of the channel reflect the different lithological distribution of the channel. The channel formed as a complex result of global sea level drop during early Pliocene, large scale of sediment supply to the Yinggehai Basin, inversion event of the Red River strike-slip fault, and tilted direction of the Qiongdongnan Basin. The large scale of sediment supply from Red River caused the shelf break of the Yinggehai Basin to move torwards the S and SE direction and developed large scale of prograding wedge from the Miocene, and the inversion of the Red River strike-slip fault induced the sediment slump which formed the Qiongdongnan deep sea channel.

Tectonic and geodynamic pattern of marginal seas on the West Pacific inferred from multi-satellite altewetry geoid

With the rapid development of satellite observations, we can use the altimetry geoid to study submarine tectonics and geodynamics. On the basis of the 4' x 4' geoid undulation calculated from altimeter data of Geosat, ERS-1/2 and Topex/Poseidon on the West Pacific, located between 0degreesN similar to 45degreesN, 100degreesC similar to 150degreesE, Bouguer, Glenni and isostatic geoid undulation are obtained from correction of gravitational potential of the global topography and isostacy. Moho discontinuity depth is inversed by the Glenni geoid undulation, and the stress field from small-scale mantle convection is reasonably calculated from the isostatic geoid undulation. The results show that within the Philippine Sea and the South China Sea, short-wavelength lineations of the geoid undulation are parallel or cross to magnetic lineations and rifting ridges. The Moho depth of marginal sea basins becomes shallow southward, and its values are similar to that of the Philippine Sea. These facts show that strength of tectonic activities are almost the same on the both sides of the Ryukyu-Taiwan-Philippine are. Various kinds of tectonic features with different driving mechanisms of small-middle and large-scale of mantle convection, however, display a special pattern of tectonics and geodynamics of the continental marginal seas distinguished from oceans and continents.

Monitoring and simulation of water, heat,and CO2 fluxes in terrestrial ecosystems based on the APEIS-FLUX system

The Integrated Environmental Monitoring (IEM) project, part of the Asia-Pacific Environmental Innovation Strategy (APEIS) project, developed an integrated environmental monitoring system that can be used to detect, monitor, and assess environmental disasters, degradation, and their impacts in the Asia-Pacific region. The system primarily employs data from the moderate resolution imaging spectrometer (MODIS) sensor on the Earth Observation System- (EOS-) Terra/Aqua satellite,as well as those from ground observations at five sites in different ecological systems in China. From the preliminary data analysis on both annual and daily variations of water, heat and CO2 fluxes, we can confirm that this system basically has been working well. The results show that both latent flux and CO2 flux are much greater in the crop field than those in the grassland and the saline desert, whereas the sensible heat flux shows the opposite trend. Different data products from MODIS have very different correspondence, e.g. MODIS-derived land surface temperature has a close correlation with measured ones, but LAI and NPP are quite different from ground measurements, which suggests that the algorithms used to process MODIS data need to be revised by using the local dataset. We are now using the APEIS-FLUX data to develop an integrated model, which can simulate the regional water,heat, and carbon fluxes. Finally, we are expected to use this model to develop more precise high-order MODIS products in Asia-Pacific region.