加卸载响应比(Load/Unload Response Ratio)、能量加速释放(AE/MR)的临界区尺度及地震预测

加卸载响应比理论的主要思路是 :系统在稳定状态时加载响应与卸载响应的比值与非稳定状态时加载响应与卸载响应的比值是完全不同的。大震前加卸载响应比升高和能量加速释放这两种现象可以用来对地震进行中期预报。同时 ,加卸载响应比理论和能量加速释放可能有相同的物理机制。为了验证这种地震预报方法的可行性 ,我们研究了几例发生在澳大利亚与中国 ,M 5 0～ 7 9之间的地震 ,其中包括破坏严重的澳大利亚纽卡斯尔地震和中国的唐山地震。我们利用以震源中心一定范围内的数据计算了震前的加卸载响应比和能量加速释放的幂律拟合。能量幂律加速释放存在一组最佳的拟合 ,一定范围内加卸载响应比达最大值表明加卸载响应比也有一个临界区尺度。进一步讲 ,加卸载响应比与能量加速释放的临界区尺度是相似的。这些结果表明加卸载响应比与能量加速释放有相同的物理机制。进一步的研究可能会对这种物理机制提供更好的解释 ,同时也能对地震的中期预报提供理论基础

Design and path planning for a remote-brained service robot

This paper presents a novel robot named "TUT03-A" with expert systems, speech interaction, vision systems etc. based on remote-brained approach. The robot is designed to have the brain and body separated. There is a cerebellum in the body. The brain with the expert systems is in charge of decision and the cerebellum control motion of the body. The brain-body. interface has many kinds of structure. It enables a brain to control one or more cerebellums. The brain controls all modules in the system and coordinates their work. The framework of the robot allows us to carry out different kinds of robotics research in an environment that can be shared and inherited over generations. Then we discuss the path planning method for the robot based on ant colony algorithm. The mathematical model is established and the algorithm is achieved with the Starlogo simulating environment. The simulation result shows that it has strong robustness and eligible pathfinding efficiency.

Design and path planning for a remote-brained service robot

This article introduced an effective design method of robot called remote-brain, which is made the brain and body separated. It leaves the brain in the mother environment, by which we mean the environment in which the brain's software is developed, and talks with its body by wireless links. It also presents a real robot TUT06-B based on this method which has human-machine interaction, vision systems, manipulator etc. Then it discussed the path planning method for the robot based on ant colony algorithm in details, especially the Ant-cycle model. And it also analyzed the parameter of the algorithm which can affect the convergence. Finally, it gives the program flow chat of this algorithm.

Large depth-of-view portable three-dimensional laser scanner and its segmental calibration for robot vision

A portable 3D laser scanning system has been designed and built for robot vision. By tilting the charge coupled device (CCD) plane of portable 3D scanning system according to the Scheimpflug condition, the depth-of-view is successfully extended from less than 40 to 100 mm. Based on the tilted camera model, the traditional two-step camera calibration method is modified by introducing the angle factor. Meanwhile, a novel segmental calibration approach, i.e., dividing the whole work range into two parts and calibrating, respectively, with corresponding system parameters, is proposed to effectively improve the measurement accuracy of the large depth-of-view 3D laser scanner. In the process of 3D reconstruction, different calibration parameters are used to transform the 2D coordinates into 3D coordinates according to the different positions of the image in the CCD plane, and the measurement accuracy of 60 mu m is obtained experimentally. Finally, the experiment of scanning a lamina by the large depth-of-view portable 3D laser scanner used by an industrial robot IRB 4400 is also employed to demonstrate the effectiveness and high measurement accuracy of our scanning system. (C) 2007 Elsevier Ltd. All rights reserved.

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 .