智能机器人多传感器实验平台的图像伺服系统

结合智能机器人多传感器实验平台的研制工作 ,系统介绍了其图像伺服子系统的工作原理、系统构成以及实现方案 ,涉及图像处理、机器视觉和机器人跟踪控制等相关内容 ,并讨论了物体自动识别和抓取过程中需要注意的一些问题 .

The strange attractor of a kind of 2-dimensional map and dynamical properties on it

On the basis of previous works, the strange attractor in real physical systems is discussed. Louwerier attractor is used as an example to illustrate the geometric structure and dynamical properties of strange attractor. Then the strange attractor of a kind of two-dimensional map is analysed. Based on some conditions, it is proved that the closure of the unstable manifolds of hyberbolic fixed point of map is a strange attractor in real physical systems.

印度与欧亚板块强烈相互作用区深部结构特征研究

The central-south Tibet is a part of the products of the continental plate collision between Eurasia and India. To study the deep structure of the study area is significant for understanding the dynamics of the continental-continental collision. A 3-D density model matched well with the observations in the central-south Tibet was proposed in this study. In addition, this study has also used numerical simulation method to prove that Quasi-Love (QL) wave is deduced by anisotropy variation but not by lateral heterogeneity. Meanwhile, anisotropy variation in the upper mantle of the Qiangtang terrane and Lhasa terrane is detected by the QL waves observed in recorded seismograms. Based on the gravity modeling, some results are summarized as follows: 1) Under the constrain of geometrical structure detected by seismic data, a 3-D density model and Moho interface are proposed by gravity inversion of the central-south Tibet. 2) The fact that the lower crustal densities are smaller than 3.2 g/cm3, suggests absence of eclogite or partial eclogitization due to delamination under the central-south Tibet. 3) Seismicity will be strong or weak in the most negative Bouguer gravity anomaly. So there is no a certain relationship between seismicity and Bouguer gravity anomaly. 4) Crustal composition are determined after temperature-pressure calibration of seismic P wave velocity. The composition of lower crust might be one or a mixture of: 1. amphibolite and greenschist facies basalt beneath the Qiangtang terrane; 2. gabbro-norite-troctolite and mafic granulite beneath the Lhasa terrane. Because the composition of the middle crust cannot be well constrained by the above data set, the data set published by Rudnick & Fountain (1995) is used for comparison. It indicated the composition of the middle crust is granulite facies and might be pelitic gneisses.Granulite facies used to be interpreted as residues of partial melting, which coincidences with the previous study on partial melting middle crust. Amphibolite facies are thought to be produced after delamination, when underplating works in the rebound of the lower crust and lithospheric mantle. From the seismology study, I have made several followed conclusions: 1) Through the numerical simulation experiment of surface wave propagating in heterogeneity media, we can find that amplitude and polarization of surface wave only change a little when considering heterogeneity. Furthermore, it is proved that QL waves, generated by surface wave scattering, are caused by lateral variation of anisotropy but not by heterogeneity. 2) QL waves are utilized to determine the variation of uppermost mantle anisotropy of the Tibetan plateau. QL waves are identified from the seismograms of the selected paths recorded by the CAD station. The location of azimuth anisotropy gradient is estimated from the group velocities of Rayleigh wave, Love wave and QL wave. It suggests that south-north lateral variation of azimuthal anisotropy locates in Tanggula mountain, and east-west lateral variation in the north of Gandese mountain with 85°E longitude and near the Jinsha river fault with 85°E longitude.