室外自主移动机器人AMOR的导航技术

在非结构化环境,移动机器人行驶运动规划和自主导航是非常挑战性的问题。基于实时的动态栅格地图,提出了一个快速的而又实效的轨迹规划算法,实现机器人在室外环境的无碰撞运动导航。AMOR是自主研发的室外运动移动机器人,它在2007年欧洲C-ELROB大赛中赢得了野外自主侦察比赛的冠军。它装备了SICK的激光雷达,用来获取机器人运动前方的障碍物体信息,建立实时动态的环境地图。以A*框架为基础的改造算法,能够在众多的路径中快速地找到最佳的安全行驶路径,实现可靠的自主导航。所有的测试和比赛结果表明所提方案是可行的、有效的。

一种用于反恐侦察的爬壁机器人系统

介绍了一种用于反恐侦察的爬壁机器人系统.该系统包括3个部分:真空吸附式两足爬壁机器人、便携式遥控器和无线视频传输模块.其中,基于DSP技术开发的控制器可以使机器人在光滑的壁面上灵活地爬行、转向和跨越.文中提出了一种实现机器人在两个不同倾斜壁面之间跨越的控制算法.实验表明,该机器人体积小、噪声低、隐蔽性好;视频模块图像清晰、传输稳定;整个系统可以满足执行反恐侦察任务的基本要求.

水利水电岩溶发育深度的定量化理论研究

The distribution in outcrop of carbonate rocks in China is about 3.44×106km2 and accounts for over one third of the total area of the country, mainly in the Yangtze valley and the Yungui tableland ,and there is a great plenty of Water and hydropower resources in these carbonate area. A large number of projects will be built in order to develop the Water and hydropower resources. They are facing amount of complicated problems of karsts, specially the problem of the depths of karsts below water, which is a key problem that hasn’t been solved well theoretically. So, systematically research in quantitative analysis of the problem is necessary, which is very important to solve the inconsistency between current theories and facts, and is helped to foresee the depth of karsts below water and decrease the expense of the engineering. For the problem mentioned above, the thesis makes a detailed research on the length of corrosion of karsts water, based on the kinetics of corrosion, and founds the primary theory about the processes of four typical geologic elements, which are single fracture, single conduit, porous limestone and fractured limestone. And it has done a deep research upon the characterties and kinetics of corrosion of the four typical geologic elements by simulation using the programme edited by the author. The thesis also makes a discussion on the general model and process of the form of caves by using the founded theory. According to the characteristic of Water Resource and Hydropower engineering, the thesis creates three representative flow-dissolution models for three types of common geologic conditions under the induction of the theory kinetics of corrosion of karsts water. It has done quantitative research upon the process of dissolution and brought out primary theory about quantitative analysis of the depth of karsts below water as well. It found that the depth of karsts below water relates to the specific geologic conditions and the time of dissolution by simulation based on typical parameters and deep analysis of the result. That is to say there are karsts caves in any depths in flow areas of groundwater in specific geologic conditions and appropriate time. The thesis also discourses three basic problems that frequently encountered in the reconnaissance of Water Resource and Hydropower engineering, which are karsts base level, essential conditions of karsts, the comparability of caves and terrace, and indicates the importance of time in karsts. Finally, as an application, the karsts of the scheming Qianzhong water resource engineering is analyzed by the primary theory founded of quantitative analysis. The result of the application comes to a conclusion that the theory accords with the facts properly.

新疆谢米斯台中段地区火山岩特征及其含矿性研究

Central Xiemisitai is located on the northwest edge of the Junggar Basin, bounded on the north by Sawuer Mountain, and southward Junggar Basin. Geotectonically, it is within the Chengjisi-Ximisitai-Santanghu island arc of Late Paleozoic, between Siberian and Junggar plates. The volcanics in this area mainly consist of acidic volcanic lava, rock assemblage of esite, dacite, and rhyolite, and the transitional phase is comparatively developed. Besides, Si2O of volcanics here covers a large range of 53.91-79.28t %, K2O of 1.71-6.94t%, and Na2O of 2.29-5.45t%, which is a set of metaluminous- peraluminous high K calc-alkaline to calc alkaline mid-acidic volcanic series. In addition, the volcanics are potassic to high-potassic assemblage, with slight shoshonite in. The REE curve of volcanics in central Xiemisitai is rightward and smooth, inclining to LREE enrichment, which reveals the characteristics of island-arc volcanics. Through the lithology changing from neutral to acidic, the negative anomaly of Eu is increasing. The volcanics here deplete HFSE such as Nb, Ti, P, etc., but relatively rich in LILE like Rb, K, Th, etc., possessing geochemistry characteristics of arc volcanics, which means that the lava source region is watery, under the meta-somatic contamination of subducted components. Moreover, high Ba and Sr show volcanics in epicontinental arc environment, and their contemporaneous granitoid rocks are also marked with the characteristics of volcanic arc granite. In central Xiemisitai, the volcanics zircon age of volcanic rhyolite is 422.5Ma± 1.9Ma, mid-late Silurian. Only one sample zircon has been measured for the present, not very convincing, so volcanics here might not come from Devonian volcanism. Consequently, further confirming the volcanic age will play a key role in the research on the beginning of volcanism in Xiemisitai area and even North Xinjiang. This area includes three copper mineralization types: a) from andesite fracture; b) from rhyolite fracture broken zone, with the copper mineralization distributed by veins along the fissure; and c) from quartz veins. The mineralization of earth surface in S24 ore spot is intensive, and the primary geochemistry reconnaissance anomaly is fairly good. According to display data, the maximum content of Cu is as high as 0.9% and as low as 0.05%. Also, ore-control fracture structure is having a considerable scale in the strike of fracture both horizontally and vertically downwards, and the result of the geophysics stratagem EH-4 system reveals obvious low-resistivity anomaly. As a result, we believe that the S24 plot is expected to be a volcanic copper deposit target area.

金川镍矿充填法开采引起地岩体移动和地表变形研究

Cut-and-filling stoping becomes more and more important in mining industry for the advantage in protecting environment and its adaptability. However, there is less research in the movement of rock mass and the ground displacement caused by the mining method. In this paper, based on relevant geological and geotechnical test data, the strata movement and the ground displacement of Jinchuan nickel mine are studied comprehensively. The main achievement in this paper can be drawn as follows. Geologic conditions of mining area No.2 of Jinchuan Nickel mine are summed up and influential factors of the movement of rock mass and the surface displacement are analyzed. For recognized the shape of orebody No.l, three-dimensional model is established with 3D Studio MAX software. Based on reconnaissance trip, the monitoring data of GPS and ground fissures in mining area No.2 of Jinchuan Nickel mine are discussed. Then, the rule of the surface displacement and the reason of ground fissures generation are preliminary analyzed. The characteristic of ground movement, surrounding stress and strain in the process of excavation and backfilled is research and analyzed with the method of numerical simulation. The rule of the movement of rock mass and the surface displacement in mining area No.2 of Jinchuan Nickel mine is summed up. The influence of the movement of rock mass and the surface displacement by the dip angle of orebody No.l in mining area No.2 is examined and then the strata movement and the ground displacement is predicted.