力觉触觉再现技术及其应用研究

力觉确虫觉再现技术是近年来发展起来的一项新兴技术，在遥操作机器人、虚拟现实、医疗仿真、原形设计、纳米操作等很多领域中获得了相当广泛的应用。力觉／触觉再现接口是一种力反射设备，它可以使用户触摸、感觉、操作、创建和变换虚拟环境中仿真的虚拟3维物体。根据能量来源的方式，力觉确虫觉再现接日分为有源和无源两类。本论文针对有源力觉／触觉再现接口的动力学进行了分析，并以虚拟手术和机器人遥操作为背景，做了一些力觉／触觉再现技术的应用性研究工作。具体说来，本文主要进行了如下四项有创造和有价值的工作：（1)分析了有源力觉／触觉再现接口设计时所要考虑的几个基本问题，推导了力觉确虫觉再现接口的动力学模型。(2)以PHANTOM和GHOST SDK为开发平台，构造了一个虚拟仿真系统，研究实现力觉确虫觉再现接口涉及的几个基本问题。(3)以力觉／触觉再现接口PHANTOM为主端，全方位移动机器人M.BOT为从端建立了遥操作实验系统。提出了两种系统结构：位置给定系统和速度给定系统，并根据速度给定系统给出了具体设计。（4）遥操作实验研究。对于速度给定系统，给出了虚拟平面、虚拟障碍和虚拟墙实验。对位置给定系统与速度给定系统进行了对比分析。实验主要体现力觉／触觉再现技术对遥操作精确定位与避免碰撞的作用。

工程地质三维建模与可视化技术应用开发

Synthetic Geology Information System (SGIS) is an important constituent part of the theory of Engineering Geomechanics Mate-Synthetic (EGMS), and is the information system more suited for the collection, storage, management, analysis and processing to the information coming from engineering geology,' geological engineering and geotechnical engineering. Its contents involve various works and methods of the investigation, design, and construction in different stages of the geological engineering. Engineering geological and three-dimensional modeling and visualization is the fundamental part of the SGIS, and is a theory, method and technique by which, adopting the computer graphics and image processing techniques, the data derived from engineering geological survey and the calculated results obtained from the geomechanical numerical simulation and analysis are converted to the graphics and images displayed on the computer screen and can be processed interactively. In this paper, the significance and realizing approaches of the three-dimensional modeling and visualization for the complex geological mass in the engineering geology are discussed and the methods of taking advantage of the interpolation and fitting for the scattered and field-surveyed data to simulate the geological layers, such as the topography and earth surface, the groundwater table and the stratum boundary, are researched into. At the mean time, in mind the characteristics of the structure of the basic data for three-dimensional modeling, its visual management can be resolved into the engineering surveyed database management module, plot parameter management module and data output module and the requirement for basic data management can be fulfilled. In the paper, the establishment and development of the three-dimensional geological information system are probed tentatively, and an instance of three-dimensional visual Engineering Distribution Information System (EDIS), theConstruction Management Information System for an airport, in which the functions, such as the real-time browse among the three-dimensional virtual-reality landscapes of the airport construction from start to finish, the information query to the airport facility and the building in the housing district and the recording and playback of the animation sets for the browse and the takeoff and landing of the planes, is developed by applying the component-mode three-dimensional virtual-reality geological information system (GIS) software development kits (SDK), so the three-dimensional visual management platform is provided for the airport construction. Moreover, in the gaper, integrated with the three-dimensional topography visualization and its application in the Sichuan-Tibet Highways, the method of the digital elevation model (DEM) data collection from the topographic maps is described, and the three-dimensional visualization and the roaming about the terrain along the highway are achieved through computer language programming. Understanding to the important role played by the varied and unique topographical condition in the gestation and germination of the highly-dense, frequently-arising and severely-endangered geological hazards can be deepened.