Weighted least-squares phase unwrapping algorithm based on derivative variance correlation map

Among different phase unwrapping approaches, the weighted least-squares minimization methods are gaining attention. In these algorithms, weighting coefficient is generated from a quality map. The intrinsic drawbacks of existing quality maps constrain the application of these algorithms. They often fail to handle wrapped phase data contains error sources, such as phase discontinuities, noise and undersampling. In order to deal with those intractable wrapped phase data, a new weighted least-squares phase unwrapping algorithm based on derivative variance correlation map is proposed. In the algorithm, derivative variance correlation map, a novel quality map, can truly reflect wrapped phase quality, ensuring a more reliable unwrapped result. The definition of the derivative variance correlation map and the principle of the proposed algorithm are present in detail. The performance of the new algorithm has been tested by use of a simulated spherical surface wrapped data and an experimental interferometric synthetic aperture radar (IFSAR) wrapped data. Computer simulation and experimental results have verified that the proposed algorithm can work effectively even when a wrapped phase map contains intractable error sources. (c) 2006 Elsevier GmbH. All rights reserved.

基于生态系统服务理论的草地可持续利用评价

草地退化不仅仅是今天中国才发生的事情。历史上曾经发生“黑尘暴”的美国North Dakota州，现在仍然有62.7％土地被用作耕作，林地所占面积仅仅占1％。私有制和种植业较畜牧业的高的利润率，是该州种植业比重高于畜牧业的重要原因。草原保护项目（CRP）得到了美国政府财政的大力支持， 在North Dakota州采用了以草地恢复为主的措施。美国发达的教育体系带来的高流动率，使得North Dakota州自30年代后居住人口稳定在60－70万成为可能，从而避免了我国出现的草原地区不断增加的人口压力。由此可见：草地作为重要的自然资源，不可能完全保护起来;没有其他配套措施，私有制可能会带来新一轮垦殖;草地畜牧业仍然是畜牧业的重要组成部分，畜牧业发展需要结合种植业尤其需要与饲料生产相结合。 依据生态系统服务的理念，首次发展了生态系统服务指数（ESI），试图通过对生态系统服务功能的综合考虑，提出科学的适宜放牧率的评价方法。本文利用美国北达科他州立大学中部草原研究站17年长期放牧试验数据，选取植物多样性Shannon-Wiener指数、地上净初级生产力、土壤表层含水量和单位面积家畜增重等四个指标，通过对不同指标分别赋予不同的权重，计算不同管理目标下ESI及其稳定性，并对单目标管理与多目标管理进行了比较研究。结果表明，对于北美混合普列里(Prairie)草地，围封不利用或建立自然保护区，虽然生态系统比较稳定，但既不能有效的提高植物多样性、初级生产力和土壤水分含量等生态功能，又没有畜产品产出;而在重牧或极重牧处理下虽然获得了较大的畜产品生产，但导致了草地生态系统的退化和较大的系统不稳定性。因此，这两种管理方式在实践中都是不可取的。应用生态系统服务指数综合考虑，认为应该权衡各项生态功能和生产功能，此时轻牧或中牧是最适宜的。因此，ESI的建立避免了单项指标的评价偏差，使得适宜放牧率的确定更加合理。 利用前面构建的多目标权重评价体系，结合内蒙古草原生态系统定位站放牧试验样地的数据，探讨了锡林郭勒盟定位站附近的适宜放牧率为2.67羊/ha，低于单目标条件下的每公顷绵羊4羊/ha。同时在经济学和生态系统系统服务理论的基础上，依据谢高地等人（2001年）的研究，并提出了环境税和生态补偿的标准，分别是每公顷15元和90元。

Mitochondrial cytochrome b gene sequences of Old World monkeys: With special reference on evolution of Asian colobines

The classification and phylogenetic relationships of the Old World monkeys are still controversial. For Asian colobines, from three to nine genera were recognized by different primatologists. In the present study, we have sequenced a 424 bp mitochondrial tRNA(Thr) gene and cytochrome b gene fragment from Macaca mulatta, Mandrillus sphinx, Mandrillus leucophaeus, Semnopithecus entellus, Trachypithecus vetulus, T. johnii, T. phayrei, T. francoisi, Pygathrix nemaeus, Rhinopithecus roxellanae, R. bieti, R. avunculus, Nasalis larvatus, and Colobus polykomos in order to gain independent information on the classification and phylogenetic relationships of those species. Phylogenetic trees were constructed with parsimony analysis by weighting transversions 5 or 10 fold greater than transitions. Our results support the following conclusions: (1) the Old World monkeys are divided into two subfamilies; (2) that among the colobines, Colobus, the African group, diverged first, and Nasalis and Rhinopithecus form a sister clade to Pygathrix; (3) that there are two clades within leaf monkeys, i.e. 1) S. entellus, T. johnii, and T. vetulus, and 2) T, phayrei and T. francoisi; (4) that Rhinopithecus avunculus, R. roxellanae, and R. bieti are closely related to each other, and they should be placed into the same subgenus; (5) that Rhinopithecus is a distinct genus; and (6) that the ancestors of Asian colobines migrated from Africa to Asia during the late Pliocene or early Pleistocene.

Variation patterns of the mitochondrial 16S rRNA gene with secondary structure constraints and their application to phylogeny of cyprinine fishes (Teleostei : Cypriniformes)

The mitochondrial 16S ribosomal RNA (rRNA) gene sequences from 93 cyprinid fishes were examined to reconstruct the phylogenetic relationships within the diverse and economically important subfamily Cyprininae. Within the subfamily a biased nucleotide composition (A > T, C > G) was observed in the loop regions of the gene, and in stem regions apparent selective pressures of base pairing showed a bias in favor of G over C and T over A. The bias may be associated with transition-transversion bias. Rates of nucleotide substitution were lower in stems than in loops. Analysis of compensatory substitutions across these taxa demonstrates 68% covariation in the gene and a logical weighting factor to account for dependence in mutations for phylogenetic inference should be 0.66. Comparisons of varied stem-loop weighting schemes indicate that the down-weightings for stem regions could improve the phylogenetic analysis and the degree of non-independence of stem substitutions was not as important as expected. Bayesian inference under four models of nucleotide substitution indicated that likelihood-based phylogenetic analyses were more effective in improving the phylogenetic performance than was weighted parsimony analysis. In Bayesian analyses, the resolution of phylogenies under the 16-state models for paired regions, incorporating GTR + G + I models for unpaired regions was better than those under other models. The subfamily Cyprininae was resolved as a monophyletic group, as well as tribe Labein and several genera. However, the monophyly of the currently recognized tribes, such as Schizothoracin, Barbin, Cyprinion + Onychostoma lineages, and some genera was rejected. Furthermore, comparisons of the parsimony and Bayesian analyses and results of variable length bootstrap analysis indicates that the mitochondrial 16S rRNA gene should contain important character variation to recover well-supported phylogeny of cyprinid taxa whose divergences occurred within the recent 8 MY, but could not provide resolution power for deep phylogenies spanning 10-19 MYA. (c) 2008 Published by Elsevier Inc.

Phylogeny of the specialized schizothoracine fishes (Teleostei : Cypriniformes : Cyprinidae)

Phylogeny of the specialized schizothoracine fishes (Teleostei: Cypriniformes: Cyprinidae). Zoological Studies 40(2). 147-157. To elucidate phylogenetic relationships within the specialized schizothoracine fishes, we used 41 variable osteological and external characters among this groups, three species of Schizothorax, and 1 fossil species. When the 3 species of Schizothorax were designated as an outgroup and all 41 characters were set as unordered with equal weighting, the data matrix yielded a single most-parsimonious tree with a tree length of 71 steps, a consistency index of 0.6761, and a retention index of 0.7416. Meanwhile, a bootstrap test was conducted to verify the reliability of the results. The matrix was also analyzed for different conditions: all characters were ordered and the fossil species was added as an outgroup. The phylogenetic analyses presented herein support the following hypotheses. 1) All species of the specialized schizo-thoracines fishes form a monophyletic group. 2) Monophyly of the genus Ptychobarbus is not supported by the bootstrap test or when these characters are ordered. 3) The genus Gymnodiptychus forms a monophyletic group. 4) All species of Ptychobarbus and Gymnodiptychus form a monophyletic group with Diptychus as its sister group.

称重式蒸渗仪系统改进及在农田蒸散研究中的应用

水分是制约黄土丘陵区农作物正常生长和农业生产的关键因子。该区年平均降水量少且季节多变,研究农田土壤水分平衡对该区旱地农业生产具有重要意义。土壤蒸渗仪(Lysimeter)可测量总蒸散量、渗漏量等有关水量平衡的各个分量,具有其它装置和方法不可比拟的优越性。它为田间蒸散和降水入渗实验研究提供了一种较先进的量测方法和技术手段。它对推动我国实验水文学的发展具有重要作用,并为相关领域的科学研究提供了一种较先进的技术设备和实验环境。中国科学院安塞试验站对原建造的用于测定农田蒸腾蒸发转化的称重式蒸渗仪在2005年对称重感应系统、电源进行改造,主要对主机、采集软件进行了重新更新,使其可直接在Windows界面下工作,数据采集更加方便,将测量出来的模拟量信号转换为数字信号,经处理显示并记录在数据采集器内。改进后蒸渗仪主要有以下特点:(1)土柱重19~26t,蒸渗仪精度为152 g(0.05 mm),可测量蒸腾蒸发量和地下水对土壤水的补给量与入渗量;(2)蒸渗仪面积3 m2(1.5 m×2 m),深度3 m,可充分允许农作物根系发育与吸水,土壤水和地下水转化,地下水位变化等过程进行,蒸渗仪的供排水系统能够在蒸渗仪内模拟实际地下水...

荞麦(Fagopyrum tataricum Gaertn.和F. esculentum Moench.)对紫外线B辐射的响应研究

近二十多年来，基于对臭氧层衰减、紫外线B（UV-B）增强的担心，研究者希望了解到紫外线辐射对不同作物的影响情况，增强UV-B辐射条件下是否对作物的生长发育、产量质量构成威胁。在本试验中，我们首先探讨了双子叶作物黄瓜（Cucumis sativus）和大豆（Glycine max）对不同紫外波段的生物效应[分别为B-UVA（315-400 nm），N-UVA（315-340 nm），B-UVB（275-400 nm）和N-UVB（290-340 nm），UV-（>400nm）作对照]。我们观察到所有的UV波段处理都使黄瓜和大豆的生长受到抑制，并且细胞受到不同程度的氧化伤害；UV波段处理的作用效果与不同波段的紫外有效生物辐射剂量有关。处理差异在UV-B波段内部和UV-A波段内部同样存在。植物生长UV辐射公式（BSWF）能很好的预测本试验UV-B波段内的平均植物效应，但不能预测UV-A波段的植物效应。短波UV-A的生物作用强于长波UV-A。光合色素的变化与UV波谱差异和种间差异有关。在高的紫外/可见光背景下，UV-A处理同UV-B同样导致光合色素的降低，但黄瓜类胡萝卜素/叶绿素比例升高。与其他研究者的试验结果比较后，我们认为紫外线B辐射的生物效应一致性很高，但紫外线A波段的生物学效应存在较大争议。因此我们在本试验的基础上仅进行荞麦[苦荞(Fagopyrum tataricum Gaertn.)和甜荞(Fagopyrum esculentum Moench.)]对紫外线B波段的响应研究。 我们对苦荞品种-圆籽荞进行了连续两个生长季节的大田半控制试验以观察UV-B辐射对苦荞生长、发育、产量及叶片色素的影响；试验小区进行降低UV-B、近充足UV-B和增强UV-B辐射处理。我们的试验表明在不同强度UV-B辐射下苦荞的生长、地上部生物量积累及最终产量都有所下降，但苦荞的发育加快；当前条件下的日光紫外线B辐射对植物生长和产量也造成负面影响。植物光合色素被日光及增强UV-B辐射降低；UV化合物及卢丁含量在中低剂量的UV-B辐射强度下显著升高，但在高剂量的增强UV-B辐射下短期升高后迅速下降。我们的试验表明苦荞是一个对UV-B高度敏感的作物。苦荞对UV-B的敏感性与UV-B剂量、外界环境因素及生长季节有关。 单个苦荞品种的试验结果使我们认识到外界UV-B辐射已经对苦荞生长发育构成逆境条件，未来全球气候变化条件下增强紫外线B辐射可能使其处于更不利的生长环境中。因此我们有进行了多个种群进行UV-B响应观察并筛选耐性种群。我们对15个苦荞种群进行增强UV-B辐射处理（6.30 kJ m2 UV-BBE，模拟当地25%的臭氧衰减），我们观察苦荞UV-B辐射效应存在显著的种内差异，UV-B辐射对多数种群具有抑制作用，但对一些种群还有刺激作用。我们采用主成分分析方法与作物UV-B响应指数（RI）来评价苦荞作物UV-B辐射耐性。我们发现作物的UV-B耐性不仅与其原产地背景UV-B强度有关，而且与作物相对生长效率、次生代谢产物含量（如卢丁）及其他因素有关。我们观察到苦荞伸展叶总叶绿素变化与UV-B耐性成正相关；室内苦荞幼苗的UV-B辐射致死试验表明：苦荞种群死亡率与其UV-B耐性成负相关。 此外，我们对甜荞的UV-B辐射响应也进行了初步研究。选取美姑甜荞、巧家甜荞和云龙甜荞进行5个梯度的增强UV-B辐射室外模拟试验。我们观察到UV-B辐射显著降低了甜荞的生长、生物量及产量；并严重影响了甜荞的生殖生长，降低了花序数、种子数和结实率；并且UV-B辐射对甜荞的抑制作用存在显著的剂量效应。三种甜荞品种存在显著的种内差异，其中美姑品种UV-B耐性最强，且膜脂受UV-B辐射氧化伤害最小，这与该品种UV-B辐射下较高的GR酶活性、APX酶活性和PPO酶活性、以及含量更高的抗坏血酸有关。甜荞的次生代谢也受到增强UV-B辐射的影响，其香豆酰类化合物在UV-B辐射下升高显著，而槲皮素含量也在高剂量UV-B辐射下有所增加；卢丁含量依赖UV-B辐射剂量而变化，中低剂量UV-B辐射下其卢丁含量逐渐升高，但在高剂量辐射下逐渐下降。 通过对生长在高海拔地区的荞麦作物(苦荞和甜荞)进行的室外研究，我们认识到作物不同品种存在很大的耐性差异，这就为UV-B耐性育种创造了有利条件。进一步加大荞麦种质资源筛选力度并深入认识荞麦抗性机理，在此基础上通过杂交或其他基因融合手段培育抗性品种，对高剂量UV-B辐射地区的荞麦产量的提高将起到重要推动作用，并使荞麦生产能有效应对未来全球气候变化条件下UV-B辐射可能升高的威胁。 During last few decades, due to concern of ozone layer depletion and enhancement of ultraviolet B radiation（UV-B, 280-315 nm), the agronomist want to know the responses of different crop species to UV-B. In the first experiment of our study, the effect of different UV band [B-UVA（315-400 nm), N-UVA（315-340 nm), B-UVB（275-400 nm), N-UVB（290-340 nm）and UV-（>400nm, as control)] on the cucumber（Cucumis sativus）and soybean（Glycine max）were investigated in growth room. Spectra-dependent differences in growth and oxidation indices existed within UV-A bands as well as UV-B bands. The general biological effects of different band were UV- ＜ B-UVA＜ N-UVA＜N-UVB＜B-UVB. The plant growth biologically spectra weighting function（BSWF）matched well with average plant response in UV-B region, but not in UV-A region. Shorter UV-A wavelength imposed more negative impact than longer UV-A wavelength did in both species. The effect on photosynthetic pigment was related to different UV bands and different species. The photosynthetic pigment content was decreased by UV-A spectra as well as UV-B spectra. In comparison with the results of previous studies, we found that the wavelength-dependent biological effect of ultraviolet B radiation has high consistency, but the biological effect of ultraviolet-A radiation was inconsistent. We narrow our following study on the effect of ultraviolet B radiation on the buckwheat（tartary buckwheat and common buckwheat). The tartary buckwheat（Fagopyrum tataricum Gaertn.）cultivars Yuanziqiao was grown in the sheltered field plots for two consecutive seasons under reduced, near-ambient and two supplemental levels of UV-B radiation. The crop growth, photosynthetic pigments, total biomass, final seed yield and thousand-grain weight were decreased by near-ambient and enhanced UV-B radiation, while crop development was promoted by enhanced UV-B radiation. Leaf rutin concentration and UV-B absorbing compound was generally increased by UV-B with the exception of 8.50 kJ m-2 day-1 supplemental levels. Our results showed that tartary buckwheat is a potentially UV-B sensitive species. Study on one cultivars showed that ambient solar radiation had present a stress to tartary buckwheat. This makes it necessary to observe the UV-B response of many cultivars and screen tolerant cultivars. Fifteen populations of tartary buckwheat were experienced enhanced UV-B radiation simulating 25% depletion of the stratospheric ozone layer in Kunming region, and plant responses in growth, morphology and productivity were observed. Principal components analysis（PCA）was used to evaluate overall sensitivity of plant response to UV-B as well as response index. The different populations exhibited significant differences in responses to UV-B. The photosynthetic pigments of young seedlings were also affected significantly under field condition. On the other hand, the healthy seedlings of different populations were exposed to the high level of UV-B radiation in growth chambers to determine the plant lethality rate. The plant tolerance evaluated by multivariate analysis was positively related to total plant chlorophyll change, but negatively related to lethality rate. In other hand, the UV-B responses of the other important cultivated buckwheat species, common buckwheat（Fagopyrum esculentum Moench.), were also studied preliminarily. Three widespread cultivated variety（Meigu, Qiaojia and Yunlong cultivars）were provided with five level of enhanced UV-B radiation outdoors. We observed that the crop growth, development and production were significantly decreased, and reproductive production, like anthotaxy number, seed number and seed setting ratio, was also decreased. Dose-dependent inhibition effect caused by enhanced UV-B radiation also existed in common buckwheat. Significant intraspecific difference existed in those three cultivars. The Meigu cultivars with dwarfed growth and lower production have highest UV-B tolerance as well as lowest damage in cell membrane, this could be associated with profound enhancements of glutathione reductase（GR）activity, ascorbate peroxidase activity and polyphenol oxidase activity as well as higher ascorbic acid concentration. The secondary metabolism was also affected by UV-B radiation, with profound elevation of coumarin compound and moderate increase of quercetin concentration. Rutin concentration was peaked in 5kJ m-2 UV-B. The contrasting effect of UV-B radiation on different populations indicated that there existed abundant genetic resources for selecting tolerant populations of common and tartary buckwheat. Much effort needed be pose on screening of buckwheat germplasm and clarification of mechanism of buckwheat tolerance to UV-B. On this base the tolerant cultivars could be bred by hybridization and other gene transfusion method, this would help increase buckwheat yield in high ambient UV-B region and counteract the effect of possible enhanced UV-B radiation in future.

基于辅助变量的森林半腐层厚度空间插值精度

基于地统计学方法,利用3种以海拔作为辅助变量的空间插值算法[局部平均的简单kriging法(simple kriging with locally varying mean,SKlm)、带有外部漂移的kriging法(krig-ing with an external drift,KED)和协kriging法(cokrging,COK)]计算了森林半腐层厚度的空间插值精度,并进行了交叉验证.结果表明:KED法既考虑了变量之间的空间变异,又考虑到影响局部空间变化的因素,与其他插值方法相比,其精度有很大提高;由于海拔与半腐层厚度之间的相关关系较弱,导致SKlm法的插值精度没有达到预期效果;COK法直接将海拔用于估计半腐层厚度,由于在边界地区缺乏采样点数据,因此边界地区的插值出现了多处突变区域.对比地统计学方法与距离反比权重法(inverse distance weighting,IDW)在本研究中的插值精度,除了KED方法的插值精度较高外,其余方法的插值精度均不及IDW,原因可能是利用辅助变量辅助地统计学插值时,主、辅助变量之间的相关关系在插值中起着重要作用.

Surface modelling of soil pH

In addition to classical methods, namely kriging, Inverse Distance Weighting (IDW) and splines, which have been frequently used for interpolating the spatial patterns of soil properties, a relatively more accurate surface modelling technique is being developed in recent years, namely high accuracy surface modelling (HASM). It has been used in the numerical tests, DEM construction and the interpolation of climate and ecosystem changes. In this paper, HASM was applied to interpolate soil pH for assessing its feasibility of soil property interpolation in a red soil region of Jiangxi Province, China. Soil pH was measured on 150 samples of topsoil (0-20 cm) for the interpolation and comparing the performance of HASM, kriging. IDW and splines. The mean errors (MEs) of interpolations indicate little bias of interpolation for soil pH by the four techniques. HASM has less mean absolute error (MAE) and root mean square error (RMSE) than kriging, IDW and splines. HASM is still the most accurate one when we use the mean rank and the standard deviation of the ranks to avoid the outlier effects in assessing the prediction performance of the four methods. Therefore, HASM can be considered as an alternative and accurate method for interpolating soil properties. Further researches of HASM are needed to combine HASM with ancillary variables to improve the interpolation performance and develop a user-friendly algorithm that can be implemented in a GIS package. (C) 2009 Elsevier B.V. All rights reserved.

Spatial distribution of soil heavy metal pollution estimated by different interpolation methods: Accuracy and uncertainty analysis

Mapping the spatial distribution of contaminants in soils is the basis of pollution evaluation and risk control. Interpolation methods are extensively applied in the mapping processes to estimate the heavy metal concentrations at unsampled sites. The performances of interpolation methods (inverse distance weighting, local polynomial, ordinary kriging and radial basis functions) were assessed and compared using the root mean square error for cross validation. The results indicated that all interpolation methods provided a high prediction accuracy of the mean concentration of soil heavy metals. However, the classic method based on percentages of polluted samples, gave a pollution area 23.54-41.92% larger than that estimated by interpolation methods. The difference in contaminated area estimation among the four methods reached 6.14%. According to the interpolation results, the spatial uncertainty of polluted areas was mainly located in three types of region: (a) the local maxima concentration region surrounded by low concentration (clean) sites, (b) the local minima concentration region surrounded with highly polluted samples; and (c) the boundaries of the contaminated areas. (C) 2010 Elsevier Ltd. All rights reserved.

加权模糊相对熵在电机转子故障模糊识别中的应用

提出了一种基于加权模糊相对熵的电机转子故障模糊识别方法。该方法将加权思想引入到模糊相对熵,用于识别电机转子故障严重程度。加权方法的引入增加了信息量丰富的符号区间的模糊相对熵占全部区间模糊相对熵的比重,可以更充分、合理地利用该区间的故障信息进行故障识别。电机转子断条故障诊断仿真实验结果表明,提出的方法有效地实现了电机故障的定量分析,能够准确地识别出电机转子故障的严重程度,使算法的鲁棒性得到了改善,故障分类的可靠性及准确程度得到了提高。

Global Translation Preferred Active Contour

具有全局平移优先属性的主动轮廓更适于目标跟踪。演化轮廓具有的全局平移优先性可以理解为沿轮廓的速度场具有相等的倾向。根据此思想,通过定义在曲线扰动集合上的新内积空间导出了一种简单,具有平移优先的梯度流。新的内积空间由于是通过向H0主动轮廓对应的內积空间引入曲线扰动的方差获得,所以此主动轮廓称为方差主动轮廓。方差主动轮廓是将H0主动轮廓与其对应的平均梯度流通过加权求和获得,而H1主动轮廓则是通过H0主动轮廓与特定类型的核函数进行卷积得到。因此方差主动轮廓实现时更简单和快速。最后给出了H0,H1和方差主动轮廓在频域与时域的分析。

基于障碍预估与概率方向权值的移动机器人动态路径规划

主要研究了移动机器人在未知动态环境中的路径规划问题.提出一种将障碍预估与概率方向权值相结合的动态路径规划新方法.该方法将卡尔曼滤波引入到规划算法中,使得对障碍物运动状态的实时有效预估成为可能.同时,为实现移动机器人的实时路径规划,提出一种新的概率方向权值方法,基于周期规划将障碍物与目标信息进行融合,能够有效处理室内环境下对于障碍物的速度和运动轨迹均未知的动态路径规划问题.仿真结果以及基于SmartROB2移动机器人平台所进行的实验结果验证了该方法的有效性和实用性.

基于多特征模糊聚类的图像融合方法

首先利用模糊C-均值聚类算法在多特征形成的特征空间上对图像进行区域分割,并在此基础上对区域进行多尺度小波分解;然后利用柯西函数构造区域的模糊相似度,应用模糊相似度及区域信息量构造加权因子,从而得到融合图像的小波系数;最后利用小波逆变换得到融合图像·采用均方根误差、峰值信噪比、熵、交叉熵和互信息5种准则评价融合算法的性能·实验结果表明,文中方法具有良好的融合特性·

避免误操作的遥协作模糊控制方法

现有的遥操作系统中普遍存在的问题是受环境、心理、生理等影响,操作者在遥操作机器人过程中可能由于误操作产生不可预料的后果.为了解决操作者误操作问题,提出对基于操作者通过选择操作手法得到的模糊操作量和对基于多传感器融合决策产生的模糊控制量采取加权和的遥协作模糊控制方法.以遥操作机械手臂为例,通过单纯由操作者、单纯由多传感器融合决策和遥协作模糊控制3种方法进行实验,验证所提出方法的合理性.