监控式水下机械手及相关技术的研究

水下机械手作为水下机器人通用作业工具得到广泛地应用，目前水下机械手的主要操作方式为主从方式。虽然主从方式具有操作直观，灵活的特点，但难于完成需要精确定位，轨迹控制的水下作用，如海洋石油钻井平台导管架的检查作用。为了扩展水下机器人的作业能力，提高水下作业智能化程度，沈阳自动化所承担国家863课题“水下虚拟遥操作与监控机械手系统”关键技术的研究工作。作者参加了此课题的研究工作，以Schilling水下机械手为研究对象，深入研究机械手的作用功能，对机械手的逆运动学，焊缝空间轨迹规划作了深入的研究，形成本文阐述的主要内容。由于Schilling水下机械手各关节之间的连接参数中存在多个偏距，其运动学逆解不能简单由解析方式给出。机械手进行控制与轨迹规划等操作必须找到一种快速求解的方法。本篇文章得出一种基于信赖域法的机械手运动学逆解算法。由于该算法具有收敛速度快的特点，故可以被应用于在线求解机械手运动学逆解；由于没有直接求解二阶导数，故不存在奇异解的问题。经理论分析和实验证明该方法在解决水下监控机械手在线跟踪水下结构物空间轨迹的技术问题具有较好的效果。作为课题的实际应用背景的导管架焊缝曲面为一复杂的空间曲面。为了实现课题的研究目标，本课题不仅要求解焊缝的轨迹，而且要给出其法线方向。对于这样一个问题，用空间解析几何和微分几何方法是很难求解的，本文给出了一种基于B样条参数曲面及曲面求交的方法，具有速度快，通用性强的优点。

On Interpreting Stereo Disparity

The problems under consideration center around the interpretation of binocular stereo disparity. In particular, the goal is to establish a set of mappings from stereo disparity to corresponding three-dimensional scene geometry. An analysis has been developed that shows how disparity information can be interpreted in terms of three-dimensional scene properties, such as surface depth, discontinuities, and orientation. These theoretical developments have been embodied in a set of computer algorithms for the recovery of scene geometry from input stereo disparity. The results of applying these algorithms to several disparity maps are presented. Comparisons are made to the interpretation of stereo disparity by biological systems.

Constructing extensions of CP-maps via tensor dilations with rhe help of von Neumann modules

Gohm, Rolf; Skeide, M., (2005) 'Constructing extensions of CP-maps via tensor dilations with rhe help of von Neumann modules', Infinite Dimensional Analysis, Quantum Probability and Related Topics 8(2) pp.291-305 RAE2008

Flat surfaces of finite type in the 3-sphere

We introduce the notion of flat surfaces of finite type in the 3- sphere, give the algebro-geometric description in terms of spectral curves and polynomial Killing fields, and show that finite type flat surfaces generated by curves on S2 with periodic curvature functions are dense in the space of all flat surfaces generated by curves on S2 with periodic curvature functions.

Hopf hypersurfaces in pseudo-Riemannian complex and para-complex space forms

The study of real hypersurfaces in pseudo-Riemannian complex space forms and para-complex space forms, which are the pseudo-Riemannian generalizations of the complex space forms, is addressed. It is proved that there are no umbilic hypersurfaces, nor real hypersurfaces with parallel shape operator in such spaces. Denoting by J be the complex or para-complex structure of a pseudo-complex or para-complex space form respectively, a non-degenerate hypersurface of such space with unit normal vector field N is said to be Hopf if the tangent vector field JN is a principal direction. It is proved that if a hypersurface is Hopf, then the corresponding principal curvature (the Hopf curvature) is constant. It is also observed that in some cases a Hopf hypersurface must be, locally, a tube over a complex (or para-complex) submanifold, thus generalizing previous results of Cecil, Ryan and Montiel.

Entanglement distribution with global control in a star-shaped multi-splitter

Distributed quantum information processing (QIP) is a promising way to bypass problems due to unwanted interactions between elements. However, this strategy presupposes the engineering of protocols for remote processors. In many of them, pairwise entanglement is a key resource. We study a model which distributes entanglement among elements of a delocalized network without local control. The model is efficient both in finite- and infinite-dimensional Hilbert spaces. We suggest a setup of electromechanical systems to implement our proposal.

Quantum nonlocality test for continuous-variable states with dichotomic observables

There have been theoretical and experimental studies on quantum nonlocality for continuous variables, based on dichotomic observables. In particular, we are interested in two cases of dichotomic observables for the light field of continuous variables: One case is even and odd numbers of photons and the other case is no photon and the presence of photons. We analyze various observables to give the maximum violation of Bell's inequalities for continuous-variable states. We discuss an observable which gives the violation of Bell's inequality for any entangled pure continuous-variable state. However, it does not have to be a maximally entangled state to give the maximal violation of Bell's inequality. This is attributed to a generic problem of testing the quantum nonlocality of an infinite- dimensional state using a dichotomic observable.

Entanglement between two superconducting qubits via interaction with nonclassical radiation

We propose a scheme to physically interface superconducting nanocircuits and quantum optics. We address the transfer of quantum information between systems having different physical natures and defined in Hilbert spaces of different dimensions. In particular, we investigate the transfer of the entanglement initially in a nonclassical state of an infinite dimensional system to a pair of superconducting charge qubits. This setup is able to drive an initially separable state of the qubits into an almost pure, highly entangled state suitable for quantum information processing.

Nonlinear excitations in electron-positron-ion plasmas in accretion disks of active galactic nuclei

The propagation of acoustic nonlinear excitations in an electron-positron-ion (e-p-i) plasma composed of warm electrons and positrons, as well as hot ions, has been investigated by adopting a two-dimensional cylindrical geometry. The electrons and positrons are modeled by hydrodynamic fluid equations, while the ions are assumed to follow a temperature-parametrized Boltzmann distribution (the fixed ion model is recovered in the appropriate limit). This situation applies in the accretion disk near a black hole in active galactic nuclei, where the ion temperature may be as high as 3 to 300 times that of the electrons. Using a reductive perturbation technique, a cylindrical Kadomtsev-Petviashvili equation is derived and its exact soliton solutions are presented. Furthermore, real situations in which the strength of the nonlinearity may be weak are considered, so that higher-order nonlinearity plays an important role. Accordingly, an extended cylindrical Kadomtsev-Petviashvili equation is derived, which admits both soliton and double-layer solutions. The characteristics of the nonlinear excitations obtained are investigated in detail

The Kitai criterion and backward shifts

It is proved that for any separable infinite dimensional Banach space X, there is a bounded linear operator T on X such that T satisfies the Kitai criterion. The proof is based on a quasisimilarity argument and on showing that I + T satisfies the Kitai criterion for certain backward weighted shifts T.

Decompositions of spaces of measures

Let M be the Banach space of sigma-additive complex-valued measures on an abstract measurable space. We prove that any closed, with respect to absolute continuity norm-closed, linear subspace L of M is complemented and describe the unique complement, projection onto L along which has norm 1. Using this fact we prove a decomposition theorem, which includes the Jordan decomposition theorem, the generalized Radon-Nikodym theorem and the decomposition of measures into decaying and non-decaying components as particular cases. We also prove an analog of the Jessen-Wintner purity theorem for our decompositions.

Positive dilations of piecewise monotonic Markov maps

We provide an explicit formula which gives natural extensions of piecewise monotonic Markov maps defined on an interval of the real line. These maps are exact endomorphisms and define chaotic discrete dynamical systems.

On the solvability of Hamilton's equations in Hilbert spaces

We construct a bounded function $H : l_2\times l_2 \to R$ with continuous Frechet derivative such that for any $q_0\in l_2$ the Cauchy problem $\dot p= - {\partial H\over\partial q}$, $\dot q={\partial H\over\partial p}$, $p(0) = 0$, q(0) = q_0$ has no solutions in any neighborhood of zero in R.