7自由度机器人的图谱问题

本文在分析、归纳、综合的基础上作出了7自由度机械臂的图谱.包括位置空间、奇异空间、回避障碍和回避奇异等问题.给出了一种普遍适用的方法.并介绍了该方法的使用,对7自由度机器人的结构设计和选型有一定的参考价值.

地球化学场的多重分形分析与分解

Geochemical and Geophysical anomaly play an important role in mineral exploration，their spatial structure character include singularity and self－similar。The singularity of an anomaly reflects the enrichment characters of the geochemical element ,The anomaly separation by multifractal model is useful in mineral anomaly assessment。In recent years, The continuous multifractal mode of the geochemical fields was studied ,it can be separated into the simple continuous multifractal mode and the high concentration multifractal mode, and the C－A、C－D、 S－A、MSDV、W－A method to decompose the anomaly were presented。Those are succeeded in interpretation of Geochemical and Geophysical anomaly。 This study makes a summarization to these method， we present a multifractal method based on wavelet transform to analyze the multifractal fields 。The singularity and spectrum are calculated through tracing the wavelet maximum modulus in different measure，and then the fields can be decomposed by the characters of the singularity。 It is demonstrated to be useful in interpretation of Au anomaly in Gekou－Shicheng region Rushang Shandong Province 。 Based on the multifractal theory , Using the concentration—area（C—A）method ,We study two geochemical fields in Chifeng area , Inner Mongolia。The results show that the geochemical fields have three different multifractal modes。Based on these ,we discuss the enrichment mode of the geochemical elements and their distributions in space and get the anomaly lower limit ,then the geochemical backgrounds、regional anomalies and local anomalies are distinguished

奇异性分析方法及其在储层预测中的应用研究

In research field of oil geophysical prospecting, reservoir prediction is refers to forecasting physical properties of petroleum reservoir by using data of seismic and well logging, it is a research which can guide oil field development. Singularities of seismic and logging data are caused by the heterogeneity of reservoir physical property. It's one of important methods that using singularity characteristics of seismic and logging data to study the reservoir physical property in recently. Among them, realization of reservoir quantitative prediction by analyzing singularity of the data and enhancing transition description of data is difficulty in method research. Based on wavelet transform and the fractal theory, the paper studied the singularity judgment criterion for seismic and logging data, not only analyzed quantitative relation between singularity data and reservoir physical property, but also applied it in practical reservoir prediction. The main achievements are: 1. A new method which provides singular points and their strength information estimation at only one single scale is proposed by Herrmann (1999). Based on that, the dissertation proposed modified algorithm which realized singularity polarity detection. 2. The dissertation introduced onset function to generalize the traditional geologic boundaries variations model which used singularity characteristics to represent the abruptness of the lithologic velocity transition. We show that singularity analysis reveals generic singularity information conducted from velocity or acoustic impedance to seismogram based on the convolution seismic-model theory. Theory and applications indicated that singularity information calculated from seismic data was a natural attribute for delineating stratigraphy boundaries due to its excellent ability in detecting detailed geologic features. We demonstrated that singularity analysis was a powerful tool to delineate stratigraphy boundaries and inverse acoustic impedance and velocity. 3. The geologic significances of logging data singularity information were also presented. According to our analysis, the positions of singularities indicate the sequence stratigraphic boundary, and there is subtle relationship between the singularity strength and sedimentary environment, meanwhile the singularity polarity used to recognize stratigraphic base-level cycle. Based on all those above, a new method which provided sedimentary cycle analysis based on the singularity information of logging data in multiple scales was proposed in this dissertation. This method provided a quantitative tool for judging interface of stratum sequence and achieved good results in the actual application.

基于广义Lippmann-Schwinger方程的地震波场模拟算法与应用

In the last several decades, due to the fast development of computer, numerical simulation has been an indispensable tool in scientific research. Numerical simulation methods which based on partial difference operators such as Finite Difference Method (FDM) and Finite Element Method (FEM) have been widely used. However, in the realm of seismology and seismic prospecting, one usually meets with geological models which have piece-wise heterogeneous structures as well as volume heterogeneities between layers, the continuity of displacement and stress across the irregular layers and seismic wave scattering induced by the perturbation of the volume usually bring in error when using conventional methods based on difference operators. The method discussed in this paper is based on elastic theory and integral theory. Seismic wave equation in the frequency domain is transformed into a generalized Lippmann-Schwinger equation, in which the seismic wavefield contributed by the background is expressed by the boundary integral equation and the scattering by the volume heterogeneities is considered. Boundary element-volume integral method based on this equation has advantages of Boundary Element Method (BEM), such as reducing one dimension of the model, explicit use the displacement and stress continuity across irregular interfaces, high precision, satisfying the boundary at infinite, etc. Also, this method could accurately simulate the seismic scattering by the volume heterogeneities. In this paper, the concrete Lippmann-Schwinger equation is specifically given according to the real geological models. Also, the complete coefficients of the non-smooth point for the integral equation are introduced. Because Boundary Element-Volume integral equation method uses fundamental solutions which are singular when the source point and the field are very close，both in the two dimensional and the three dimensional case, the treatment of the singular kernel affects the precision of this method. The method based on integral transform and integration by parts could treat the points on the boundary and inside the domain. It could transform the singular integral into an analytical one both in two dimensional and in three dimensional cases and thus it could eliminate the singularity. In order to analyze the elastic seismic wave scattering due to regional irregular topographies, the analytical solution for problems of this type is discussed and the analytical solution of P waves by multiple canyons is given. For the boundary reflection, the method used here is infinite boundary element absorbing boundary developed by a pervious researcher. The comparison between the analytical solutions and concrete numerical examples validate the efficiency of this method. We thoroughly discussed the sampling frequency in elastic wave simulation and find that, for a general case, three elements per wavelength is sufficient, however, when the problem is too complex, more elements per wavelength are necessary. Also, the seismic response in the frequency domain of the canyons with different types of random heterogeneities is illustrated. We analyzed the model of the random media, the horizontal and vertical correlation length, the standard deviation, and the dimensionless frequency how to affect the seismic wave amplification on the ground, and thus provide a basis for the choice of the parameter of random media during numerical simulation.

复杂裂隙岩体统计断裂本构关系与变形参数研究

Rock mass is widely recognized as a kind of geologic body which consists of rock blocks and discontinuities. The deformation and failure of rock mass is not only determined by rock block，but also by discontinuity which is virtually more important. Mutual cutting and combination of discontinuities controlled mechanical property of rock mass. The complex cutting of discontinuities determine the intense anisotropy on mechanical property of rock mass，especially under the effect of ground stress. Engineering practice has show that the brittle failure of hard rock always occurs when its working stress is far lower than the yield strength and compressive strength，the failure always directly related to the fracture propagation of discontinuities. Fracture propagation of discontinuities is the virtue of hard rock’s failure. We can research the rock mass discontinuous mechanical properties precisely by the methods of statistical analysis of discontinuities and Fracture Mechanics. According to Superposition Principle in Fracture Mechanics，A Problem or C Problem could be chosen to research. Problem A mainly calculates the crack-tip stress field and displacement field on internal discontinuities by numerical method. Problem C calculate the crack-tip stress field and displacement field under the assumption of that the mainly rock mass stress field has been known. So the Problem C avoid the complex mutual interference of stress fields of discontinuities，which is called crack system problem in Fracture Mechanics. To solve Problem C, field test on stress field in the rock mass is needed. The linear Superposition of discontinuities strain energies are Scientific and Rational. The difference of Fracture Mechanics between rock mass and other materials can mostly expression as：other materials Fracture Mechanics mostly face the problem A，and can’t avoid multi-crack puzzle, while the Rock mass Fracture Mechanics answer to the Problem C. Problem C can avoid multi-discontinuities mutual interference puzzle via the ground stress test. On the basis of Problem C, Fracture Mechanics could be used conveniently in rock mass. The rock mass statistics fracture constitutive relations, which introduced in this article, are based on the Problem C and the Discontinuity Strain Energy linear superposition. This constitutive relation has several merits: first, it is physical constitutive relation rather than empirical; second, it is very fit to describe the rock mass anisotropy properties; third, it elaborates the exogenous factors such as ground stress. The rock mass statistics fracture constitutive relation is the available approach to answer to the physical, anisotropic and ground stress impacted rock mass problems. This article stand on the foundation of predecessor’s statistics fractures constitutive relation, and improved the discontinuity distributive function. This article had derived the limitation of negative exponential distribution in the course of regression analysis, and advocated to using the two parameter negative exponential distribution for instead. In order to solve the problems of two-dimension stability on engineering key cross-sectional view in rock mass, this article derived the rock mass planar flexibility tensor, and established rock mass two-dimension penetrate statistics fracture constitutive relation on the basis of penetrate fracture mechanics. Based on the crack tip plasticity research production of penetrate fracture, for example the Irwin plasticity equifinality crack, this article established the way to deal with the discontinuity stress singularity and plastic yielding problem at discontinuity tip. The research on deformation parameters is always the high light region of rock mass mechanics field. After the dam foundation excavation of XiaoWan hydroelectric power station, dam foundation rock mass upgrowthed a great deal of unload cracks, rock mass mechanical property gotten intricacy and strong anisotropy. The dam foundation rock mass mostly upgrowthed three group discontinuities： the decantation discontinuity, the steep pitch discontinuity, and the schistosity plane. Most of the discontinuities have got partial unload looseness. In accordance with ground stress field data, the dam foundation stress field greatly non-uniform, which felled under the great impaction of tectonic stress field, self-weight stress field, excavation geometric boundary condition, and excavation, unload. The discontinuity complexity and stress field heterogeneity, created the rock mass mechanical property of dam foundation intricacy and levity. The research on the rock mass mechanics, if not take every respected influencing factor into consideration as best as we can, major errors likely to be created. This article calculated the rock mass elastic modulus that after Xiao Wan hydroelectric power station dam foundation gutter excavation finished. The calculation region covered possession monolith of Xiao Wan concrete double-curvature arch dam. Different monolith were adopted the penetrate fracture statistics constitutive relation or bury fracture statistics constitutive relation selectively. Statistics fracture constitutive relation is fit for the intensity anisotropy and heterogeneity rock mass of Xiao Wan hydroelectric power station dam foundation. This article had contrastive analysis the statistics fracture constitutive relation result with the inclined plane load test actual measurement elastic modulus and RMR method estimated elastic modulus, and find that the three methods elastic modulus have got greatly comparability. So, the statistics fracture constitutive relations are qualified for trust. Generally speaking，this article had finished following works based on predecessors job: “Argumentation the C Problems of superposition principle in Fracture Mechanics, establish two-dimension penetrate statistics fracture constitutive relation of rock mass, argue the negative exponential distribution limitation and improve it, improve of the three-dimension berry statistics fracture constitutive relation of rock mass, discontinuity-tip plastic zone isoeffect calculation, calculate the rock mass elastic modulus on two-dimension cross-sectional view”. The whole research clue of this article inherited from the “statistics rock mass mechanics” of Wu Faquan（1992）.

非均匀性对岩石破裂过程影响的研究

Rock heterogeneity plays an important role in rock fracturing processes. However, because fracturing is a dynamic process and it is very difficult to quantify materials' heterogeneity, most of the theories dealing with local failure were based on the homogeneity assumption, very few involving stress distribution heterogeneity and successive local failure due to rock heterogeneity. Therefore, based on various references, the author studied the laws and mechanism of influences of heterogeneity on rock fracturing processes, under the frame of the project "Study on Associate Mechanism between Rock Mass Fracture and Strength Failure", funded by Nation Natural Science Fund. the research consists of such aspects as size effect correction to rock fracture parameters, SEM (Scanning Electron Microscope) real-time observation on rock samples under different loads, micro-hardness testing, and numerical simulating based on microstructure. There are some important research results as followed: 1. Unifying formula for nonlinear and non-singularity correction, simplifying the complex process of correcting size effect on rock fracture toughness. 2. Using the methods of micro-hardness testing mineral grain and random jointing micrograph digitizing mineral slice, preliminarily solving the problems of numerical simulating and quantitatively describing the heterogeneous strength and its distribution rules, which has certain innovation and better practicability. 3. Based on SEM real-time observation, studying the micro-process of fracturing in marble, sandstone, granite, and mushroom stone samples with premanufactured cracks under tension, pure-shear and compression-shear conditions. Strength Failure was observed: there was some kind failure occurred before Fracture Failure in marble and sandstone samples with double cracks under pure-shearing. It is believed that the reason of strength failure developing is that stress concentrations is some locations are larger than that near the end of pre-manufactured cracks. 4. Based on the idea that rock macro-constitute is composed of complex microstructure, the promising method used to handle heterogeneity considers not only the heterogeneity of the rock medium, but also the heterogeneity of the rock structure. 5. Putting forward two types of rock strength failure: medium strength failure induced by heterogeneity of rock medium and structure strength failure induced by heterogeneity rock structure. 6. By evaluating potential fracture cell with proper failure priority, the numerical simulating method solved the problem of simulating the coextensive strength failure and fracture failure with convention strength failure rules. The result of numerical analysis shows that the influence of heterogeneity on rock fracturing processes is evident. The sinuosity of the rock fracture-propagation path, and the irregular fluctuation of loading displacement curve, is mainly controlled by the heterogeneity of rock medium.

ω循环型预条件矩阵及其应用

In this paper, we apply the preconditioned conjugate gradient method to the solution of positive-definite Toeplitz systems, especially we introduce a new kind of co-circulant preconditioners Pn[ca] by the use of embedding method. We have also discussed the properties of these new preconditioners and proved that many of former preconditioners can be considered as some special cases of Pn[co\. Because of the introduction of co-circulant preconditioners pn[a>], we can greatly overcome the singularity caused by circulant preconditioners. We have discussed the oo-circulant series and functions. We compare the ordinary circularity with the co-circularity, showing that the latter one can be considered as the extended form of the former one; correspondingly, many methods and theorems of the ordinary circularity can be extended. Furthermore, we present the co-circulant decompositional method. By the use of this method, we can divide any co-circulant signal into a summation of many sub-signals; especially among those sub-signals, there are many subseries of which their period is just equal to 1, which are actually the frequency elements of the original co-circulant signal. In this way, we can establish the relationship between the signal and its frequency elements, that is, the frequency elements hi the frequency domain are actually signals with the period of 1 in the spatial domain. We have also proved that the co-circulant has already existed in the traditional Fourier theory. By the use of different criteria for constructing preconditioners, we can get many different preconditioned systems. From the preconditioned systems PN[

人工源频率域大地电磁法正反演研究

The CSAMT method is playing an important role in the exploration of geothermal and the pre-exploration in tunnel construction project recently. In order to instruct the interpretation technique for the field data, the forward method from ID to 3D and inversion method in ID and 2D are developed in this paper for the artificial source magnetotelluric in frequency domain. In general, the artificial source data are inverted only after the near field is corrected on the basis of the assumption of half-homogeneous space; however, this method is not suitable for the complex structure because the assumption is not valid any more. Recently the new idea about inversion scheme without near field correction is published in order to avoid the near field correction error. We try to discuss different inversion scheme in ID and 2D using the data without near field correction.The numerical integration method is used to do the forward modeling in ID CSAMT method o The infinite line source is used in the 2D finite-element forward modeling, where the near-field effect is occurred as in the CSAMT method because of using artificial source. The pseudo-delta function is used to modeling the source distribution, which reduces the singularity when solving the finite-element equations. The effect on the exploration area is discussed when anomalous body exists under the source or between the source and exploration area; A series of digital test show the 2D finite element method are correct, the results of modeling has important significant for CSAMT data interpretation. For 3D finite-element forward modeling, the finite-element equation is derived by Galerkin method and the divergence condition is add forcedly to the forward equation, the forward modeling result of the half homogeneous space model is correct.The new inversion idea without near field correction is followed to develop new inversion methods in ID and 2D in the paper. All of the inversion schemes use the data without near field correction, which avoid introducing errors caused by near field correction. The modified grid parameter method and the layer-by-layer inversion method are joined in the ID inversion scheme. The RRI method with artificial source are developed and finite-element inversion method are used in 2D inversion scheme. The inversion results using digital data and the field data are accordant to the model and the known geology data separately, which means the inversion without near field correction is accessible. The feasibility to invert the data only in exploration area is discussed when the anomalous body exists between the source and the exploration area.

The Three-Dimensional Interpretation of a Class of Simple Line-Drawings

We provide a theory of the three-dimensional interpretation of a class of line-drawings called p-images, which are interpreted by the human vision system as parallelepipeds ("boxes"). Despite their simplicity, p-images raise a number of interesting vision questions: *Why are p-images seen as three-dimensional objects? Why not just as flatimages? *What are the dimensions and pose of the perceived objects? *Why are some p-images interpreted as rectangular boxes, while others are seen as skewed, even though there is no obvious distinction between the images? *When p-images are rotated in three dimensions, why are the image-sequences perceived as distorting objects---even though structure-from-motion would predict that rigid objects would be seen? *Why are some three-dimensional parallelepipeds seen as radically different when viewed from different viewpoints? We show that these and related questions can be answered with the help of a single mathematical result and an associated perceptual principle. An interesting special case arises when there are right angles in the p-image. This case represents a singularity in the equations and is mystifying from the vision point of view. It would seem that (at least in this case) the vision system does not follow the ordinary rules of geometry but operates in accordance with other (and as yet unknown) principles.

Asymptotic behaviour of the elastic solution near the tip of a crack situated at a nonideal interface

Mishuris, G; Kuhn, G., (2001) 'Asymptotic behaviour of the elastic solution near the tip of a crack situated at a nonideal interface', Zeitschrift f?r Angewandte Mathematik und Mechanik 81(12) pp.811-826 RAE2008

Nowe metody wyznaczania parametru asymetrii tensora gradientu pola elektrycznego w spektroskopii NQR i ich zastosowanie do badania układów nieuporządkowanych

Wydział Fizyki

Tracking Human Body Pose on a Learned Smooth Space

Particle filtering is a popular method used in systems for tracking human body pose in video. One key difficulty in using particle filtering is caused by the curse of dimensionality: generally a very large number of particles is required to adequately approximate the underlying pose distribution in a high-dimensional state space. Although the number of degrees of freedom in the human body is quite large, in reality, the subset of allowable configurations in state space is generally restricted by human biomechanics, and the trajectories in this allowable subspace tend to be smooth. Therefore, a framework is proposed to learn a low-dimensional representation of the high-dimensional human poses state space. This mapping can be learned using a Gaussian Process Latent Variable Model (GPLVM) framework. One important advantage of the GPLVM framework is that both the mapping to, and mapping from the embedded space are smooth; this facilitates sampling in the low-dimensional space, and samples generated in the low-dimensional embedded space are easily mapped back into the original highdimensional space. Moreover, human body poses that are similar in the original space tend to be mapped close to each other in the embedded space; this property can be exploited when sampling in the embedded space. The proposed framework is tested in tracking 2D human body pose using a Scaled Prismatic Model. Experiments on real life video sequences demonstrate the strength of the approach. In comparison with the Multiple Hypothesis Tracking and the standard Condensation algorithm, the proposed algorithm is able to maintain tracking reliably throughout the long test sequences. It also handles singularity and self occlusion robustly.

Max Stirner's relevance to contemporary philosophy: a critical analysis

The aim of this dissertation is to revive the 19th-century thinker Max Stirner’s thought through a critical reexamination of his mistaken legacy as a ‘political’ thinker. The reading of Stirner that I present is one of an ontological thinker, spurred on as much—if not more—by the contents of Hegel’s Phenomenology of Spirit as it is the radical roots that Hegel unintentionally planted. In the first chapter, the role of language in Stirner’s thought is examined, and the problems to which his conception of language seem to give rise are addressed. The second chapter looks at Stirner’s purportedly ‘anarchistic’ politics and finds the ‘anarchist’ reading of Stirner misguided. Rather than being a ‘political’ anarchist, it is argued that we ought to understand Stirner as advocating a sort of ‘ontological’ anarchism in which the very existence of authority is questioned. In the third chapter, I look at the political ramifications of Stirner’s ontology as well as the critique of liberalism contained within it, and argue that the politics implicit in his philosophy shares more in common with the tradition of political realism than it does anarchism. The fourth chapter is dedicated to an examination of Stirner’s anti-humanism, which is concluded to be much different than the ‘anti-humanisms’ associated with other, more famous thinkers, such as Foucault and Heidegger. In the fifth and final chapter, I provide an answer to the question(s) of how, if, and to what extent Friedrich Nietzsche was influenced by Stirner. It is concluded that the complete lack of evidence that Nietzsche ever read Stirner is proof enough to dismiss accusations of plagiarism on Nietzsche’s part, thus emphasizing the originality and singularity of both thinkers.

A Politics of the Unspeakable: The Differend of Israel

Israel's establishment in 1948 in former British-Mandate Palestine as a Jewish country and as a liberal democracy is commonly understood as a form of response to the Holocaust of WWII. Zionist narratives frame Israel's establishment not only as a response to the Holocaust, but also as a return to the Jewish people's original homeland after centuries of wandering in exile. Debates over Israel's policies, particularly with regard to Palestinians and to the country's non-Jewish population, often center on whether Israel's claims to Jewish singularity are at the expense of principles of liberal democracy, international law and universal human rights. In this dissertation, I argue that Israel's emphasis on Jewish singularity can be understood not as a violation of humanism's universalist frameworks, but as a symptom of the violence inherent to these frameworks and to the modern liberal rights-bearing subject on which they are based. Through an analysis of my fieldwork in Israel (2005-2008), I trace the relation between the figures of "Jew" and "Israeli" in terms of their historical genealogies and in contemporary Israeli contexts. Doing so makes legible how European modernity and its concepts of sovereignty, liberalism, the human, and subjectivity are based on a metaphysics of presence that defines the human through a displacement of difference. This displaced difference is manifest in affective expression. This dissertation shows how the figure of the Jew in relation to Israel reveals sexual difference as under erasure by the suppression of alterity in humanism's configuration of man, woman, and animal, and suggests a political subject unable to be sovereign or fully represented in language.

Semiclassical treatment of Wannier's theory when the exponent diverges

We consider a non-standard application of the Wannier model. A physical example is the single ionization of a hydrogenic beryllium ion with a fully stripped beryllium ion, where the ratio of the charge of the third particle to the charges of the escaping particles is 1/4; we investigate the single ionization by an electron of an atom comprising an electron and a nucleus of charge 1/4. An infinite exponent is obtained suggesting that this process is not tractable within the Wannier model. A modified version of Crothers' uniform semiclassical wavefunction for the outgoing particles has been adopted, since the Wannier exponents and are infinite for an effective charge of Z = 1/4. We use Bessel functions to describe the Peterkop functions u and u and derive a new turning point ?. Since u is well behaved at infinity, there exists only the singularity in u at infinity, thus we employ a one- (rather than two-) dimensional change of dependent variable, ensuring that a uniform solution is obtained that avoids semiclassical breakdown on the Wannier ridge. The regularized final-state asymptotic wavefunction is employed, along with a continuum-distorted-wave approximation for the initial-state wavefunction to obtain total cross sections on an absolute scale. © 2006 IOP Publishing Ltd.