机器人化三腿磨削机床的研制

以钢坯修磨为实用目的研制的一台机器人化三腿机床，具有刚度大、负载能力强、机构简单、工作空间大、无运动耦合及奇异位形等优点，首次解决了钢坯局部修磨自动化问题，配以其它加工执行器还可实现多种工艺要求。建立了该机床的运动学逆、正解方程，对其工作空间和受力分析进行了介绍，并介绍了局部修磨自动化控制系统

并联机器人机床运动学正、逆解

基于一般ＳＴＥＷＡＲＴ机构研制的并联机器人机床是新一代智能化金属切削加工机床．然而，机床的运动学位置正、逆解呈强非线性，求解困难．出于机床精度的需要，本研究的模型样机在结构上采用了滚珠丝杠传动，因此又带来了关节运动耦合，导致机床运动学位置正、逆解求解更加复杂．利用运动学等效的原则，引入整机等效串联机构及分支等效串联机构，以等效广义坐标为中间变量建立机床运动学正、逆解求解迭代算法．仿真与控制实验表明，该算法具有收索速度快便于实际应用等特点。

基于运动耦合结构的并联机器人的运动学正逆解

根据运动学等效的原则，在并联机器人中引入等效串联机器人及分支等效串联机器人，以等效广义坐标为中间变量建立并联机器人运动学正道解求解算法。该算法能有效处理结构带来的运动耦合，并且规划的软件具有自动生成迭代初始点、避免多解性以及便于实际应用等特点，从而为并联机器人的结构设计与创新提供了理论支持。

一种四自由度并联机构的误差分析及其标定补偿

针对一种四自由度并联机构进行了运动学分析 ,在此基础上以摄动法建立了其误差模型 ,明确了各误差源对末端位姿的影响 .在对并联机构的标定技术进行简单介绍后 ,说明了对该机构误差模型中的机构参数进行标定的两种方法 ,介绍了标定装置、标定算法及标定过程 .最后采用Matlab对基于逆解的标定方法进行了仿真 ,并对仿真结果进行了分析 .

新第三纪红河盆地特征及红河断裂活动对其形成与发育的控制

Based on geodynamic analysis of sedimentary basins, combined sedimentology with structural geology and other methods, the author studied the Honghe basin located in Yunnan province of Southwestern China. Sandstone slice grain size analysis, combined with field geology and indoors study indicate that a set of inland alluvial fan diposits, fluvial deposites, delta deposits and some lacustrine sediments are in Honghe basin. Studying on shape of the Honghe basin, sedimentary and structural characteristic and distribution of different kinds of conglomerate and its structural significance, we hold the idea that the formation and evolution of Honghe basin are controlled by the activity of Red River faut. Correlation of lithostratic cross section in Honghe basin and studying on activity of Red River fault indicate that Honghe basin was formed in two stages. It is a complex basin constitutes of the first-stage trans-releasing basin and the second-stage trans-downfaulted basin. Due to the uplift of Qinghai-Xizang plateau and deformation of orogeny, the western Yunnan and adjacent area move to SE direction as a result of Tectonic Escape. Right lateral strike slip occurred along Red River fault, trans-releasing basin formed at the bend part of the fault due to stress relexation. As the block escaping, it moves away from the other block of the Red River fault, the upper block move down obliquely and trans-downfaulted basin formed. Combined the age of phytolite and regional structural events, we think the first-stage transreleasing basin was formed in late Miocene, on the other words, the dextral strike slip of Red River fault may began in late Miocene (10-7Ma). The second-stage trans-downfaulted basin may be formed in early stage of Pliocene (about 4.7Ma). Subsequently, the bilateral faults dipping to the inside of the plateau and thrusting outwards occurred in the marginal region of Qinghai-Xizang plateau during its uplifting as a fan-shaped mountain body, this results in the uplift of the strata to the east of Red River fault and supply large quantity of provenance for the Honghe basin. In last Pliocene (about 3Ma), strong uplift of Qinghai-Xizang plateau leads to massive clastic sediment entered Honghe basin and causes its closure. As a kind of trans-tentional basin, trans-releasing basin is different to pull-apart basin. The author compared the Mosha trans-releasing basin with Jinggu pull-apart basin in SW Yunan, China, and described their character correspondingly. Otherwise, the author combined the predecessors' studding with conclusion of own study, discussed the kinematics of Ailaoshan-Red River belt in Cenozoic, and the relationship between the formation of Honghe basin and uplifting of Qinghai-Xizang plateau.

西南天山托云盆地白垩-新生代古地磁结果及其构造意义

Western China is regarded as an assemblage of blocks or microplates. The India/Asia postcollisional kinematics of these blocks has attracted many geologists to pay attentions, especially on the geodynamics and intracontinental deformation of Tibetan and adjoining parts of central Asia. So far there are still many debates on the amount of continental shortening and extrusion within Western China blocks. Paleomagnetism plays a very important role in the paleogeographic reconstruction and depiction of kinematics of the blocks, however the unequilibrium of paleomagentic data obtained from Western China prevents paleomagnetists from studying the kinematics and intracontinental deformation on the Tibetan plateau and the central Asia. Moreover, shallower inclinations observed in the Cretaceous and Cenozoic terrestrial red sediments in central Asia makes it difficult to precisely estimate the northward convergence of Tibetan plateau and its adjacent areas since the onset of the Indian/Asian collision. In this thesis, detailed rock magnetic, chronological and paleomagnetic studies have been carried out on the Tuoyun Basin in the southwestern Tianshan to discuss the possible continental shortening and tectonic movements since the Cretaceous-Tertiary. Ar-Ar geochronological study has been conducted on the upper and lower basalt series from the Tuoyun Basin, yielding that the lower and upper basalt series were extruded during 115-113 Ma and 61.8-56.9 Ma, respectively. Both the age spectrum and inverse isochron show that the samples from the upper and lower basalt series have experienced no significant thermal events since extrusion of the baslts. Rock magnetic studies including temperature dependence of magnetization and susceptibility during a heating-cooling cycle from temperature up to 600 ℃ suggest that the baslt samples from the lower and upper basalt series are ferromagnetically predominant of magnetite and a subordinate hematite with a few sites of titanomagnetite. The predominant magnetic mineral of the intercalated red beds is magnetite and hematite. Anisotropy of magnetic susceptibility shows that both the baslts and the intercalated red beds are unlikely to have undergone significant strain due to compaction or tectonic stress since formation of the rocks. The stable characteristic remanent magnetization (ChRM) isolated from the most samples of the upper and lower basalt series and intercalated red beds, passes fold test at the 99% confidence level. Together with the geochronological results, we interpret the characteristic component as a primary magnetization acquired in the formation of rocks. Some sites from both the upper and lower basalts yielded shallower inclinations than the reference field computed from the Eurasia APW, we prefer to argue that these shallow inclinations might be related to geomagnetic secular variation, whereas the shallow inclination in the intercalated red beds is likely to be related to detrital remanent magnetization. Paleomagnetic results from the early Cretaceous-Paleogene basalts indicate that no significant N-S convergence has taken place between the Tuoyun Basin and the south margin of Siberia. Furthermore, the Cretaceous and Tertiary paleomagnetic results suggest that the Tuoyun Basin was subjected to a local clockwise rotation of 20°-30° with respect to Eurasia since the Paleocene time, which is probably subsequent to the Cenozoic northward compression of the Pamir arc.

库车坳陷-南天山盆山系统第三纪脆性构造研究

Study on the structural coupling relationship between basin and range is not only helpful to recognize the basin formation and evolution systematically, but also to guide petroleum exploration in the basin. As a late Paleozoic Orogen, the South Tianshan Mountains reactivated and uplifted rapidly during the Cenozoic, and led to the Mesozoic-Cenozoic considerable thick deposits in the Kuqa Depression. The researches of the dissertation were carried out in the Kuqa depression-South Tianshan M ountain s ystem, a nd t he b rittle m icrotectonics w. ere c hosen as t he m ost important object. Based on observations and measurements of the field, we made detailed investigations on the geometry and kinematics of this area, and analyzed the abutting and cutting relationships and relative sequence of many brittle structures, such as joint, shear fractures, faults and some small-scale structures related to them closely. According to those brittle fractures' relationships with stress, the nature and variation of regional palaeostress field during the Cenozoic were studied through inversion of fault slip data and inferring stress state from joint sequences. And the deformation time was estimated primarily via ESR dating of faulting. Results show that the stress field varies as well in times as in space. The maximal principal stress direction shifted from the vertical to the horizontal, and stress regime from weak extension to strong compression from the Paleogene to the Neogene regionally. During the late Neogene, the structural deformation of the South Tianshan and the basin-range boundary was dominated by near N-S extension, while near N-S compressive deformation in the interior of the Kuqa Depression. There exits obvious differential stress state from the north to the south. ESR dating of the faulting during the Cenozoic indicates that, the normal faulting in the north edge of the Kuqa Depression have been active all along from the Miocene to the early Pleistocene, but the thrusting and reverse faulting in the interior only been active from the Pliocene to the early Pleistocene. On the base of those geological data and some geophysical information and theoretical calculation results, we infer that, the different stress regime the basin-range system is ascribed to the vertical uplift of the Tianshan Mountain. It was the vertical uplift that lead to the gravity-driven gliding of thick layers lying on the faulted basement from the South Tianshan Mountain to the Kuqa depression, and to folding and thrusting in the interior and frontal of the Kuqa depression. Combining the structural evolution with petroleum geological conditions of the Kuqa Depression, we think that the strong compressive deformation of the Kuqa Depression during rapid uplifting of the Tianshan Mountains from the Pliocene to the early Pleistocene play crucial role in the structural trap formation and proliferous gas accumulation.

Community-based Data Validation Practices in Citizen Science

Technology-supported citizen science has created huge volumes of data with increasing potential to facilitate scientific progress, however, verifying data quality is still a substantial hurdle due to the limitations of existing data quality mechanisms. In this study, we adopted a mixed methods approach to investigate community-based data validation practices and the characteristics of records of wildlife species observations that affected the outcomes of collaborative data quality management in an online community where people record what they see in the nature. The findings describe the processes that both relied upon and added to information provenance through information stewardship behaviors, which led to improved reliability and informativity. The likelihood of community-based validation interactions were predicted by several factors, including the types of organisms observed and whether the data were submitted from a mobile device. We conclude with implications for technology design, citizen science practices, and research.

Modelling meso-scale diffusion processes in stochastic fluid bio-membranes

The space–time dynamics of rigid inhomogeneities (inclusions) free to move in a randomly fluctuating fluid bio-membrane is derived and numerically simulated as a function of the membrane shape changes. Both vertically placed (embedded) inclusions and horizontally placed (surface) inclusions are considered. The energetics of the membrane, as a two-dimensional (2D) meso-scale continuum sheet, is described by the Canham–Helfrich Hamiltonian, with the membrane height function treated as a stochastic process. The diffusion parameter of this process acts as the link coupling the membrane shape fluctuations to the kinematics of the inclusions. The latter is described via Ito stochastic differential equation. In addition to stochastic forces, the inclusions also experience membrane-induced deterministic forces. Our aim is to simulate the diffusion-driven aggregation of inclusions and show how the external inclusions arrive at the sites of the embedded inclusions. The model has potential use in such emerging fields as designing a targeted drug delivery system.

Revisited: the inertia tensor as a proprioceptive invariant in humans

A multitude of tasks that we perform on a daily basis require precise information about the orientation of our limbs with respect to the environment and the objects located within it. Recent studies have suggested that the inertia tensor, a physical property whose values are time- and co-ordinate-indepenclent, may be an important informational invariant used by the proprioceptive system to control the movements of our limbs (Pagano et al., Ecol. Psychol. 8 (1996) 43; Pagano and Turvey, Percept. Psychophys. 52 (1992) 617; Pagano and Turvey, J. Exp. Psychol. Hum. Percept. Perform. 21 (1995) 1070). We tested this hypothesis by recording the angular errors made by subjects when pointing to virtual targets in the dark. Close examination of the pointing errors made did not show any significant effects of the inertia tensor modifications on pointing accuracy. The kinematics of the pointing movements did not indicate that any on-line adjustments were being made to compensate for the inertia tensor changes. The implications of these findings with respect to the functioning of the proprioceptive system are discussed.

A dynamical neural network for hitting an approaching object

Besides making contact with an approaching ball at the proper place and time, hitting requires control of the effector velocity at contact. A dynamical neural network for the planning of hitting movements was derived in order to account for both these requirements. The model in question implements continuous required velocity control by extending the Vector Integration To Endpoint model while providing explicit control of effector velocity at interception. It was shown that the planned movement trajectories generated by the model agreed qualitatively with the kinematics of hitting movements as observed in two recent experiments. Outstanding features of this comparison concerned the timing and amplitude of the empirical backswing movements, which were largely consistent with the predictions from the model. Several theoretical implications as well as the informational basis and possible neural underpinnings of the model were discussed.

SN2014J gamma rays from the 56Ni decay chain

Context. The detection and measurement of gamma-ray lines from the decaychain of 56Ni provides unique information about the explosionin supernovae. SN2014J at 3.3 Mpc is a sufficiently-nearby supernova oftype Ia so that such measurements have been feasible with the gamma-rayspectrometer SPI on ESA's INTEGRAL gamma-ray observatory.

Aims:The 56Ni freshly produced in the supernova is understood topower the optical light curve, because it emits gamma rays upon itsradioactive decay first to 56Co and then to 56Fe.Gamma-ray lines from 56Co decay are expected to becomedirectly visible through the white dwarf material several weeks afterthe explosion, as they progressively penetrate the overlying material ofthe supernova envelope, which is diluted as it expands. The lines areexpected to be Doppler-shifted or broadened from the kinematics of the56Ni ejecta. We aim to exploit high-resolution gamma-rayspectroscopy with the SPI spectrometer on INTEGRAL toward constrainingthe 56Ni distribution and kinematics in this supernova.

Methods: We use the observations with the SPI spectrometer onINTEGRAL, together with an improved instrumental background method.

Results: We detect the two main lines from 56Co decay at847 and 1238 keV, which are significantly Doppler-broadened, and atintensities (3.65 ± 1.21) × 10-4 and (2.27± 0.69) × 10-4 ph cm-2s-1, respectively, at their brightness maximum. We measuretheir rise toward a maximum after about 60-100 days and a declinethereafter. The intensity ratio of the two lines is found to beconsistent with expectations from 56Co decay (0.62 ±0.28 at brightness maximum, the expected ratio is 0.68). We find thatthe broad lines seen in the late, gamma-ray transparent phase are notrepresentative of the early gamma-ray emission, and notice instead thatthe emission spectrum is complex and irregular until the supernova isfully transparent to gamma rays, with progressive uncovering of the bulkof 56Ni. We infer that the explosion morphology is notspherically symmetric, both in the distribution of 56Ni andin the unburnt material which occults the 56Co emission.After we compare light curves from different plausible models, theresulting 56Ni mass is determined to be 0.49 ± 0.09M⊙.

Diferença entre os géneros na análise cinemática e eletromiográfica do membro superior durante uma atividade diária de beber

As diferenças entre os géneros parecem surgir desde a origem da humanidade, quando a função do homem era caçar e da mulher fornecer cuidados às crianças e realizar trabalhos de cariz manual. O membro superior apresenta um papel primordial na execução da maioria das atividades relevantes para o ser humano, sendo pertinente a realização de avaliações mais objetivas do mesmo. Com a realização deste estudo pretendemos verificar se existem diferenças entre os géneros nos parâmetros eletromiográficos e cinemáticos do movimento durante uma atividade diária; perceber se os valores da eletromiografia e da cinemática do membro superior são dependentes do género à medida que a distância do objeto é alterada e ainda, levar a cabo a análise da atividade de beber. Para tal foram avaliados parâmetros de qualidade de movimento e parâmetros de recrutamento muscular em 15 indivíduos do género feminino e 15 indivíduos do género masculino com idades compreendidas entre os 18 e os 30 anos numa atividade de beber em três momentos diferentes. Para a análise cinemática foi utilizado o software Qualysis Motion Capture e para a análise eletromiográfica o software AcqKnowledge Analysis. Com os resultados obtidos constatamos que a percentagem de ativação muscular e os ângulos de flexão do ombro e flexão do cotovelo apresentam diferenças estatisticamente significativas (p<0.05) entre os géneros, sendo o grupo feminino a apresentar valores superiores. Aferiu-se também que a percentagem de ativação do músculo Deltoide Anterior parece ser influenciado pelo género (p<0.05) ao longo das três distâncias em estudo, sendo novamente o grupo feminino a apresentar valores superiores. Para além disto, aquando do movimento de alcançar, verificaram-se evidências estatísticas (p<0.05) do envolvimento do tronco em todas as distâncias de alcance do objeto, inclusive numa distância inferior ao comprimento do braço. Este estudo permitiu a descrição detalhada da eletromiografia e cinemática do movimento do membro superior de alcançar e transportar numa atividade diária, bem como uma comparação da mesma entre o grupo masculino e grupo feminino.

The Teggiolo zone: a key to the Helvetic-Penninic connection (stratigraphy and tectonics in the Val Bavona, Ticino, Central Alps)

The Teggiolo zone is the sedimentary cover of the Antigorio nappe, one of the lowest tectonic units of the Penninic Central Alps. Detailed mapping, stratigraphic and structural analyses, and comparisons with less metamorphic series in several well-studied domains of the Alps, provide a new stratigraphic interpretation. The Teggiolo zone is comprised of several sedimentary cycles, separated by erosive surfaces and large stratigraphic gaps, which cover the time span from Triassic to Eocene. At Mid-Jurassic times it appears as an uplifted, partially emergent block, marking the southern limit of the main Helvetic basin (the Limiting South-Helvetic Rise LSHR). The main mass of the Teggiolo calcschists, whose base truncates the Triassic-Jurassic cycles and can erode the Antigorio basement, consists of fine-grained clastic sediments analogous to the deep-water flyschoid deposits of Late Cretaceous to Eocene age in the North-Penninic (or Valais s.l.) basins. Thus the Antigorio-Teggiolo domain occupies a crucial paleogeographic position, on the boundary between the Helvetic and Penninic realms: from Triassic to Early Cretaceous its affinity is with the Helvetic; at the end of Cretaceous it is incorporated into the North-Penninic basins. An unexpected result is the discovery of the important role played by complex formations of wildflysch type at the top of the Teggiolo zone. They contain blocks of various sizes. According to their nature, three different associations are distinguished that have specific vertical and lateral distributions. These blocks give clues to the existence of territories that have disappeared from the present-day level of observation and impose constraints on the kinematics of early folding and embryonic nappe emplacement. Tectonics produced several phases of superimposed folds and schistosities, more in the metasediments than in the gneissic basement. Older deformations that predate the amplification of the frontal hinge of the nappe generated the dominant schistosity and the km-wide Vanzèla isoclinal fold.

Asymétries à la marche chez les adolescents atteints de scoliose idiopathique

La scoliose idiopathique de l’adolescence (SIA) est une pathologie de cause inconnue impliquant une déformation tridimensionnelle de la colonne vertébrale et de la cage thoracique. Cette pathologie affecte, entre autres, les vertèbres ainsi que les muscles paraspinaux. Ces composantes de la colonne vertébrale jouent un rôle important lors de la marche. Dix sujets témoins et neuf sujets SIA ont effectué dix essais de marche à vitesse normale sur un corridor de marche de dix mètres dans lequel était inséré deux plates-formes de force. De plus, un système de huit caméras (VICON) a permis de calculer les coordonnées tridimensionnelles des 30 marqueurs utilisés afin d’analyser la cinématique des sujets. Les variables faisant l’objet de cette étude sont les amplitudes totales, minimales et maximales des rotations des ceintures pelvienne et scapulaire dans les plans transverse et frontal de même que les coefficients de corrélation et de variation de ces segments. Des tests de Student ont été utilisés pour l’analyse statistique. Malgré le fait qu’aucune différence significative n’a été observée, dans aucun des plans, entre les amplitudes des rotations des ceintures pelvienne et scapulaire entre les groupes témoin et SIA, une différence significative en ce qui a trait aux minimums de rotations pelviennes et scapulaires, dans le plan transverse, a été observée. Cette différence suggère une asymétrie dans les rotations effectuées par ces segments à la marche à vitesse naturelle chez une population atteinte de SIA.