装配机器人系统快速碰撞检测算法

提出一种面向操作手装配系统的快速碰撞检测算法。该算法以机器人运动学和空间解析几何为基础 ,将判断机械手手臂与障碍物是否发生碰撞问题转化为直线段与有界平面是否存在公共点的简单解析几何问题 ,并以 PU MA5 6 0操作手为例对算法加以说明。该算法不仅适用于静态的障碍物已知的环境 ,而且适用于障碍物运动规律已知的动态环境 ,减少了碰撞检测占用的时间 ,提高了路径规划的效率

一种测量深海应答器坐标的方法

提出一种适用于深海应答器坐标测量的方法:垂线相交法。这种方法利用立体几何原理,获得应答器坐标。即测量母船在距应答器适中的位置沿两条相互垂直的航迹航行,分别找到两条航迹上与应答器斜距最小的点,过这两个点在水平面上做两条垂线,交点的经纬度坐标就是应答器的经纬度坐标。分析了影响测量误差的重要因素,并提出测量原则以满足精度要求,使测量系统具有很好的鲁棒性。为提高测距精度,采用射线声学理论中的RRA算法对声线进行修正。仿真实验证明了垂线相交法的有效性。该测量方法对深度没有要求,简化了繁琐的现场操作和水声测量系统,具有很高的工程实用价值。

STL格式文件拓扑重建及快速切片算法研究

建立三角面片之间拓扑关系是提高分层切片效率的关键因素之一,提出基于标准模板库set容器的拓扑关系重建算法及快速切片算法,有效地去除了STL文件大量冗余数据,简化了数据的存储,该算法每一个三角面片在每一切平面内只求一次交点,切片完成后可直接得到封闭轮廓环,以减少在切片过程中对三角面片的遍历次数、排序次数及求交点计算量,简化了轮廓环的构造过程,从而有效地提高了算法的效率。

碳酸盐岩缝洞型储层地球物理响应特征及预测方法研究

Proven by the petroleum exploration activities, the karsts-fissure reservoir in carbonate rocks is significant to find out the large scale oil & gas field. They are made up of the four reservoir types: karsts-cave, karsts-crack, crack-cave and fracture-pore-cave. Each reservoir space and each reservoir bed has different features of reservoir heterogeneity and small scale of pore-crack-cave. The fracture-cave reservoir in carbonate rocks is characteristic by multi-types and long oiliness well. The reservoir shape is controlled by the irregular pore-crack-cave. The development level of fracture and karst-cave is the key element of hydrocarbon enriching, high productivity and stable production. However, most of Carbonate formation are buried deeply and the signal-ration-noise of seismic reflection are very low. It is reason why the fracture-cave reservoir are difficult to be predicted effectively. In terms of surveyed and studied lots of the former research outcome, The author applied the methods of synthetical reservoir geophysical prediction from two ways including macrosopic and microcomic technics in terms of the reservoir-cap condition, geophysics and geology feature and difficulty of prediction in carbonate rocks. It is guiden by the new ideas of stratigraphy, sedimentology, sedimentography, reservoir geology and karst geology. The geophysics technology is key technics. In aspects of macroscopic studies, starting off the three efficiencies of controlling the reservoir distribution including sedimental facies, karst and fracture, by means of comprehensive utilization of geology, geophysics, boring well and well log, the study of reservoir features and karst inside story are developed in terms of data of individual well and multiple well. Through establishing the carbonate deposition model, karstic model and fracture model, the macro-distribution laws of carbonatite are carried out by the study of coherence analysis, seismic reflection feature analysis and palaeotectonics analysis. In aspects of microcosmic studies, starting off analysis in reservoir geophysical response feature of fracture and karst-cave model according to guidance of the macroscopic geological model in carbonate reservoir, the methods of the carbonate reservoir prediction are developed by comprehensively utilization of seismic multi-attribution intersection analysis, seismic inversion restricted by log, seismic discontinuity analysis, seimic spectrum attenuation gradient, moniliform reflection feature analysis and multiparameter karst reservoir appraisement.Through application of carbonate reservoir synthetical geophysics prediction, the author r successfully develops the beneficial reservoir distribution province in Ordovician of Katake block 1in middle Tarim basin. The fracture-cave reservoir distributions are delineated. The prospect direction and favorable aims are demonstrated. There are a set of carbonate reservoir prediction methods in middle Tarim basin. It is the favorable basic technique in predicting reservoir of the Ordovician carbonate in middle Tarim. Proven by exploration drilling, the favorable region of moniliform reflection fracture and pore-cave and cave-fracture in lower-middle Ordovician are coincidence with the region of hydrocarbon show. It’s indicated that the reservoir prediction methods described in the study of Ordovician carbonate formation are feasible practicably.

小学儿童空间物体位置编码的实验研究

As a key issue in spatial cognitive developmental research, the coding of object location plays an important role in children's cognitive development. The development of location coding is a precondition for children's adaptation to their environments, and the development of corresponding ability could enhance children's adaptation ability and improve their synthetic diathesis. In this paper, under the improved paradigm of object searching, 7-, 9- and 11-year-olds of urban primary school students were involved in two studies including the total of four experiments. The children were examined upon the ability to encode target location in terms of the distance between two landmarks, three points on a line, the intersection of two lines, or the corresponding points on two parallel lines. The experiments were designed to explore the primary school children's cognitive developmental process upon spatial object location and the correlative restricting factors. From the studies, the following conclusions were drawn: 1)The ability of 7-year-olds to represent target location in terms of the relationships of points and lines is in the inceptive stage and appears unstable. Meanwhile, the same ability of 9-year-olds is in a state of fast developing. The 9-year-olds' performance depends on how difficult the task is. It is stable when task is easy while unstable when task becomes difficult. The ability of 11-year-olds reaches much-developed state and the group's performance is independent of the difficulty of tasks. 2) The correlate coefficient is significant between Raven Standard Inference ability levels and the performance of representing target location in terms of the relationships of points. Those children with good performance in Raven Standard Inference Test have good performance in target location coding. The case is true for all different age groups. As of the task in terms of the relationships of lines, the correlate coefficient between Raven Standard Inference ability levels and children's performance of representing target location is found significant only for the 7-year-olds' group. The case is not true for the groups of 9- and 11-year-olds. It is also found that the correlate coefficient is significant between the sum of performance and Raven Standard Inference ability levels, and that is true for all age groups. 3) Effects from task variable exist upon children's above-mentioned cognitive performance. The effects are different according to different difficulty levels of tasks. Also, they are different according to the different ages. 4) The subjects who failed in the 'no cues for encoding given' situation were able to improve their performances when the cues of encoding were given. Therefore it is possible to improve the primary school children's corresponding cognitive performance by providing the cues of encoding. 5) Two kinds of efficient strategies were used to solve the problem. They are trial-comparison strategy and anticipation-directed strategy.

Algebraic Functions For Recognition

In the general case, a trilinear relationship between three perspective views is shown to exist. The trilinearity result is shown to be of much practical use in visual recognition by alignment --- yielding a direct method that cuts through the computations of camera transformation, scene structure and epipolar geometry. The proof of the central result may be of further interest as it demonstrates certain regularities across homographies of the plane and introduces new view invariants. Experiments on simulated and real image data were conducted, including a comparative analysis with epipolar intersection and the linear combination methods, with results indicating a greater degree of robustness in practice and a higher level of performance in re-projection tasks.

Exploring Vision-Based Interfaces: How to Use Your Head in Dual Pointing Tasks

The utility of vision-based face tracking for dual pointing tasks is evaluated. We first describe a 3-D face tracking technique based on real-time parametric motion-stereo, which is non-invasive, robust, and self-initialized. The tracker provides a real-time estimate of a ?frontal face ray? whose intersection with the display surface plane is used as a second stream of input for scrolling or pointing, in paral-lel with hand input. We evaluated the performance of com-bined head/hand input on a box selection and coloring task: users selected boxes with one pointer and colors with a second pointer, or performed both tasks with a single pointer. We found that performance with head and one hand was intermediate between single hand performance and dual hand performance. Our results are consistent with previously reported dual hand conflict in symmetric pointing tasks, and suggest that a head-based input stream should be used for asymmetric control.

An Analog VLSI Chip for Estimating the Focus of Expansion

For applications involving the control of moving vehicles, the recovery of relative motion between a camera and its environment is of high utility. This thesis describes the design and testing of a real-time analog VLSI chip which estimates the focus of expansion (FOE) from measured time-varying images. Our approach assumes a camera moving through a fixed world with translational velocity; the FOE is the projection of the translation vector onto the image plane. This location is the point towards which the camera is moving, and other points appear to be expanding outward from. By way of the camera imaging parameters, the location of the FOE gives the direction of 3-D translation. The algorithm we use for estimating the FOE minimizes the sum of squares of the differences at every pixel between the observed time variation of brightness and the predicted variation given the assumed position of the FOE. This minimization is not straightforward, because the relationship between the brightness derivatives depends on the unknown distance to the surface being imaged. However, image points where brightness is instantaneously constant play a critical role. Ideally, the FOE would be at the intersection of the tangents to the iso-brightness contours at these "stationary" points. In practice, brightness derivatives are hard to estimate accurately given that the image is quite noisy. Reliable results can nevertheless be obtained if the image contains many stationary points and the point is found that minimizes the sum of squares of the perpendicular distances from the tangents at the stationary points. The FOE chip calculates the gradient of this least-squares minimization sum, and the estimation is performed by closing a feedback loop around it. The chip has been implemented using an embedded CCD imager for image acquisition and a row-parallel processing scheme. A 64 x 64 version was fabricated in a 2um CCD/ BiCMOS process through MOSIS with a design goal of 200 mW of on-chip power, a top frame rate of 1000 frames/second, and a basic accuracy of 5%. A complete experimental system which estimates the FOE in real time using real motion and image scenes is demonstrated.

A System for Representing and Using Real-World Knowledge

This report describes a knowledge-base system in which the information is stored in a network of small parallel processing elements ??de and link units ??ich are controlled by an external serial computer. This network is similar to the semantic network system of Quillian, but is much more tightly controlled. Such a network can perform certain critical deductions and searches very quickly; it avoids many of the problems of current systems, which must use complex heuristics to limit and guided their searches. It is argued (with examples) that the key operation in a knowledge-base system is the intersection of large explicit and semi-explicit sets. The parallel network system does this in a small, essentially constant number of cycles; a serial machine takes time proportional to the size of the sets, except in special cases.

Motion Planning with Six Degrees of Freedom

The motion planning problem is of central importance to the fields of robotics, spatial planning, and automated design. In robotics we are interested in the automatic synthesis of robot motions, given high-level specifications of tasks and geometric models of the robot and obstacles. The Mover's problem is to find a continuous, collision-free path for a moving object through an environment containing obstacles. We present an implemented algorithm for the classical formulation of the three-dimensional Mover's problem: given an arbitrary rigid polyhedral moving object P with three translational and three rotational degrees of freedom, find a continuous, collision-free path taking P from some initial configuration to a desired goal configuration. This thesis describes the first known implementation of a complete algorithm (at a given resolution) for the full six degree of freedom Movers' problem. The algorithm transforms the six degree of freedom planning problem into a point navigation problem in a six-dimensional configuration space (called C-Space). The C-Space obstacles, which characterize the physically unachievable configurations, are directly represented by six-dimensional manifolds whose boundaries are five dimensional C-surfaces. By characterizing these surfaces and their intersections, collision-free paths may be found by the closure of three operators which (i) slide along 5-dimensional intersections of level C-Space obstacles; (ii) slide along 1- to 4-dimensional intersections of level C-surfaces; and (iii) jump between 6 dimensional obstacles. Implementing the point navigation operators requires solving fundamental representational and algorithmic questions: we will derive new structural properties of the C-Space constraints and shoe how to construct and represent C-Surfaces and their intersection manifolds. A definition and new theoretical results are presented for a six-dimensional C-Space extension of the generalized Voronoi diagram, called the C-Voronoi diagram, whose structure we relate to the C-surface intersection manifolds. The representations and algorithms we develop impact many geometric planning problems, and extend to Cartesian manipulators with six degrees of freedom.

A velocity map ion-imaging study on ketene photodissociation at 208 and 213 nm: Rotational dependence of product angular anisotropy

Photodissociation dynamics of ketene following excitation at 208.59 and 213.24 nm have been investigated using the velocity map ion-imaging method. Both the angular distribution and translational energy distribution of the CO products at different rotational and vibrational states have been obtained. No significant difference in the translational energy distributions for different CO rotational state products has been observed at both excitation wavelengths. The anisotropy parameter beta is, however, noticeably different for different CO rotational state products at both excitation wavelengths. For lower rotational states of the CO product, beta is smaller than zero, while beta is larger than zero for CO at higher rotational states. The observed rotational dependence of angular anisotropy is interpreted as the dynamical influence of a peculiar conical intersection between the B-1(1) excited state and (1)A(2) state along the C-S-I coordinate.

Caratterizzazione geo-petrografica, petrologica e geochimica di rocce anatettiche del nord Sardegna

The High Grade Metamorphic Complex (HGMC) of Variscan basement of north Sardinia is characterized by the widespread of migmatites. This study is focused on two localities of NE Sardinia (Porto Ottiolu and Punta Sirenella) where ortho- and para-derivates migmatites outcrop. A geological and structural survey was carried out, leading to the realization of a geological schematic map of Punta Sirenella area. Several samples of different rocks were collected for petrographic, micro-structural minero-chemical and geochemical analyses. In the Porto Ottiolu area three main deformation phases have been identified; D1, characterized by tight folds with sub-horizontal axes, rarely preserved in paragneisses; D2, that produce a pervasive foliation oriented N100° 45°SW marked by biotite and sillimanite blastesis and locally transposed by shear zone oriented N170°; D3, late deformation phase caused symmetric folds with sub-horizontal axes with no axial plane schistosity. Leucosomes form pods and layers along S2 schistosity but also leucosomes along shear zones have been observed. In the Punta Sirenella area, three main deformation phases have been identified; D1, is manifested by the transposition of centimeter-sized leucosomes and is rarely observed in paragneisses were produce open folds with sub-vertical axes; D2, NW-SE oriented on whose XY plane three mineralogical lineation (quartz+plagioclase, fibrolite+quarz and muscovite) lie; D3, a ductile-brittle deformation phase that produce a mylonitc S3 foliation that locally become the most evident schistosity in the field oriented N140° steeply dipping toward NE. In both areas, leucosomes of sedimentary-derived migmatites are generally trondhjemitic pointing out for a H2O fluxed melting reaction, but also granitic leucosomes have been found, produced by muscovite dehydration melting. Leucosomes of migmatitic orthogneiss instead, have granitic compositions. Migmatization started early, during the compressional and crustal thickening (sin-D1, pre-D2) and was still active during exhumation stage. For each studied outcrop of migmatite pseudosections for the average mesosome composition have been calculated; these pseudosections have been used to model the P-T conditions of anatexis on the basis of the melt volume (%) of melt, Si/Al and Na/K molar ratios, modal content of garnet and Si content in metamorphic white mica. Further pseudosections have been calculated for the average composition of leucosomes in order to define the P-T conditions of the end of the crystallization through intersection of solidus curve and isopleths of Si content in white mica and/or XMg ratio in biotite. Thermodynamic modeling on ortho- and sedimentary-derived migmatites of Punta Sirenella yield P-T conditions of 1.1-1.3 GPa - 670-740°C for migmatitic event and 0.75-0.90 GPa - 660-730°C for the end of crystallization. These conditions are fit well with previous studies on adjacent rocks. Modeling of Porto Ottiolu ortho- and sedimentary-derived migmatites yield P-T conditions of 0.85-1.05 GPa - 690-730°C for migmatitic event and 0.35-0.55 GPa - 630-690°C strongly affected by re-equilibration during exhumation, expecially for crystallization conditions. Geochemical analyses of samples belonging to Porto Ottiolu and Punta Sirenella orthogneisses show a strong link with those of other orthogneisses outcropping in NE Sardinia (for instance, Lode-Mamone and Golfo Aranci) that are considered the intrusive counterparts of middle-Ordovician metavolcanics rocks outcropping in the Nappe Zone. Thus, the studied ortogneiss bodies, even lacking radiometric data, can be considered as belonging to the same magmatic cycle.

The Kosovo Bombing Campaign

Wheeler, Nicholas. 'The Kosovo Bombing Campaign', In: The Politics of International Law, C. Reus-Smit (Ed.), (Cambridge Studies in International Relations 96. Cambridge University Press, 2004), pp. 189-216, 2004. 1. Introduction Christian Reus-Smit; 2. The politics of international law Christian Reus-Smit; 3. When states use armed force Dino Kritsiotis; 4. Soft law, hard politics, and the Climate Change Treaty Robyn Eckersley; 5. Emerging customary norms, and anti-personnel landmines Richard Price; 6. International law, politics, and migrant rights Amy Gurowitz; 7. The International Criminal Court David Wippman; 8. The Kosovo bombing campaign Nicholas Wheeler; 9. International financial institutions Antony Anghie; 10. Law, politics, and international governance Wayne Sandholtz and Alec Stone Sweet; 11. Socety, power, and ethics Christian Reus-Smit. RAE2008

Radio tomography: A new experimental technique

Pryse, Sian, 'Radio tomography: A new experimental technique', Surveys in Geophysics (2003) 24 pp.1-38 RAE2008

Gestão construtiva de conflitos em contexto de saúde

Dissertação apresentada à Universidade Fernando Pessoa como parte dos requisitos para a obtenção do grau de Mestre em Psicologia, ramo de Psicologia Clínica e da Saúde