一种星球探测系统多机器人通信机制研究

分析了一种可重构星球探测系统中多机器人通信的特点.根据多机器人系统的功能要求,在TDMA(时分多址)分时共享信道原理和击鼓传花机制的启发下,提出了一种新颖的多机器人无线通信机制.详细介绍了该通信机制和通信协议.仿真和通信实验同时验证了该机制的可行性和实用性.

可重构机器人体系结构及模块化控制系统的实现

本文提出了一种适用于新型可重构星球机器人的模块化控制系统,根据机构和运动特性,基于CAN总线和分布式控制器技术,将系统结构和功能分解成不同模块由各自的控制器独立执行,建立具有任务层和运动层的分层次控制结构,实现了组合式规划、分布式控制的混合式控制方法。本文设计了两种不同的控制器,并采用PPG脉冲宽度调节方法实现了对在机器人上使用的R/C电机的标定和控制。通过在子机器人原理样机上进行实验,验证了这套控制系统和控制体系结构的可行性。

可重构星球探测机器人控制系统的设计与实现

介绍了一种新型可重构星球探测机器人系统.基于这种机器人功能和结构的分解特点,设计了模块化控制系统,使用CAN总线技术作为模块间主要通讯方式.提出了控制原理和集中式控制算法,有效地实现了一台子机器人在不同模式状态下自主运动和操作的控制,并通过原理样机实验验证了这套控制系统的可行性.

可重构星球探测机器人的机构设计

基于可重构思想设计了一种可重构星球探测机器人系统。系统由一个母体和几个子机器人组成,其中子机 器人包括车轮和手臂两部分,可以作为独立作业的机器人,具有移动状态和工作状态两种模式。子机器人具有在 一个驱动力作用下处于不同约束环境中时,表现为不同形式输出的特点,容易实现两种模式下的灵活运动。并深 入研究了机构参数对子机器人运动的影响,用试验和仿真进行了验证,这为机器人的参数化设计及运动中的参数 化调整提供了重要的理论依据。

可重构星球探测机器人的运动学建模及轨迹规划

提出了可重构星球探测机器人的概念,对系统中子机器人的研究进行了重点论述.通过设计恰当的子机器人连杆坐标系,利用Denavit Hartenberg方法完成了子机器人的运动学建模,并直接给出了子机器人的运动学正解模型.由于使用单一的求解算法不能求出工作空间的封闭解,因此综合利用代数法、几何法原理及空间投影关系,结合子机器人的结构特殊性推导出了运动学逆解,从而得到了工作空间内的所有解.在此基础上,考虑结构间的约束关系,给出了子机器人的工作空间及轨迹规划方法.最后,使用OpenGL对设计的子机器人系统进行了运动学仿真实验,实验以末端操作器的直线运动为例,充分考虑空间几何的关系,其结果有效地证明了建模及轨迹规划的正确性.

可重构星球探测机器人的OpenGL仿真实验平台研究

采用基于Visual C++和OpenGL的建模和运动仿真方法,对可重构星球探测机器人系统的三维运动仿真实验平台进行了研究,建立了一个多机器人系统的仿真实验平台。开发的实验平台可用于探索和验证机器人系统的工作原理、工作空间、多机器人协调算法、重构方法、系统集成技术等。在该平台上进行了机器人的运动学仿真和协调运动研究,验证了该仿真平台的有效性和机器人系统体系结构的合理性。

可重构星球探测机器人的空间对接研究

提出了以改装后的位置敏感传感器来引导机器人完成自动对接的方法,分析了具体工作原理。对可重构星球探测机器人在运动模式下完成对接的两种姿态进行了比较,分别用一般方法和改进后的规划方法计算出了对接工作空间,比较结果说明,机器人在运动模式下三角边着地有利于完成自动对接。对工作模式机器人在工作空间内的运动进行了静力学分析,分析结果表明,机器人在工作空间内可以自由运动。用VC和OpenGL搭建的平台对空间对接进行了仿真试验,试验结果验证了对接工作空间计算的正确性和完成空间自动对接的可能性。

地幔压力下CaSiO3 Perovskite状态方程和弹性常数的第一性原理研究

In the past decade density functional theory (DFT) has made its way from a peripheral position in quantum chemistry to center. Of course the often excellent accuracy of the DFT based methods has provided the primary driving force of this development. This dissertation is devoted to the study of physical and chemical properties of planetary materials by first-principle calculation. The concerned properties include the geometry, elastic constants and anisotropy. In the first chapter, we give a systematic introduction to theoretical background and review its progress. Development of quantum chemistry promotes the establishment of DFT. Theorem of Hohenberg-Kohn is the fundament of DFT and is developed to Kohn-Sham equation, which can be used to perform real calculations. Now, new corrections and extensions, together with developed exchange-correlation, have made DFT more accurate and suitable for larger systems. In the second chapter, we focus on the calculational methods and technical aspects of DFT. Although it is important to develop methods and program, external package are still often used. At the end of this chapter, we briefly some widely used simulation package and the application of DFT. In the third chapter, we begin to focus on properties of real materials by first principles calculation. We study a kind of minerals named Ca perovskite, investigate its possible structure and anisotropy at Earth’s mental condition. By understanding and predicting geo-physically important materials properties at extreme conditions, we can get the most accurate information to interpret seismic data in the context of likely geophysical processes.

太阳辐射对热层和电离层变化性的影响

Solar ultraviolet (UV) radiation at wavelengths less than 400 nm is an important source of energy for aeronomic processes throughout the solar system. Solar UV photons are absorbed in planetary atmospheres, as well as throughout the heliosphere, via photodissociation of molecules, photoionization of molecules and atoms, and photoexcitation toexcitation including resonance scattering. In this paper, the solar irradiances data measured by TIMED SEE, as well as the solar proxies such as F10.7 and Mg II, thermosphere neutral density of CHAMP measurements and topside ionospheric plasmas densities from DMSP, are used to analyze solar irradiance effects on the variabilities of the thermosphere and the ionosphere. First, thermosphere densities near 410 km altitude are analyzed for solar irradiance variability effects during the period 2002-2004. Correlations between the densities and the solar irradiances for different spectral lines and wavelength ranges reveal significantly different characteristics. The density correlates remarkably well with all the selected solar irradiances except the lower chromospheric O I (130.4 nm) emission. Among the chosen solar proxies, the Mg II core-to-wing ratio index, EUV (30-120 nm) and F10.7 show the highest correlations with the density for short-term (< ~27 days) variations. For both long- (> ~27 days) and short-term variations, linear correlation coefficients exhibit a decreasing trend from low latitudes towards high latitudes. The density variability can be effectively modeled (capturing 71% of the variance) using multiple solar irradiance indices, including F10.7, SEUV (the EUV 30-120 nm index), and SFUV (the FUV 120-193 nm index), in which a lag time of 1 day was used for both F10.7 and SEUV, and 5 days for SFUV. In our regression formulation SEUV has the largest contribution to the density variation (40%), with the F10.7 having the next largest contribution (32%) and SFUV accounting for the rest (28%). Furthermore, a pronounced period of about 27.2 days (mean period of the Sun's rotation) is present in both density and solar irradiance data of 2003 and 2004, and a pronounced period of about 54.4 days (doubled period of the solar rotation) is also revealed in 2004. However, soft X-ray and FUV irradiances did not present a pronounced 54.4 day period in 2004, in spite of their high correlation with the densities. The Ap index also shows 54-day periodicities in 2004, and magnetic activity, together with solar irradiance, affects the 54-day variation in density significantly. In addition, NRLMSISE00, DTM-2000 and JB2006 model predictions are compared with density measurements from CHAMP to assess their accuracy, and the results show that these models underestimate the response of the thermosphere to variations induced by solar rotation. Next, the equatorial topside ionospheric plasmas densities Ni are analyzed for solar irradiance variability effects during the period 2002-2005. Linear correlations between Ni and the solar irradiances for different wavelength ranges reveal significantly different characteristics. XUV (0-35 nm) and EUV (115-130 nm) show higher correlation with Ni for the long-term variations, whereas EUV (35-115 nm) show higher correlation for the short-term variations. Moreover, partial correlation analysis shows that the long-term variations of Ni are affected by both XUV (0-35 nm) and EUV (35-115 nm), whereas XUV (0-35 nm) play a more important role; the short-term variations of Ni are mostly affected by EUV (35-115 nm). Furthermore, a pronounced period of about 27 days is present in both Ni and solar irradiance data of 2003 and 2004, and a pronounced period of about 54 days is also revealed in 2004. Finally, prompted by previous studies that have suggested solar EUV radiation as a means of driving the semiannual variation, we investigate the intra-annual variation in thermosphere neutral density near 400 km during 2002-2005. The intra-annual variation, commonly referred to as the ‘semiannual variation’, is characterized by significant latitude structure, hemispheric asymmetries, and inter-annual variability. The magnitude of the maximum yearly difference, from the yearly minimum to the yearly maximum, varies by as much as 60% from year to year, and the phases of the minima and maxima also change by 20-40 days from year to year. Each annual harmonic of the intra-annual variation, namely, annual, semiannual, ter-annual and quatra-annual, exhibits a decreasing trend from 2002 through 2005 that is correlated with the decline in solar activity. In addition, some variations in these harmonics are correlated with geomagnetic activity, as represented by the daily mean value of Kp. Recent empirical models of the thermosphere are found to be deficient in capturing most of the latitude dependencies discovered in our data. In addition, the solar flux and geomagnetic activity proxies that we have employed do not capture some latitude and inter-annual variations detected in our data. It is possible that these variations are partly due to other effects, such as seasonal-latitudinal variations in turbopause altitude (and hence O/N2 composition) and ionosphere coupling processes that remain to be discovered in the context of influencing the intra-annual variations depicted here. Our results provide a new dataset to challenge and validate thermosphere-ionosphere general circulation models that seek to delineate the thermosphere intra-annual variation and to understand the various competing mechanisms that may contribute to its existence and variability. We furthermore suggest that the term “intra-annual” variation be adopted to describe the variability in thermosphere and ionosphere parameters that is well-captured through a superposition of annual, semiannual, ter-annual, and quatra-annual harmonic terms, and that “semiannual’ be used strictly in reference to a pure 6-monthly sinusoidal variation. Moreover, we propose the term “intra-seasonal” to refer to those shorter-term variations that arise as residuals from the above Fourier representation.

黄铁矿热转变过程的岩石磁学研究

Pyrite is the most stable iron-sulfide in reduced environment, and plays an important role in geochemical iron-sulfur cycling of sediments. Thus, the presence of pyrite in sediments and rocks is an important indicator of sedimentary environments. Previous studies on the thermal products of pyrite showed that all of the products (e.g., pyrrhotite, magnetite, hematite) have strong capability of carrying remanence. To deepen our understanding of the environmental and paleomagnetic significances of pyrite, the mineral transformation processes of pyrite upon heating were systematically investigated in this study using intergrated rock magnetic experiments (in both argon and air atmospheres) and X-ray diffraction analysis. The room temperature susceptibility of the paramagnetic pyrite is about 2.68×10-5 SI. In argon atmosphere (reducing environment), pyrite was transformed into monoclinic stable single domain (SD) pyrrhotite above 440 C. The corresponding coercive force and remanence coercivity are about 20 mT and 30 mT, respectively. In contrast, in air atmosphere (oxidation environment), the intermediate thermal products of pyrite are magnetite and pyrrhotite, which were quickly further oxidated to SD hematite, which has coercivity of about 1400 mT. In addition, the hematite particles gradually grow from SD to PSD grain size region by multiple heating runs. The transformation processes of pyrite in oxidation atomosphere can be interpreted by three possible pathways: (1) pyrite→magnetite→hematite; (2) pyrite→pyrrhotite→magnetite→hematite; and (3) pyrite→pyrrhotite→hematite. Low-temperature magnetic experiments show no transitions for pyrite. Despite that low-temperature magnetic method is not suitable for identification of pyrite, it is clear in this study that the high-temperature thermomagnetic measurements (e.g.,  -T and J-T curves) are very sensitive to the presence of pyrite in sediments and rocks. Nevertheless, for the thermal treatment products, low-temperature magnetic measurements showed the 34 K transition of pyrrhotite and the 250 K Morine transition of hematite. Iron-sulfide has also been found on Martian meteorolites by other workers. Therefore, systematic study of rock magnetism of pyrite (and other iron-sulfides) and their products will have great significances for both paleomagnetism and planetary magnetism.

地磁场的长期变化

In this paper, we studied the secular variations of the main geomagnetic field during 1900-2000 in details. Emphasis is put on three aspects of the secular variations, i.e. westward drifts and intensity variations of non-dipole part, the decay of the dipole field. Firstly, we introduced the method of correlation analysis of moving random pattern into Geomagnetism in order to overcome the weakness of available methods on westward drift studies. We had committed testing and modifying the method, and analyzed the westward drifts and intensity variations of the non-dipole parts of geomagnetic field and 6 planetary-scale geomagnetic anomalies by this way. The globe and area characters of the westward drifts and intensity variations were discussed in detail. Second, the lat-dependence and dispersion of drift velocities were examined carefully. The results showed the velocities of the different wavelengths (from m = 1 to m = 10) geomagnetic potential were changing with the latitude. The lat-dependence of drift velocities is related to the latitude distributing of the geomagnetic potential. There was a negative dispersion in the westward drift, namely, the components of long wavelength drift faster than that of short wavelengths. Finally, we calculated the moments of the geomagnetic dipole, and found that the intensity of the dipole fields has been decreasing. Linking to the results in paleomagnetism, we draw a conclusion that the geomagnetic polarities may be reversed in 700 years.

亚洲地形和海陆分布变化对东亚环境格局形成演化的作用：数值模拟与地质记录对比

Earlier studies on the distribution of geological environmental indicators in China revealed drastic changes from a zonal climate pattern (planetary-wave-dominant pattern) in the Paleogene to a monsoon-dominant one in the Neogene, which suggested an inception of the initial East-Asian summer monsoon. However, there are different views about the time and causes of the changes.Here, we attempt to compile a series of paleoenvironmental maps based on newly collected climate indicators from the literatures and chronologically constrained evidence of geological maps in order to re-examine the temporal and spatial evolution of climate belts in China during the Cenozoic with special emphasis on the changes of the arid belt. These indicators include mammalian fauna, coal, carbonate concretions, jarosite, salt, gypsum deposits and pollen assemblages etc, with chronological controls that we believe reliable. Pollen assemblages and mammalian fauna have been classified into three categories (arid, semi-arid/sub-humid, humid) to reflect the intensity of aridity/humidity. Salt, jarosite and gypsum deposits are classified as the arid indicators. Carbonate concretions and coal are classified into the semi-arid/sub-humid and humid one respectively. Paleoenvironmental maps at 8 time slices have been reconstructed. They are the Paleocene, Eocene, Oligocene, Miocene, Early Miocene, Middle Miocene, Late Miocene and Pliocene.And furthermore, we attempt to use IAP^AGCM to simulate the evolution of climate belts in emphasizing on the changes of the rain band, and compare the results with the paleoenvironmental maps in order to examine the causes of the drastic paleoenvironmental changes near the Oligocene/Miocene boundary. 36 sensitive numerical experiments are carried out using the IAP__AGCM to analyze the impacts of the uplift of the Himalayan-Tibetan complex, shrinkage of the Paratethys Sea, expansion of the South China Sea and the development of the polar ice sheets on rain band in China.The main conclusions are as follows:The obtained results essentially confirm the earlier conclusions about a zonal climate pattern in the Paleogene and a different pattern in the Neogene, and illustrate that a monsoon-dominant environmental pattern with inland aridity formed by the Early Miocene, which is temporally consist with the onset of eolian deposits in China.Cenozoic cooling and the formation of polar ice sheets are unlikely the main causes to the changes of environmental patterns mentioned above in China. But northern hemispheric cooling and the ice-sheets can intensify the Siberian High Pressure, and strengthen the winter monsoon circulations and enhance the aridity in the west part of China. These results support the earlier studies.Shrinkage of the Paratethys Sea and uplift of the Himalayan-Tibetan complex played important roles in strengthening the East Asian monsoon and induceing the above changes of environmental pattern, which is consistent with the earlier studies. Furthermore, "the monsoon-dominant pattern" appears when the Himalayan-Tibetan complex reaches to about 1000-2000 meters high and the Paratethys Sea retreats to the Turan Plate.4) Expansion of the South China Sea is another significant factor that drives the evolution of environmental patterns. We believe that the above three factors co-act and drive the change of the environmental patterns from a planetary-wave-dominant one to a monsoon-dominant one. However, the impacts of each factor vary by regions. The uplift mainly increases the humidity in Southwestern China and the aridity in northwestern country. The shrinkage mainly increases the humidity in Northern China and also enhances the aridity in the northwestern country. The expansion greatly increases the humidity in the south part of China.