An Obstacle Cluster Based Data Fusion Method for Mobile Robot

首先给出了一种通过融合多个超声波传感器和一台激光全局定位系统的数据建立机器人环境地图的方法 ,并在此基础上 ,首次提出了机器人在非结构环境下识别障碍物的一种新方法 ,即基于障碍物群的方法 .该方法的最大特点在于它可以更加简洁、有效地提取和描述机器人的环境特征 ,这对于较好地实现机器人的导航、避障 ,提高系统的自主性和实时性是至关重要的 .大量的实验结果表明了该方法的有效性 .

反水雷与UxV

反水雷作战是一项极其危险的作战任务,而无人作战平台(UxV)的特点决定了其可以降低甚至消除这种危险性,因此在反水雷作战中使用UxV成为必然的发展趋势。本文分析了反水雷作战的特点、各种UxV的特点及其在反水雷作战中的优势,并根据反水雷的需求提出了在UxV中需重点解决的智能控制技术、精确导航与定位技术、传感器及信号处理技术等关键技术。

主从式UUV群的随从UUV导航

单只水下机器人导航方法存在着各自的缺陷,无法满足低成本UUV群的作业需要。建立由一只具有高精度自主导航能力的主UUV和多只由低成本导航传感器的随从UUV组成的一主多从式UUV群,研究随从UUV导航方法。与前人的极坐标化方法不同,在直角坐标系下对随从UUV导航系统进行了能观性证明。随从UUV通过测距传感器测量自身到主UUV的距离,采用EKF算法进行位置估计,给出了机动航行方案。仿真实验证明了有效性。

北极冰下自主/遥控水下机器人导航与轨迹跟踪研究

将水下机器人用于极地科考，可以通过其携带的多种传感器和设备进行大范围、长时间的冰下观测作业，并取得重要的极地科考资料，如冰下水纹，海冰厚度等。而这些观测数据必须与准确的浮冰位置信息相结合才有实用价值，但北极高纬度特性和长期覆盖的大范围海冰使得一些传统水下机器人导航技术难以有效实施，所以需要研究一种能在北极冰下具有良好性能和高可靠性的导航系统。同时，对北极海冰进行的一系列科学考察，需要载体能够沿着浮冰上预定轨迹航行，但由于海流等外界影响的存在，浮冰处于实时运动中，所以要顺利完成科考任务，必须有相应的轨迹跟踪算法作为支撑。 本文正是针对以上这两点需求，在充分考虑环境特殊性的情况下，研究了水下机器人在北极冰下的导航与轨迹跟踪问题，提出了基于GPS测向仪冰面修正的水下机器人自主导航技术和基于制导控制器的浮冰轨迹跟踪方法，并进行了仿真和实物测试，试验结果表明本文所研究的导航设计方案和浮冰轨迹跟踪方法合理，可以达到北极冰下科考的定位精度和作业要求。 主要工作包括：（1）ARV导航系统设计。详细研究了各导航传感器的输出信息；坐标系定义、坐标变换、相对于浮冰的航位推算以及绝对坐标的求解；最后详细研究了整个冰下导航系统。（2）ARV导航系统误差分析。首先对各传感器的误差进行了详细分析；接着通过分析整个导航算法，建立了浮冰坐标系下ARV位置误差传递方程；最后通过引入具体传感器的参数指标，数值计算了整个导航系统的精度。（3）浮冰轨迹跟踪系统设计。首先对水下机器人在冰下的航迹进行了描述；接着分析了两种冰下制导控制器，视线法制导和横向轨迹误差法制导；最后详细研究了整个ARV航迹控制系统。（4）浮冰轨迹跟踪算法仿真。详细讨论了北极“ARV”的水平面动力学模型。并结合模型对浮冰轨迹跟踪算法进行了Matlab和视景仿真，验证了算法的合理性。（5）湖试和海试结果分析。通过对ARV棋盘山湖试和北极冰下海试数据分析，定量说明了导航误差和轨迹跟踪性能。

基于规则的移动机器人实时运动规划

研究移动机器人在动态环境中的导航与避障问题。为提高规划的实时性,提出了基于规则的规划方法,将多移动障碍环境机器人的运动规划分解为相对简单的单移动障碍运动规划,利用最优控制来实现单障碍的最优避障,并用智能搜索方法解决了移动机器人在多移动障碍环境中的实时运动规划问题。仿真实例表明了该方法的有效性。

东海陆架盆地复杂天然气藏地震勘探判别技术研究

Exploration study proves that East sea shelf basin embeds abundant hydrocarbon resources. However, the exploration knowledge of this area is very low. Many problems in exploration are encountered here. One of them is that the gas reservoir of this area, with rapid lateral variation, is deeply buried. Correlation of Impendence between sandstone, gas sand and shale is very poor. Another problem is that the S/N ratio of the seismic data is very low and multiples are relatively productive which seriously affect reservoir identification. Resolution of the seismic data reflected from 2500-3000 meter is rather low, which seriously affects the application of hydrocarbon direct identification (HDI) technology. This research established a fine geological & geophysical model based on drilling、well logging、geology&seismic data of East sea Lishui area. A Q value extraction method from seismic data is proposed. With this method, Q value inversion from VSP data and seismic data is performed to determine the subsurface absorption of this area. Then wave propagation and absorption rule are in control. Field acquisition design can be directed. And at the same time, with the optimization of source system, the performance of high resolution seismic acquisition layout system is enhanced. So the firm foundation is ensured for east sea gas reservoir exploration. For solving the multiple and amplitude preserving problems during the seismic data processing, wave equation pre-stack amplitude preservation migration and wave equation feedback iteratively multiple attenuation technologies are developed. Amplitude preservation migration technology can preserve the amplitude of imaging condition and wave-field extrapolation. Multiple removing technology is independent of seismic source wavelet and velocity model, which avoiding the weakness of Delft method. Aiming at the complicated formation condition of the gas reservoir in this area, with dissecting typical hydrocarbon reservoir, a series of pertinent advanced gas reservoir seismic identification technologies such as petrophysical properties analyzing and seismic modeling technology、pre-stack/post-stack joint elastic inversion, attribute extraction technology based on seismic non-stationary signal theory and formation absorption characteristic and so on are studied and developed. Integrated analysis of pre-stack/post-stack seismic data, reservoir information, rock physics and attribute information is performed. And finally, a suit of gas reservoir identification technology is built, according to the geological and geophysical characteristics of this area. With developed innovative technologies, practical application and intergrated interpretation appraisal researches are carried out in Lishui 36-1.The validity of these technologies is tested and verified. Also the hydrocarbon charging possibility and position of those three east sea gas exploration targets are clearly pointed out.

海底金属矿床充水条件及矿坑突水的断层效应研究

The Xinli mine area of Sanshandao mine is adjacent to the Bohai Sea and its main exploitable ore deposit occurs in the undersea rock mass. The mine is the biggest undersea gold mine of China after production. The mine area faces a latent danger of water bursting, even sudden seawater inrush. There is no mature experience in undersea mining in China so far. The vein ore deposit is located in the lower wall of a fault; its possible groundwater sources mainly include bittern, Quaternary pore water and modern seawater. To ensure the safety of undersea mining, to survey the flooding conditions of the ore deposit using proper measures and study the potential seawater inrush pattern are the key technical problems. With the Xinli mine area as a case study, the engineering geological conditions of the Xinli mine area are surveyed in situ, the regional structural pattern and rock mass framework characteristics are found out, the distribution of the structural planes are modeled by a Monte Carlo method and the connectivity coefficients of rock mass structural planes are calculated. The regional hydro-geological conditions are analyzed and the in-situ hydro-geological investigation and sampling are performed in detail, the hydrochemistry and isotopes testing and groundwater dynamic monitoring are conducted, the recharge, runoff, discharge conditions are specified and the sources of flooding are distinguished. Some indices are selected from the testing results to calculate the proportion of each source in some water discharge points and in the whole water discharge of the Xinli mine area. The temporal and spatial variations of each water source of the whole ore deposit flooding are analyzed. According to the special project conditions in the Xinli mine area, the permeability coefficient tensors of the rock mass in Xinli mine area are calculated based on a fracture geometry measurement method, in terms of the connectivity and a few hydraulic testing results, a modified synthetic permeability coefficient are calculated. The hydro-geological conceptual and mathematical model are established，the water yield of mine is predicted using Visual Modflow code. The spreading law of surrounding rock mass deformation and secondary stress are studied by numerical analysis; the intrinsic mechanism of the faults slip caused by the excavation of ore deposit is analyzed. The results show that the development of surrounding rock mass deformation and secondary stress of vein ore deposit in the lower wall of a fault, is different from that in a thick-big ore deposit. The secondary stress caused by the excavation of vein ore deposit in the lower wall of a fault, is mainly distributed in the upper wall of the fault, one surface subsidence center will occur. The influences of fault on the rock mass movement, secondary stress and hydro-geological structures are analyzed; the secondary stress is blocked by the fault and the tensile stress concentration occurs in the rock mass near the fault, the original water blocking structure is destructed and the permeable structure is reconstructed, the primary structural planes begin to expand and newborn fissures occur, so the permeability of the original permeable structure is greatly enhanced, so the water bursting will probably occur. Based on this knowledge, the possible water inrush pattern and position of the Xinli mine area are predicted. Some computer programs are developed using object-oriented design method under the development platform Visual Studio.Net. These programs include a Monte Carlo simulation procedure, a joint diagrammatizing procedure, a structural planes connectivity coefficient calculating procedure, a permeability tensor calculating procedure, a water chemical formula edit and water source fixture conditions calculating procedure. A new computer mapping algorithm of joint iso-density diagram is raised. Based on the powerful spatial data management and icon functions of Geographic Information System, the pit water discharge dynamic monitoring data management information systems are established with ArcView.

一种TEC地图构建方法与全球电子总含量的气候学研究

Global positioning system (GPS) can not only provide precise service for navigation and timing, but also be used to investigate the ionospheric variation. From the GPS observations, we can obtain total electron content (TEC), so-called GPS TEC, which is used to characterize the ionospheric structure. This thesis mainly concerns about GPS TEC data processing and ionospheric climatological analysis as follows. Firstly, develop an algorithm for high-resolution global ionospheric TEC mapping. According to current algorithms in global TEC mapping, we propose a practical way to calibrate the original GPS TEC with the existing GIM results. We also finish global/local TEC mapping by model fitting with the processed GPS TEC data; in practice, we apply it into the local TEC mapping in Southeast of China and obtain some initial results. Next, suggest a new method to calculate equivalent ionospheric global electron content (GEC). We calculate such an equivalent GEC with the TEC data along the geographic longitude 120°E. With the climatological analysis, we can see that GEC climatological variation is mainly composed of three factors: solar cycle, annual and semiannual variations. Solar cycle variation is dominant among them, which indicates the most prominent influence; both annual and semiannual variations play a secondary role and are modulated by solar activity. We construct an empirical GEC model driven by solar activity and seasonal factors on the basis of partial correlation analysis. Generally speaking, our researches not only show that GPS is advantageous in now-casting ionospheric TEC as an important observation, but also show that GEC may become a new index to describe the solar influence on the global ionosphere since the great correlation between GEC and solar activity factor indicates the close relationship between the ionosphere and solar activity.

沾化凹陷火成岩油气藏形成条件和分布规律研究

As a kind of special lithologic ones, Igneous rock oil and gas pool is more and more paid attention, and it has different forming condition and distribution from conventional ones, such as various terrane distribution types, serious reservoir anisotropy, complicated hydrocarbon-bearing, so there is not successful experience to follow for exploration and development of this complex subtle oil and gas pool at present. For an example of Igneous oil and gas pool of Luo151 area in Zhanhua seg, Eastern China, this article study the difficult problem, including petrologic nd lithofacies analysis, Origin, invasion age and times of Igneous rock, reservoir anisotropy, Geological Modeling, Igneous reservoir synthesis evaluation. forming condition and distribution are studied synthetically, and an integrated method to predict igneous rock oil and gas pool is formed, which is evaluated by using development data. The Igneous rock is mainly diabase construction in Luo151 area of Zhanhua Sag, and petrologic types include carbonaceous slate, hornfels, and diabases. Based on analyzing synthetically petrologic component, texture and construct, 4 lithofacies zones, such as carbonaceous slate subfacies, hornfels subfacies containing cordierite and grammite, border subfacies and central subfacies, are divided in the diabase and wall rock. By studying on isotopic chronology, terrane configuration and imaging logging data, the diabase intrusion in Zhanhua Sag is formed by tholeiite magma emplacing in Shahejie formation stratum on the rift tension background Lower Tertiary in North China. The diabase intrusion of Luo151 is composed possibly of three periods magma emplacement. There is serious anisotropy in the diabase reservoirs of Luo151 in Zhanhua Sag. Fracture is primary reservoir space, which dominated by tensile fracture in high obliquity, and the fracture zones are mainly developed round joint belt of igneous rock and wall rock and position of terrane thickness changing rapidly. The generation materials of the reservoirs in Luo151 igneous oil pools consist of Intergranular micropore hornfels, condensate blowhole-solution void diabase condensate edge, the edge and center of the condensate seam diabase, of which are divided into horizontal, vertical and reticulated cracks according fracture occurrence. Based on the above research, a conceptual model of igneous rock reservoir is generated, which is vertically divided into 4 belts and horizontally 3 areas. It is built for the first time that classification evaluation pattern of igneous rock reservoir in this area, and 3 key wells are evaluated. The diabase construction is divided into grammite hornfels micropore type and diabase porous-fracture type reservoirs. The heavy mudstone layers in Third Member of Shahejie formation (Es3) provide favorable hydrocarbon source rock and cap formation, diabase and hornfels belts serve as reservoirs, faults and microcracks in the wall rocks as type pathways for oil and gas migration. The time of diabase invasion was about in the later deposition period of Dongying Formation and the middle of that of Guantao Formation, the oil generated from oil source rock of Es3 in the period of the Minghuazhen formation and is earlier more than the period of diabase oil trap and porous space forming. Based on geological and seismic data, the horizon of igneous rocks is demarcated accurately by using VSP and synthetic seismogram, and the shape distribution and continuity of igneous rocks are determined by using cross-hole seismic technology. The reservoir capability is predicted by using logging constraining inversion and neural network technology. An integrated method to predict igneous rock oil and gas pool is formed. The study is appraised by using development data. The result show the reservoir conceptual model can guide the exploration and development of oil pool, and the integrated method yielded marked results in the production.

领导行为的复杂性、角色结构及其有效性研究

As the social and organizational environment become more and more complex, the topic of leadership complexity is gaining more and more attention. So far, some critical issues in this field need further exploration, such as clarifying the theoretical framework, developing and validating the measurments and exploring the mechanism of the its effectiveness. Using BEI(Behavioral Event Interview), content analysis and EFA/CFA, ANOVA, regression analysis and other qualitative/quantitative methods, this research explored the leadership structure of Chinese enterprise managers, developed a new leadership questionnaire, investigated the differences of the leadership roles among various managerial areas and on different hirachical levels, and examined the impacts of the leadership roles and leadership complexity on different indicators of leadership effectiveness in various organizational contexts. 1,020 managers were surveyed. The followings are the main findings： First，the structure of leadership behaviors of Chinese enterprise managers included ethical model, authoritarian, producer, director, monitor, mentor, strategist, enterpriser, among which ethical model and authoritarian are the new findings in Chinese cultural context. Ethical model was characterized by presenting honesty, setting an example to others, being just and diligent. Authoritarian was characterized by showing power and arbitrariness. In addition, mentor, strategist and enterpriser incarnated some cultural features of present China. The new developed leadership questionnaire’s reliability and validity reached the criterion of standardized measurement. Second, there were significant differences of frequency of leadership behaviors among the managers at different managerial postions and hirachical levels, while the impacts of different leadership roles on different leadership effectiveness indicators were also singnificantly different. Ethical model had positive impacts on the whole performance and three indicators across task and context performance, and authoritarian’s impacts on the whole performance and department performance were negatively significant. Third, the impact of leadership complexity on the whole leadership effectiveness was positively significant, while the moderating effects of organization level and position function was not significant.

Image Chunking: Defining Spatial Building Blocks for Scene Analysis

Rapid judgments about the properties and spatial relations of objects are the crux of visually guided interaction with the world. Vision begins, however, with essentially pointwise representations of the scene, such as arrays of pixels or small edge fragments. For adequate time-performance in recognition, manipulation, navigation, and reasoning, the processes that extract meaningful entities from the pointwise representations must exploit parallelism. This report develops a framework for the fast extraction of scene entities, based on a simple, local model of parallel computation.sAn image chunk is a subset of an image that can act as a unit in the course of spatial analysis. A parallel preprocessing stage constructs a variety of simple chunks uniformly over the visual array. On the basis of these chunks, subsequent serial processes locate relevant scene components and assemble detailed descriptions of them rapidly. This thesis defines image chunks that facilitate the most potentially time-consuming operations of spatial analysis---boundary tracing, area coloring, and the selection of locations at which to apply detailed analysis. Fast parallel processes for computing these chunks from images, and chunk-based formulations of indexing, tracing, and coloring, are presented. These processes have been simulated and evaluated on the lisp machine and the connection machine.

Theory of Handwriting

Handwriting production is viewed as a constrained modulation of an underlying oscillatory process. Coupled oscillations in horizontal and vertical directions produce letter forms, and when superimposed on a rightward constant velocity horizontal sweep result in spatially separated letters. Modulation of the vertical oscillation is responsible for control of letter height, either through altering the frequency or altering the acceleration amplitude. Modulation of the horizontal oscillation is responsible for control of corner shape through altering phase or amplitude. The vertical velocity zero crossing in the velocity space diagram is important from the standpoint of control. Changing the horizontal velocity value at this zero crossing controls corner shape, and such changes can be effected through modifying the horizontal oscillation amplitude and phase. Changing the slope at this zero crossing controls writing slant; this slope depends on the horizontal and vertical velocity zero amplitudes and on the relative phase difference. Letter height modulation is also best applied at the vertical velocity zero crossing to preserve an even baseline. The corner shape and slant constraints completely determine the amplitude and phase relations between the two oscillations. Under these constraints interletter separation is not an independent parameter. This theory applies generally to a number of acceleration oscillation patterns such as sinusoidal, rectangular and trapezoidal oscillations. The oscillation theory also provides an explanation for how handwriting might degenerate with speed. An implementation of the theory in the context of the spring muscle model is developed. Here sinusoidal oscillations arise from a purely mechanical sources; orthogonal antagonistic spring pairs generate particular cycloids depending on the initial conditions. Modulating between cycloids can be achieved by changing the spring zero settings at the appropriate times. Frequency can be modulated either by shifting between coactivation and alternating activation of the antagonistic springs or by presuming variable spring constant springs. An acceleration and position measuring apparatus was developed for measurements of human handwriting. Measurements of human writing are consistent with the oscillation theory. It is shown that the minimum energy movement for the spring muscle is bang-coast-bang. For certain parameter values a singular arc solution can be shown to be minimizing. Experimental measurements however indicate that handwriting is not a minimum energy movement.

Understanding Simple Picture Programs

What are the characteristics of the process by which an intent is transformed into a plan and then a program? How is a program debugged? This paper analyzes these questions in the context of understanding simple turtle programs. To understand and debug a program, a description of its intent is required. For turtle programs, this is a model of the desired geometric picture. a picture language is provided for this purpose. Annotation is necessary for documenting the performance of a program in such a way that the system can examine the procedures behavior as well as consider hypothetical lines of development due to tentative debugging edits. A descriptive framework representing both causality and teleology is developed. To understand the relation between program and model, the plan must be known. The plan is a description of the methodology for accomplishing the model. Concepts are explicated for translating the global intent of a declarative model into the local imperative code of a program. Given the plan, model and program, the system can interpret the picture and recognize inconsistencies. The description of the discrepancies between the picture actually produced by the program and the intended scene is the input to a debugging system. Repair of the program is based on a combination of general debugging techniques and specific fixing knowledge associated with the geometric model primitives. In both the plan and repairing the bugs, the system exhibits an interesting style of analysis. It is capable of debugging itself and reformulating its analysis of a plan or bug in response to self-criticism. In this fashion, it can qualitatively reformulate its theory of the program or error to account for surprises or anomalies.

NHS Wales e-library portal evaluation (For Informing Healthcare Strategy implementation programme)

Thomas, R. & Urquhart, C. NHS Wales e-library portal evaluation. (For Informing Healthcare Strategy implementation programme). Aberystwyth: Department of Information Studies, University of Wales Aberystwyth Follow-on to NHS Wales User Needs study Sponsorship: Informing Healthcare, NHS Wales

Quaternary palaeogeomorphologic evolution of the Wadi Faynan area, Southern Jordan

McLaren, S. Gilbertson, D. Grattan, J. Hunt, C. Duller, G. Barker, G. Quaternary palaeogeomorphologic evolution of the Wadi Faynan area, Southern Jordan. Palaeogeography, Palaeoclimatology, Palaeoecology. 2004. 205. pp 131-154