一种FPGA的嵌入式可重构机器人控制系统

提出一种基于FPGA的可重构嵌入式微处理器控制系统.在FPGA中嵌入两个NiosⅡ软核,用VHDL语言编写用户自定义组件.在一个由NiosⅡ软核组成的处理器上实现PWM信号生成、编码器信号处理以及多电机同步伺服运算等,在另一个处理器实现机器人任务管理.该控制系统针对微小型爬壁机器人的控制系统设计,不仅具有良好的实时多任务处理能力,而且具有可重构的特点,因而可应用于一类微小型机器人控制系统以提高其设计的灵活性.

基于模型扰动抑制的直线伺服系统设计

针对高精度、微进给永磁直线交流同步电机 (PMLSM )驱动系统 ,采用基于模型的扰动抑制 (MBDA)方法 ,对诸如摩擦力、切削力、负载变动之类的扰动进行抑制。MBDA是利用一个与系统并行的标称模型 ,通过输出反馈 ,将系统输出与标称模型输出进行比较 ,得出误差信号 ,并通过设计一个补偿器将误差信号反馈给被控对象的输入端 ,从而实现扰动抑制。同时 ,针对速度环设计了积分 -比例 (IP)控制器 ,以满足系统快速跟踪指令的要求 ,并且其具有较强的抗扰动能力。仿真结果表明 ,该控制方法响应速度快 ,抗干扰能力强

自适应神经元实现的直线永磁同步电机伺服系统的预见前馈补偿

介绍了高精度微进给直线永磁同步电机伺服系统的 IP位置控制 ,提出了对该系统的最优预见前馈补偿 ,以提高系统的跟踪性能。为了能适应系统参数的变化 ,采用自适应神经元来实现预见前馈补偿。自适应神经元的输入向量为预见步数 ,权值为预见前馈系数 ,权值具有明确的物理意义 ,而且权的初始值不是随机数 ,而是系统在额定情况下算出的预见前馈系数 ,从而加快了神经元的调整速度 ,提高了系统的跟踪能力。仿真实验结果证明了所提出方案的有效性

基于DSP的烟支重量测控系统的设计与实现

分析了Protos70卷接机组重量测控系统的工作原理,根据烟支密度脉冲信号及同步信号计算单支烟重量作为控制标准。采用DSP处理器为核心单元完成对烟支重量的计算,针对软件中烟条重量的算法进行了优化,提出计算过程中对程序运行和变量的优化方法以保证系统工作的实时性。

磁层-电离层耦合现象的分析研究

The magnetosphere-ionosphere coupling is mainly manifested by the trans- porting processes of energy into the ionosphere , the energy is carried by solar wind and firstly accumulate at the magnetosphere, and the coupling processes also significantly include the interaction between the magnetosphere and ionosphere for mass and energy. At the quiet condition, energy is delivered by the large-scale convection of the geomagnetic field; the huge energy from solar wind bulk will be injected into and consumed at the near magnetosphere and ionosphere by the geomagnetic storm and substorm activities. Aurorae and FACs (Field-aligned currents) are the important phenomena in the coupling processes. In the present work, firstly, we analyze the activity characteristics of auroral precipitating particle, secondly, we study the distribution characters of large-scale field aligned currents (LS FACs) at storm-time using the observations from different satellites at different altitudes. Finally, we investigate the evolution of the geomagnetic field configuration at the nightside sector on the onset of the expansion phase in a substorm event, the substorm event happened at 0430UT to 0630UT on 8th Nov. 2004. The main results as follows： At the first, the data of the estimated power input (EPI) of auroral particles from NOAA/POES (Polar orbiting environmental satellite) for some 30 years have been analyzed. The variation tendencies of the EPI generally coincide with aa, AE and Dst indices. The annual variation of EPI shows equinox peaks and an asymmetric-activity with a higher peak in the winter-hemisphere than in the summer-hemisphere. The diurnal UT variations are different from north and south hemisphere: for north hemisphere, the peak appears at 1200UT, and the relative deviation is 22% to the daily average of the north hemisphere. For south hemisphere, the maximal deviation is 22% at 2000UT. So the diurnal variation of EPI is more dominant than the annual variation which maximal deviation is 3% to 12% for different seasons. Studies on correlations of the hourly average of EPI, Pa, with AE and Dst indices show a correlation coefficient r=0.74 of Pa and AE, and r=-0.55 of Pa and Dst. The hourly EPIs for north and south polar regions, NPa and SPa, show a north-south asymmetry with a higher correlation of SPa and AE (or Dst). Time delays of EPI with respect to magnetic indices are examined, the maximum correlation coefficient of Pa with AE (r=0.78) occurs when the time delay =0, suggesting a synchronous activity of auroral electrojet and auroral precipitating particles, while =1-2h, the correlation coefficient of Pa with Dst is maximum (r=0.57), suggesting that the activity of auroral particle precipitating may influence the ring current on some extent. Sencondly, we use the high-resolution magnetic field vector data of the CHAMP satellite to investigate the distribution of large-scale FACs during the great magnetic storm on 7th to 8th Nov. 2004. The results show that, whether in the northern or southern hemisphere, the number and density of large-scale FACs during the main-phase are more and bigger than these during the recover-phase, and the number of large-scale FACs in morning sector obviously is more than that in afternoon sector. In terms of the magnetic indices, we find that large-scale FACs in morning sector significantly affected by the substorm activities, while in afternoon sector the large-scale FACs mainly indicate the fluctuations of the ring-current in storm time. Accordingly to the former studies, similarly, we find that in the morning sector, the scale of the large-scale FACs move to the high-latitude region, and in the afternoon sector, large-scale FACs distinctly expand to the low-latitude region. During the time periods that the NOAA/POES auroral precipitating particle power data temporally correspond to the large-scale FACs, the more the power of auroral particle is, the more and bigger the number and density of FACs are. At the same time, we use the magnetic field vector data of POLAR obtain a good form of region 1, region 2, and three pieces of cusp FACs during a single transit at 1930UT-2006UT on 07th. And the characteristics of simultaneous electric field and energy particles observations on Polar are coincide with the five FACs pieces. Finally, by means of the observation of Cluster 4 and Goes 10、 Goes 12, we analyze the evolution process of the change of the magnetic field configuration at night sector at the expansion phase of a substorm event which happened during 0430UT to 0630UT on 8th Nov. 2004, we find that the times of the beginning of the polarizations of magnetic field are observed from Goes 10 to Goes 12 then to Cluster 4. So, at the synchronous orbit ( 6.6 RE) to 10RE distance scale of the neutral sheet, the current disruption spread tailward. Simultaneously, the strengthen of the FACs deduced from these satellites’ magnetic field observations are almost consistent with the times of polarizations, as well as the high energy particles injection and the electric field dominant variation. The onset times determined by the magnetic field polarizations from these satellites are all ahead of the onset time that confirmed from the auroral electrojet indices. So, these characters of different observations can be used as the criterions to determine the onset time for the substorms of such type as we studied.

叠前地震多角度三参数同步反演方法

Pre-stack seismic inversion has become the emphasis and hotspot owing to the exploration & exploitation of oil field and the development of seismic technology. Pre-stack seismic inversion has the strongpoint of making the most of amplitude versus offset compared with the post-stack method. In this dissertation, the three parameters were discussed from multi-angle reflectance of P-wave data based on Zoeppritz’s and Aki & Richard’s equation, include P-wave velocity, S-wave velocity, and density. The three parameters are inversed synchronously from the pre-stack multi-angle P-wave data, based on rockphysics model and aimed at the least remnant difference between model simulation and practical data. In order to improve the stability of inversion and resolution to thin bed, several techniques were employed, such as the wavelet transform with multi-scale function, adding the Bayesian soft constraint and hard constraints (the horizon, structure and so on) to the inversion process. Being the result, the uncertainty of the resolution is reduced, the reliability and precision are improved, the significance of parameters becomes clearer. Meeting to the fundamental requirement of pre-stack inversion, some research in rockphysics are carried out which covered the simulation and inversion of S-wave velocity, the influence of pore fluids to geophysical parameters, and the slecting and analyzing of sensitive parameters. The difference between elastic wave equation modeling and Zoeppritz equation method is also compared. A series of key techniques of pre-stack seismic inversion and description were developed, such as attributes optimization, fluid factors, etc. All the techniques mentioned above are assembled to form a technique sets and process of synchronous pre-stack seismic inversion method of the three parameters based on rock physics and model simulation. The new method and technology were applied in many areas with various reservoirs, obtained both geological and economic significance, which proved to be valid and rational. This study will promote the pre-stack inversion technology and it’s application in hidden reservoirs exploration, face good prospects for development and application.

西秦岭晚古生代弧前盆地沉积与成矿作用

The Western Qinling Orogenie belt in the Taibai-Fengxian and Xihe-Lixian areas can be subdivided into three units structurally from north to south, which are the island-arc, forearc basin and accretionary wedge, respectively. The forearc basin developed in the Late Paleozoic mainly controls sedimentation and some larger lead-zinc and gold deposits in the western Qinling. Stratigraphically, the island arc is dissected into the Liziyuan Group, the Danfeng Group and the Luohansi Group. The metavolcanic rocks include basic, intermediate and acidic rocks, and their geochemistry demonstrates that these igneous rocks generated in an island arc. Where, the basalts are subalkaline series charactered by low-medium potassium, with enriched LREE, negative Eu anomaly, and positive Nd anomaly. Cr-content of volcanic rocks is 2-3 times higher than that of island arc tholeiite all over the world. In addition, the lightly metamorphosed accretionary wedge in the areas of Huixian, Chengxian, Liuba and Shiqun is dominated by terrigenous sediments with carbonatite, chert, mafic and volcanic rocks. The age of the wedge is the Late Palaeozoic to the Trassic, while previous work suggested that it is the Silurian. The Upper Paleozoic between the island arc belt and accretionary wedge are mainly the sediments filled in the fore arc basin. The fillings in the forearc basin were subdivided into the Dacaiotan Group, the Tieshan Group, the Shujiaba Group and the Xihanshui Group, previously. They outcropped along the southern margins of the Liziyuan Group. The Dacaotan Group, the Upper Devonian, is close to the island arc complex, and composed of a suite of red and gray-green thick and coarse terrestrial elastics. The Shujiaba Group, the Mid-Upper Devonian, is located in the middle of the basin, is mainly fine-grained elastics with a few intercalations of limestone. The Xihanshui Group, which distributes in the southern of the basin, is mainly slates, phyllites and sandstones with carbonatite and reef blocks. The Tieshan Group, the Upper Devonian, just outcrops in the southwest of the basin, is carbonatite and clastic rocks, and deposited in the shallow -sea environment. The faults in the basin are mainly NW trend. The sedimentary characteristics, slump folds, biological assemblages in both sides of and within those faults demonstrate that they were syn-sedimentary faults with multi-period activities. They separated the forearc basin into several sub-basins, which imbricate in the background of a forearc basin with sedimentary characteristics of the piggyback basin. The deep hydrothermal fluid erupted along the syn-sedimentary faults, supported nutrition and energy for the reef, and resulted in hydrothermal-sedimentary rocks, reef and lead-zinc deposits along these faults. The sedimentary facies in the basin varies from the continental slope alluvial fan, to shallow-sea reef facies, and then to deep-water from north to south, which implies that there was a continental slope in the Devonian in the west Qinling. The strata overlap to north and to east respectively. Additionally, the coeval sedimentary facies in north and south are significantly different. The elastics become more and more coarser to north in the basin as well as upward coarsing. These features indicate prograding fillings followed by overlaps of the different fans underwater. The paleocurrent analyses show that the forearc basin is composed of thrust-ramp-basins and deep-water basins. The provenance of the fillings in the basin is the island arc in the north. The lead-zinc deposits were synchronous with the Xihanshui Group in the early stage of development of the forearc basin. They were strongly constrained by syn-sedimentary faults and then modified by the hydrothermal fluids. The gold deposits distributed in the north of the basin resulted from the tectonic activities and magmatism in the later stage of the basin evolution, and occurred at the top of the lead-zinc deposits spatially. The scales of lead-zinc deposits in the south of the basin are larger than that of the gold-deposits. The Pb-Zn deposits in the west of the basin are larger than those in the east, while the Gold deposits in the west of the basin are smaller than those in the east. Mineralizing ages of these deposits become younger and younger to west.

中国南方热带地区田洋玛珥湖24万年以来的气候变化及湖泊演变

A continuous long (224m) and high-resolution core TY2 was recovered from paleo-maar-lake Tianyang, tropical South China. Based on the diatom records of the upper 130-m core, this paper focuses on exploring climate change and the lake evolution history in tropical South China during the past 240ka. The most typical and unique characteristics of the diatom assemblages is that, Aulacoseira granulata was dominant or absolutely dominant species (80-90%) during most parts of the 130-m core, while Cyclotella stelligera var. tenuis and Fragilaria construens var. venter were subdominant species in only limited parts of the lower and upper core, respectively. Time scale is always the biggest problem for the study of TY2 core, so although diatom is seldom used for establishing time scale, here we attempt this by correlating the diatom-reconstructed temperature sequence with the time scale of ODP core 806B from Equatorial Western Pacific. Verified by the few most reliable ages from TY2 core and the parallel core TYl, a rather reasonable and reliable time scale was established. 01S 7/6 falls at the depth of 100m (ca. 194kaBP), OIS 6/5 at 75m (ca. 132kaBP), OIS 5/4 at 46m (ca. 75kaBP), OIS 4-3 at 35m (ca. 60kaBP). Qualitative and quantitative environmental reconstructions are made on the basis of diatom assemblage ecotype and EDDI dataset. Correlation of diatom-reconstructed temperature and moisture changes of Core TY2 with pollen-reconstructed temperature and rainfall sequence of Core TYl proves that the results are quite consistent in most periods. Thus the reconstruction results from diatom are quite reliable, and probably have a much higher resolution than pollen results. Combined with lithological and magnetic susceptibility variations, the diatom analysis reveals that, the general climate in tropical South China during the past 240ka was warm and wet. On the time scale of glacial-interglacial, warm and wet, cool and dry are not always synchronous. It was relatively warm-wet during the penultimate interglacial, cool-dry during the penultimate glacial, warm-dry during the last interglacial, and cooler-drier during the last glacial. In contrast, on the time scale of subglacial-subinterglacial scales, warm and dry, cool and wet corresponds very obviously, showing very clear 21-23 ka precession cycle. Analysis also shows that, the water of Tianyang paleo-maar-lake was generally warm, turbulent, turbid, meso-trophic, slightly alkaline, low conductivity and fresh during the past 240 kaBP, with small variations in some parts. Tianyang paleolake experienced shallow to semi-deep lake in OIS7d, open shallow lake in OIS7c-OIS5b, shallow coastal lake in OIS5a-OIS4c, swamp in OIS4b, and then completely dried up in OIS3c. The lake evolution was mainly controlled by temperature and precipitation changes in tropical China. While temperature and precipitation changes were probably controlled by the migrations of monsoon rainband and the evaporation rate, which was in turn controlled by the evolution of East Asian monsoon. Therefore, when the summer monsoon was strongest the climate was warm-dry, when stronger the climate was warm-wet; when the winter monsoon was strongest the climate was cool-dry, stronger cool-wet. This mechanism caused the warm-dry sub interglacial and cool-wet subglacial climate in the tropical South China.

中新世秦安黄土一古土壤序列记录的古气候变化周期

Analysis of periodic oscillations of climate is very important in understanding the behavior of the climate system. Milankovitch hypothesis, which holds that the glacial-interglacial climatic cycles during the Quaternary were primarily driven by variations in orbital parameters, has been supported by substantial geological evidence. Continuous long-term and high-resolution records are crucial to detect how variations of Earth's orbital parameters affected climate before the Quaternary when the boundary conditions were significantly different. Qinan loess formed in the Miocene is nearly continuous aeolian deposit in northern China. Previous study has established a constrained chronology, which provides a basis to examine long-term climatic variations. One of important issues to untangle the mechanisms behind major climate changes is the investigation of climate cycles recorded in Qinan loess. In this paper, two climatic proxies, magnetic susceptibility and redness, are analyzed for QA-I section to evaluate climate cycles using Maximum entropy spectral analysis and Blackman-Tuckey method. Main conclusions are presented as following: Results exhibit significant peaks at periods of 100 ka, 64 ka, 41 ka, 30 ka and 23 ka, but also 1000 ka, 600 ka and 400 ka. These peaks correspond to the dominant periods of the Earth's orbit parameters, which indicates that the formation of the aeolian sediment in northern China might be primarily driven by variations in orbital parameters. Fluctuations with different cycles respectively dominated in different periods. Major shifts in the dominant cycles occurred at 20.3, 19.0, 17.9, 15.2, 12.5 and 11.3 Myr ago. The transition that happened at 17.9 Myr ago was synchronous with the uplift of the Tibetan Plateau, while others at 15.2, 12.5 and 11.3 Myr ago were in good agreement with the timing of the development of Antarctic ice sheet. Therefore we inferred that these shifts might be related to changes in global ice volume and/or the Tibetan uplift. 3. The strong period of 100 ka is observed between 17.9 and 15.2, and 12.5 and 11.3 Myr ago. Ice sheet-climate models that have been used to explain the cause of the 100 ka period since the middle Pleistocene couldn't be responsible for driving the 100 ka climate cycle in the Miocene in Northern China because of the different boundary of climatic conditions between the Quaternary and Miocene. Further investigation is needed to understand how this cycle became dominant in Qinan loess records during these two time segments.

2200万年来风尘沉积的粒度变化及古气候意义

Three eolian deposit formations, including Quaternary loess (QL, Liu et al.3 1985), Hipparion red earth (HRE, also called red clay, Liu et al., 1985) and Miocene loess (ML, Guo et al., 2002) constitute a set of unique paleoclimatic archives in northern China dated back to at least 22Ma ago. The Miocene loess is a recently discovered loess-soil sequence. Detailed investigation has been made on its origin, chronology and paleoclimatic significance (Guo et al., 2002), but further work is still needed to obtain detailed paleoclimate information, and mechanical links behind paleoclimatic changes. In this study, grain size analysis of QL, HRE and ML has been conducted on two sections: Qinan and Xifeng. The objective is focused on comparison of the grain size distribution characteristics (GSDC) among different eolian deposit formations, and reconstruction of the Asian monsoon circulation in the past 22 Ma. Results show that GDSC of ML resembles that of QL and HRE, and GDSC of ML is especially similar to HRE. Both ML and HRE contain a significant proportion of fine fraction, however, QL has a large amount of coarse sediments. This is mainly due to that the wind system transported aeolian dust was weaker in the late Tertiary than that in the Quaternary. Grain size difference between loess and paleosol in ML is much smaller than that in QL, indicating that the climatic fluctuations during the late Tertiary were much smaller than that happened in the Quaternary The grain size records of the past 22 Ma reveal several evolution phases of the Asia winter monsoon. -2.7 Ma BP is the most important boundary in the process of the winter monsoon evolution: the wind strength have significantly enhanced since 2.7 Ma ago. During a period between -22.0 and -3.6 Ma, three periods with relatively stronger winter monsoon are recorded in the QA-I section, between 21.2 and 19.9, and 16.0 and 13.3, and 8.7 to 6.9 Ma, respectively. From 3.6 to 2.7, the winter monsoon was enhanced gradually. In the Miocene time, the intensified winter monsoon phases (between 21.2 and 19.9, and 16.0 and 13.3, and 8.7 and 6.9 Ma) seemed to have a close relationship with the uplift of the Tibetan Plateau and/or the ongoing global cooling, but the forcing mechanism behind the Asia winter monsoon evolution need to be further investigated. During the Pliocene-Pleistocene time, the Asia winter monsoon strengthened at 3.6 and 2.7Ma ago are in good agreement with the ongoing global cooling and the Arctic ice sheet development. In the mean time, much evidence suggests that an intense uplift of the Tibetan Plateau occurred at ~3.6 Ma, which is synchronous with a major increase in Asia winter monsoon. Therefore, two major factors may be invoked to explain the winter monsoon enhancement: Arctic ice sheet development and Tibetan uplift. We propose that changes in location and intensity of the Siberian-Mongolian high that were caused by the Tibetan uplift and Arctic ice sheet development might be an important factor for Asian winter monsoon evolution in the Pliocene-Pleistocene.

Learning Fine Motion by Markov Mixtures of Experts

Compliant control is a standard method for performing fine manipulation tasks, like grasping and assembly, but it requires estimation of the state of contact between the robot arm and the objects involved. Here we present a method to learn a model of the movement from measured data. The method requires little or no prior knowledge and the resulting model explicitly estimates the state of contact. The current state of contact is viewed as the hidden state variable of a discrete HMM. The control dependent transition probabilities between states are modeled as parametrized functions of the measurement We show that their parameters can be estimated from measurements concurrently with the estimation of the parameters of the movement in each state of contact. The learning algorithm is a variant of the EM procedure. The E step is computed exactly; solving the M step exactly would require solving a set of coupled nonlinear algebraic equations in the parameters. Instead, gradient ascent is used to produce an increase in likelihood.

Rozproszone algorytmy aproksymacyjne dla grafów dyskowych

Wydział Matematyki i Informatyki: Zakład Matematyki Dyskretnej

Badanie rotacji wybranych planetoid pojedynczych i podwójnych przy wykorzystaniu obserwacji fotometrycznych

Wydział Fizyki: Instytut Obserwatorium Astronomiczne

Modele fizyczne planetoid pojedynczych i podwójnych otrzymane na podstawie przeglądów fotometrycznych: przygotowanie do naukowego wykorzystania danych z kosmicznej misji Gaia

Wydział Fizyki

Tectonics Inversions & Emerald Deposits

In spite of the great amount of emerald deposits throughout the world, the priorities in quality and volume of extracted rough material are the sites of Colombia (Muzo and Chivor emerald belts). This sites are know even before the Spanish conquistadores. Emeralds were extracted from Somondoco mine (today Chivor) since 1537 and from Muzo in 1567. Contrariwise to the majority of the emerald deposits of the world, which are associated with granitic rocks, the Colombian emerald deposits are associated with hydrofracturing (the main factor controlling emerald mineralization) and hydrothermal fluids, rich in beryl, chrome and vanadium, induced by a tectonic inversion of the deep Mesozoic backarc basin, which is also responsible of the majority of the petroleum systems of the foredeep and foldbelt areas (maturation of the source-rocks andcreation of structural traps). The host rocks of the emeralds are carbonaceous calsiltites (calcareous schists) rich in organic matter of Lower Cretaceous age, which are cut by calcite veins, which, often, contain emeralds, particularly when they are folded. Indeed, since long time (Cheilletz, A. and Giulliani, G., 1996) suggested a two-stage model for the formation of the Colombian emeralds : (i) Stage I is characterized by décollement planes (early compressional tectonic regime) within the carbonaceous calsiltites, hydrothermal fluid infiltration and wall-rock metasomatic alteration ; (ii) Stage II (late tectonic regime) deforms the previous veins by thrust-related folds (development of stratiform and hydraulic breccia), which are synchronous of the emerald mineralization. The resulting tectonic structures are complex fold patterns characterized by propagation anticlines with emerald veins and emerald hydraulic breccia in the apexes, as in Quipama, Tendenquema and Chivor mines. Otherwise stated, since all emerald exploitations are, presently underground, exhaustive geological and particularly structural studies are required to reduce the probability of disappointments. The color of emeralds is from light green to thick green with obvious pleochroism. They appears with different colors when observed at different angles, especially with polarized light. The emeralds from Coscuez deposits have a homogeneous intensive color and bluish tone. At Muzo deposit, the emeralds have middle or dark green color with yellowish tone. At the Chivor deposits, the emeralds have less intensive green color with slight bluish tone. The typical inclusions are albite and pyrite, as well as long bubbles with three phase-inclusions according the zones of growth and along the crystal shapes.