新型轮—腿—履带复合移动机构及稳定性分析

为提高反恐防暴机器人对非结构环境的适应能力,设计出了一种具有良好的机动性能和转向性能的新型轮—腿—履带复合移动机构.通过机器人机构分析与本体的稳定性分析,论证了其结构设计的可行性及好的稳定性.

反恐防暴机器人机构与控制的研究

西方国家早在20世纪60年代就开始采用防暴机器人处理爆炸物。自从9.11事件后，国际社会恐怖活动更是愈演愈烈，许多国家相继对此给予了高度重视。反恐防暴机器人可应用于核工业、军事、燃化、铁路、公安、武警等部门，代替人在危险、恶劣、有害环境中执行探查、排除或销毁爆炸物、消防、抢救人质以及与恐怖分子对抗等任务。本项目依托课题由最初的“危险作业机器人”到现在的“反恐防暴机器人的产业化研究”，由国家“863”计划资金滚动支持。就现有的反恐防暴机器人，存在速度较慢或机动灵活性不强或可靠性不高等不足，现研究出一种新型反恐防暴机器人，目的是在保证适应一定的非结构环境的前提下（适用所有的非结构环境的移动机构设计是不可取的，也是不现实的），提高机器人本体转向性能和移动速度，降低功耗，机构简单化，同时在硬件与软件设计时采取一些相应的措施，提高其在实际应用环境中的可靠性和抗干扰能力。首先，通过对以往反恐防暴机器人在非结构环境中采用的复合移动机构对比分析研究，提出了一种新型的轮-履带-腿复合移动机构，应用在”灵豹”机器人上。它的特色是移动机构继承了“灵蜥”系列反恐防暴机器人轮与履带移动方式自动切换功能，并且针对“灵蜥”系列机器人轮式移动时，四轮滑动转向灵活性不高、功耗大的问题，提出了三轮式移动机构，在狭小移动空间有着广泛的应用。并对该机器人本体做了运动学分析和稳定性分析，论证了该机构的可行性。其次，根据课题项目研究的需要，在控制方面，主要完成了“灵狐”小型反恐防暴机器人的系统构建与功能实现。通过从事“灵蜥”系列机器人项目开发，积累了一些移动机构设计与分析以及控制系统一些问题解决的实际经验，在“灵狐”控制系统设计过程中，由于采用单片机作为微控制单元，因此着重考虑了提高系统可靠性与抗干扰能力。在“灵狐”机器人样机试验中取得了好的效果，均达到预期目标。

Dunisky, Co. Cork: a refuge souterrain?

The townland of Dunisky (Dún Uisce, 'water fort', see Ó Murchadha 2001, 98) is situated about 2.5 miles to the SE of Macroom, Co. Cork (Ill. 1). It is also the Civil Parish of Dunisky, and is located in the Barony of West Muskerry. In extent, it contains over one thousand acres. It was first surveyed by the Ordnance Survey of Ireland in 1841-42. An earlier survey of the townland survives, drawn by the Cork cartographer, Patrick Aher. It is dated 1791, and shows sub-denominations.

The Map of Connections 3.1: Unofficial and previously unmapped Irish border crossings

I charted unofficial border-crossings along Ireland's border, those not found on any other map.

During many surveys of Ireland's border I discovered that it is often perforated. Gates are set in hedgerows for the convenience of farmers, stepping stones and community-built bridges span rivers, walkers’ routes and muddy by-ways go wherever they please. These kinds of connections have always been there, although I think it is fair to say that their numbers have increased during the Peace Process. Roads blocked or cratered during the Troubles are being re-connected at a rate too fast for the Ordnance Survey to keep up with. On the local level cross-border movement is quietly happening, unchecked and often unmapped, until now.

This map attempts to throw the borderline in perpendicular, showing it as a place of connection rather than division.

The anticipatory space of the bunker, modernity’s dark mirror

The buried and semi-buried bunker, bulwark since the early eighteenth century against increasingly sophisticated forms of ordnance, emerged in increasing number in Europe throughout the twentieth century across a series of scales from the household Anderson shelter to the vast infrastructural works of the Maginot and Siegfried lines, or the Atlantic Wall. Its latest proliferation took place during the Cold War. From these perspectives, it is as emblematic of modernity as the department store, the great exhibition, the skyscraper or the machine-inspired domestic space advocated by Le Corbusier. It also represents the obverse, or perhaps a parodic iteration, of the preoccupations of early architectural modernism: a vast underground international style, cast in millions of tons of thick, reinforced concrete retaining walls, whose spatial relationship to the landscape above was strictly mediated through the periscope, the loop-hole, the range finder and the strategic necessity to both resist and facilitate the technologies and scopic regimes of weaponry. Embarking from Bunker Archaeology, this paper critically uncoils Paul Virillo’s observation, that once physically eclipsed in its topographical and technical settings, the bunker’s efficacy would mutate to other domains, retaining and remaking its meaning in another topology during the Cold War. ‘The essence of the new fortress’ he writes ‘is elsewhere, underfoot, invisible from here on in’. Shaped by this impulse, this paper seeks to render visible the bunker’s significance in a wider milieu and, in doing so, excavate some of the relationships between the physical artefact, its implications and its enduring metaphorical and perceptual ghosts.

Letter to Colonel Nelles of the 4th Lincoln Militia in Grimsby from Apt. Military Secrets, Quebec

Letter to Colonel Nelles of the 4th Lincoln Militia in Grimsby from Apt. Military Secrets, Quebec. When this envelope is unfolded it contains the printed words “On his Majesty’s service” “The Ordnance Storekeeper” and “Military Secretary”. This item is badly stained and torn but text is not affected, Jan. 9, 1839.

The Tyne Digital Library - Part 2 Maps and Images

In this section, you will find maps showing various important aspects of the River Tyne catchment area. All the maps are drawn based on Ordnance Survey data made available via the Digimap service. For the land cover maps of the catchment area, four variants are provided. Please note that the full details of the intext citations quoted in some of the following maps can be found in the full bibliographic listing.

Desterrando minas

Desterrando minas es, a su vez, un documental de contexto y un documental de proceso. A partir de la inmersión en los mismos campamentos en los que viven los desminadores se cuenta la historia de Nariño como la vivieron sus pobladores, se muestra la manera en la que el miedo fue el principal configurador de las relaciones entre la comunidad y su territorio y cómo el desminado ha transformado ese miedo

Age relationships beteen low level rock platforms and the high coastal slopes in Jersey and the surrounding area.

Recent research along the coastal cliffs and embayments of Jersey has revealed new aspects of the geomorphology of the rocky shore platform and its relationship with the steep slopes that link it to the island plateau above. Specifically, a rockhead platform meets a 10-30 m high, near vertical cliff at approximately 8-10 m above Jersey Datum (J.D.= ±0 m Ordnance Datum; likewise Guernsey Datum: G.D.), slopes down-towards mid-tide levels becoming ever more deeply dissected. Generalised contours of this platform show it to be distinct from a lower tidal rockhead platform which is comparatively smooth over large areas as it undergoes continuing contemporary abrasion. This lower platform is generally separated from the higher one by low cliffs, less than a metre high at mid-tidal levels, but two to three metres at the base of the backing cliffs. Both of these platforms are shown to antedate the Last Cold Stage (Devensian) head at a number of localities and this relationship is taken to represent the general situation, not only in Jersey, but throughout the other Channel Islands and adjacent coasts of Armorica. Whether either, or both, of these two platforms are older than Marine Oxygen Isotope Substage (MOIS) 5e (Ipswichian) as well is not known. However the considerable age of the numerous and wide intertidal shore platforms of the Channel Islands and adjacent coasts of Amorica makes a greater age quite possible.

Exploiting ungrounded tactile haptic displays for mobile robotic teleoperation

Teleoperated mobile robotics offer potential use in a variety of different real-world applications including hazardous materials handling, urban search and rescue and explosive ordnance handling and disposal. Recent research discusses the use of Haptic technology in increasing task immersion and teleoperator performance. This work investigates the utility of low-cost, ungrounded tactile haptic interfaces in mobile robotic teleoperation. In order to achieve the desired implementation using only tactile sensation presents distinct challenges. Innovative haptic control methodologies providing the teleoperator with intuitive motion control and task-relevant haptic augmentation are presented within this paper.

Exploiting ungrounded tactile haptic displays for mobile robotic teleoperation

Teleoperated mobile robotics offer potential use in a variety of different real-world applications including hazardous materials handling, urban search and rescue and explosive ordnance handling and disposal. Recent research discusses the use of Haptic technology in increasing task immersion and teleoperator performance. This work investigates the utility of low-cost, ungrounded tactile haptic interfaces in mobile robotic teleoperation. In order to achieve the desired implementation using only tactile sensation presents distinct challenges. Innovative haptic control methodologies providing the teleoperator with intuitive motion control and task-relevant haptic augmentation are presented within this paper.

Gunshot energy transfer profile in ballistic gelatine, determined with computed tomography using the total crack length method

By measuring the total crack lengths (TCL) along a gunshot wound channel simulated in ordnance gelatine, one can calculate the energy transferred by a projectile to the surrounding tissue along its course. Visual quantitative TCL analysis of cut slices in ordnance gelatine blocks is unreliable due to the poor visibility of cracks and the likely introduction of secondary cracks resulting from slicing. Furthermore, gelatine TCL patterns are difficult to preserve because of the deterioration of the internal structures of gelatine with age and the tendency of gelatine to decompose. By contrast, using computed tomography (CT) software for TCL analysis in gelatine, cracks on 1-cm thick slices can be easily detected, measured and preserved. In this, experiment CT TCL analyses were applied to gunshots fired into gelatine blocks by three different ammunition types (9-mm Luger full metal jacket, .44 Remington Magnum semi-jacketed hollow point and 7.62 × 51 RWS Cone-Point). The resulting TCL curves reflected the three projectiles' capacity to transfer energy to the surrounding tissue very accurately and showed clearly the typical energy transfer differences. We believe that CT is a useful tool in evaluating gunshot wound profiles using the TCL method and is indeed superior to conventional methods applying physical slicing of the gelatine.

Jerusalem, 1876 (Raster Image)

This layer is a georeferenced raster image of the historic paper map entitled: Ordnance survey of Jerusalem, by captain Charles W. Wilson R. F. under the direction of Colonel Sir Henry James, R.E., F.R.S., &c. director of the Ordnance Survey, 1864-5. It was published by Ordnance Survey Office in 1876. Rev. [of 1864-5 ed.]. Revised 1876. Scale 1:2,500. Covers primarily the Old City.The image inside the map neatline is georeferenced to the surface of the earth and fit to the Universal Transverse Mercator (UTM Zone 36S, meters, WGS 1984) projected coordinate system. All map collar and inset information is also available as part of the raster image, including any inset maps, profiles, statistical tables, directories, text, illustrations, index maps, legends, or other information associated with the principal map. This map shows features such as roads, drainage, built-up areas and selected buildings (churches, synagogues, convents, schools), fortification, gates, religious sites, cemeteries, watch houses, cisterns, tombs, pools, aqueducts, and more. Relief shown by hachures, contours and spot heights. Includes also a list of references.This layer is part of a selection of digitally scanned and georeferenced historic maps from the Harvard Map Collection. These maps typically portray both natural and manmade features. The selection represents a range of originators, ground condition dates, scales, and map purposes.

Jerusalem, 1850 (Raster Image)

This layer is a georeferenced raster image of the historic paper map entitled: Plan de Jérusalem, d'après MMrs. V. Wilson, (Ordnance Survey) et de Saulcy, (Voyage en Terre Sainte) ; L. Thuillier, Delt. It was published by Hachette & Cie ca. 1850. Scale [ca. 1:85,000]. Covers Jerusalem. Map in French. The image inside the map neatline is georeferenced to the surface of the earth and fit to the Israel Transverse Mercator (ESRI: Israel_TM_Grid) coordinate system. All map collar and inset information is also available as part of the raster image, including any inset maps, profiles, statistical tables, directories, text, illustrations, index maps, legends, or other information associated with the principal map. This map shows features such as roads, drainage, built-up areas and selected buildings, religious sites, fortification, and more. Relief is shown by hachures. Includes index. This layer is part of a selection of digitally scanned and georeferenced historic maps from The Harvard Map Collection as part of the Imaging the Urban Environment project. Maps selected for this project represent major urban areas and cities of the world, at various time periods. These maps typically portray both natural and manmade features at a large scale. The selection represents a range of regions, originators, ground condition dates, scales, and purposes.