一种可重构蛇形机器人的研究

提出了一种新型的可重构蛇形机器人机构。该机构主要特点是单关节结构模块化 ,具有可适应地面形状变化的柔性连接环节和类似于蛇腹鳞摩擦特性的机构底部 ,手动可重构 ,当单自由度关节轴线互相平行连接时 ,该机构可实现多种平面运动形式 ,当单自由度关节轴线垂直依次连接时 ,形成的蛇形机器人具有两自由度的关节 ,可进行多种空间运动。试验结果证实 ,该蛇形机构重量轻、控制简单、运动灵活 ,能够很好地仿生蛇的多种运动形式

基于网络化虚拟仪器的机器人传感器实验平台

设计了基于网络化虚拟仪器的多节点机器人传感器实验平台系统,利用COM、软件插件等技术开发了虚拟控件和信号处理软件模块,用户可通过PPL创建自定义的信号处理模块,为进行面向智能机器人控制的传感器测试、标定、组网等奠定了基础。

智能人工腿步速测量数字电路的设计与分析

智能人工腿是一个精密的机电一体化装置，其关键部件之一是步速测量电路。作者提出一种新的步速测量方法，即测量人工腿在摆动相的持续时间，用该时间的长短来间接反映步速的快慢，设计电路时，采用自顶向下（Top-Down）的设计方法，其核心内容是将测量系统按不同功能分割成几个模块，然后分别设计每一个模块电路，最后，用1片ispLSI1016高密度可编程芯片并采用ISP（In System Program）编程方法调离同步速测量电路。ISP编程方法的优点是可以现场修改，调速测量系统电路，并且不需要仿真器装置，实验结果表明：设计的这种步速测量电路结构合理，可有效地实现对智能人工腿步速的测量。

轮桨腿一体化两栖机器人控制系统设计

为满足轮桨腿一体化两栖机器人控制系统各模块间信息交换的实时性、灵活性、可扩展性和可靠性的要求,将CAN总线应用于轮桨腿一体化两栖机器人控制系统中。从硬件和软件两方面,介绍了CAN总线在轮桨腿一体化两栖机器人中的应用方案,设计了基于ARM7处理器的CAN总线控制节点,提出了适用于两栖机器人的CAN总线应用层协议方案。

WAGO750模块与PC机之间的通讯

介绍了一种用于WAGO750-842以太网节点及系列模块与PC机之间的一种通用而又简便的通讯方法,该方法能够使PC机与WAGO750系列模块方便地进行数据交换,从而达到计算机对控制对象进行信息采集和控制输出的目的。该方法已在载人潜水器控制系统中得到成功应用,效果良好。

越野移动机器人自动驾驶专家系统的研究

本文研究越野移动机器人驾驶专家系统等有关问题．首先介绍了系统的硬件支持环境，然后阐述了自动驾驶专家系统的总体结构，有关知识库的内容以及使用知识的各功能模块的作用与运行机理．该系统已部分得以应用，能够完全代替驾驶员完成各种驾驶操作，并能进行自主导航、运动规划、自动绕障、动态跟踪目标、原路返回以及示教再现等复杂任务。

扩展CSS仿真程序及其应用

本文介绍了一个连续-离散复合仿真程序。该程序的连续部分基本取自美国的 CSS 程序。经作者扩充后成为复合仿真程序。扩充的模块包括采样系统仿真模块、两点边值问题求解以及参量最优化等。作者提出的单纯形搜索法改进策略可以显著加快参量最优化过程的收敛速度。

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。

金川矿山岩体移动规律及竖井变形、破坏机理研究

The Jinchuan Nickel Mine is the largest underground mine with cut-and-fill mining in China. It is very difficult to be exploited for very low safety stability of rock mass caused by complex geological conditions, developed faults, cracked rock mass and high stress. In this paper, the laws of rock mass movement、mechanics of shaft deformation and destroy were analyzed based on the collection of date, the detailed field engineering investigations, ground movement monitoring by GPS, theoretical analysis and numerical simulation. According to the GPS monitoring result of ground surface movement, there are different ground movement characteristics among the three Mine area of Jinchuan Nickel Mine. In No. 2 Mine area, the ground movement funnel with apparent asymmetry is developing, the influence scope is larger in the up faulted block than in the down faulted block, and the centre of ground movement is moving along the up faulted block direction with increasing depth of mining. Moreover, the tunnels in the corresponding area with the centre of ground movement are damaged seriously. In Longshou Mine area, the ground movement funnel is also developing, but the moving path and the nonlinear characters are more sophisticated because of the long-term effects of open excavating and the effects of underground mining together. In No. 3 Mine area, the underground mining impact on surface is not serious for the time of mining activity is not for long, but the ground movement funnel is also forming now. The underground mining has caused widespread land subsidence in Jinchuan Nickel Mine area, but the phenomena of surface raise appeared in some partial areas of Longshou Mine area and No. 3 Mine area. Analysis proved that the reason for the open pit bottom raise is the slope deformation activation caused by the excavation from open pit into underground mine; and that the raise of surface in No.3 Mine area is caused by the effect of elastic foundation due to underground mining. Although the GPS Monitoring results show the amount of subsidence is increasing constantly, the subsidence rate has a descending tendency with fluctuation in Jinchuan No. 2 Mine area. The subsidence rate curve is a time function and exists an extreme point, the rate increasing before extreme point and decreasing after the extreme point ,but the scale of decreasing rate will be very small after the rate decreasing up to a certain degree, moreover, the characteristics is different among different areas, which have some relation with the distance to the mining section and the dip of the ore body. ArcView is GIS software, which we adopted as a development platform, and made secondary development by its development language “avenue”, through which we developed a ground movement analysis and forecast System for Jinchuan Nickel Mine, which contain three modules : management of ground movement information; analysis and evaluation of ground movement; and ground movement forecast. In the module of evaluation, using the technique of MATLAB6.5 program with VB6.0, the system can achieve the ANN prediction model for GPS monitoring data, data preparation results analysis and model integrated was realized by Avenue programming. Finally, the author analyzed the mechanical of deformation and destroy of the No. 14 shaft, and its repair and artificial-support effectiveness also given detailed demonstration in various aspect. The result showed that the reason for the destroy of No. 14 shaft is underground mining, and being the case, the destroy of the shaft also has its special features, which mainly contains forked stress contour for mining steep ore and fault effect caused by mining activities. The repair and artificial-support played some restrictions on the rock mass movement and deformation, but did not show a strong or marked effect. With the increasing of mining depth and large-scale, the closure rock of the shaft will still deformed, even be destroyed.

空间电流体系地磁反演及理论研究

The space currents definitely take effects on electromagnetic environment and also are scientific highlight in the space research. Space currents as a momentum and energy provider to Geospace Storm, disturb the varied part of geomagnetic field, distort magnetospheric configuration and furthermore take control of the coupling between magnetosphere and ionosphere. Due to both academic and commercial objectives above, we carry on geomagnetic inverse and theoretical studies about the space currents by using geomagnetic data from INTERMAGNET. At first, we apply a method of Natural Orthogonal Components (NOC) to decomposition the solar daily variation, especially for (solar quiet variation). NOC is just one of eign mode analysis, the most advantage of this method is that the basic functions (BFs) were not previously designated, but naturally came from the original data so that there are several BFs usually corresponding to the process really happened and have more physical meaning than the traditional spectrum analysis with the fixed BFs like Fourier trigonometric functions. The first two eign modes are corresponding to the and daily variation and their amplitudes both have the seasonal and day-to-day trend, that will be useful for evaluating geomagnetic activity indices. Because of the too strict constraints of orthogonality, we try to extend orthogonal contraints to the non-orthogonal ones in order to give more suitable and appropriate decomposition of the real processes when the most components did not satisfy orthogonality. We introduce a mapping matrix which can transform the real physical space to a new mathematical space, after that process, the modified components which associated with the physical processes have satisfied the orthogonality in the new mathematical space, furthermore, we can continue to use the NOC decomposition in the new mathematical space, and then all the components inversely transform back to original physical space, so that we would have finished the non-orthogonal decomposition which more generally in the real world. Secondly, geomagnetic inverse of the ring current’s topology is conducted. Configurational changes of the ring current in the magnetosphere lead to different patterns of disturbed ground field, so that the global configuration of ring current can be inferred from its geomagnetic perturbations. We took advantages of worldwide geomagnetic observatories network to investigate the disturbed geomagnetic field which produced by ring current. It was found that the ring current was not always centered at geomagnetic equator, and significantly deviated off the equator during several intense magnetic storms. The deviation owing to the tilting and latitudinal shifting of the ring current with respect to the earth’s dipole can be estimated from global geomagnetic survey. Furthermore those two configurational factors which gave a quantitative description of the ring current configuration, will be helpful to improve the Dst calibration and understand the dependence of ring current’s configuration on the plasma sheet location relative to the equator when magnetotail field warped. Thirdly, the energization and physical acceleration process of ring current during magnetic storm has been proposed. When IMF Bz component increase, the enhanced convection electric field drive the plasma injection into the inner magnetosphere. During the transport process, a dynamic heating is happened which make the particles more ‘hot’ when the injection is more deeply inward. The energy gradient along the injection path is equivalent to a kind of force, which resist the plasma more earthward injection, as a diamagnetic effect of the magnetosphere anti and repellent action to the exotically injected plasma. The acceleration efficiency has a power law form. We use analytical way to quantitatively describe the dynamical process by introducing a physical parameter: energization index, which will be useful to understand how the particle is heated. At the end, we give a scheme of how to get the from storm time geomagnetic data. During intense magnetic storms, the lognormal trend of geomagnetic Dst decreases depend on the heating dynamic of magnetosphere controlling ring current. The descending pattern of main phase is governed by the magnetospheric configuration, which can be describled by the energization index. The amplitude of Dst correlated with convection electric field or south component of the solar wind. Finally, the Dst index is predicted by upstream solar wind parameter. As we known space weather have posed many chanllenges and impacts on techinal system, the geomagnetic index for evaluating the activity space weather. We review the most popular Dst prediction method and repeat the Dst forecasting model works. A concise and convnient Key Points model of the polar region is also introduced to space weather. In summary, this paper contains some new quantitative and physical description of the space currents with special focus on the ring current. Whatever we do is just to gain a better understanding of the natural world, particularly the space environment around Earth through analytical deduction, algorithm designing and physical analysis, to quantitative interpretation. Applications of theoretical physics in conjunction with data analysis help us to understand the basic physical process govering the universe.

碎屑锆石年龄和Nd-Hf同位素组成对扬子基底演化的制约

The South China craton was formed by the collision of the Yangtze and Cathaysia blocks during the Neoproterozoic Jiangnan orogeny (also termed as the Jingnin or Sibao orogeny in Chinese literature). Basement rocks within the Yangtze block consist mainly of Proterozoic sediments of the Lengjiaxi and Banxi Groups. U-Pb ages of detrital zircons obtained by the LA-ICP-MS dating technique imply that the deposition of the Lengjiaxi Group continued until the Neoproterozoic. The youngest detrital zircons suggest a maximum deposition age of ~830 Ma for the Lengjiaxi Group, consistent with the initiation time of the deposition of the overlying Banxi Group, likely indicating continuous deposition of these two groups and a short temporal hiatus (~10 Ma) between the Neoproterozoic sedimentary rocks distributed in the South China craton. Detrital zircons from both the Lengjiaxi and Banxi Groups have a wide range of εHf(t) values from -12 to 14.2 and a continuous Nd and Hf model age spectrum from ~820 Ma to 2200 Ma. Some grains have model ages ranging up to ca. 2.9-3.5 Ga, indicating that both juvenile mantle material and ancient crust provided sedimentary detritus. This is also consistent with the Nd isotopic signature of sedimentary rocks recorded in the Lengjiaxi Group, suggesting a back-arc tectonic setting. The Banxi Group has slightly enriched Nd isotopic signatures relative to the Lengjiaxi Group, implying a higher percentage of old continental material in the sedimentary source. Combined with previously published data, new results can help us to reconstruct the Neoproterozoic tectonic evolution of the South China craton. The age spectrum of detrital zircons and Nd-Hf isotopic composition suggests a two-stage collision: Between 1000 Ma to 870 Ma, a continental magmatic arc was build up along the eastern margin of the Yangtze block. Convergence led to continent-based back-arc extension, subsidence and formation of a back-arc basin. Detritus originating from arc-related magmatic and old basement rocks was transported into this back-arc basin resulting in formation of the Lengjiaxi Group and its equivalents. At around 870 Ma, a second (oceanic) arc was formed by extension of an inter-arc basin, subduction subsequently led to the first collision and the emplacement of the blueschist mélange. Accretion of the magmatic arc lasted until the closure of an oceanic basin between the Yangtze and Cathaysia blocks at about 830 Ma. Shortly after the collision, subsequent uplift, further extension of the former back-arc basin and post-collisional granitoid magmatism caused a tilting of the Lengjiaxi sediments. Between 830 Ma and 820 Ma, subsequent closure of the oceanic back-arc basin and formation of the Jiangnan orogen took place, leaving a regional unconformity above the Lengjiaxi Group. Above this unconformity the Banxi Group was immediately deposited during the post-tectonic stage.

微功耗海底地震仪的研制

Our motherland has large area of maritime space. Searching and developing ocean becomes more and more important. So Ocean Bottom Seismometer (OBS) as an absolutely necessary equipment can be used in many oceanic fields. OBS not only is an important instrument for discovering structure of lithosphere of ocean bottom, but also plays a main role of oceanic geophysical exploration. The paper introduces my relational work. The MCI micro-power broad frequency seismometer was developed independently. Its power dissipation is less than 300mW. It has some merits including miniature volumeN light mass and cheap price. It is an ideal device not only for the collection high-resolution natural seismic data, but also for the fields of seismic sounding and engineering seismology. Many new high technique were applied to develop this instrument including over-sampling A/D converter, high performance 32bit Micro Process Unit and Flash memory with smart-media interface. Base on the achievement, I have accomplished the showpiece of OBS, which is applied to the deepwater oil and gas geophysical exploration. Because of micro-power dissipation, the seismograph and the sonar releaser can be integrated into a sphere cabin. By this means, the instrument's frequency of resonance and frequency of couple are improved obviously. The data acquisition system of OBS is improved from MCI seismometer. The capacity of flash memory is enlarge from 1G bytes to 8G bytes. The advance MPU in data acquisition system is used to integrate other function modules such as sonar, GPS, compass and digital transmitter.

大港千米桥地区综合地质地球物理研究

Qianmiqiao buried hill, which is a high-yield burial hill pool, was discovered at Dagang oilfield in 1998. To employ the integrated geological and geophysical research at Qianmiqiao area, it is very valuable and meaningful for the petroleum exploration of Bohai Bay Basin and even the whole country. Based on the previous results, this paper is carried out from the research on Huanghua depression, following the law, i.e. the deep part constrains the shallow, the regional constrains the local, takes the geophysical research in Qianmiqiao oilfield, discusses the formation history of burial hills, burial history, thermal history, the generated and expelling history of hydrocarbon, and migration characteristics, probes into the formation of burial hill pool. This paper uses the gravity and magnetic methods which are based on potential field, with natural sources, configures the inner structure of the earth according to the difference in the density and magnetism of the rock. The geophysical characteristics of Dagang oil field is that it is an area with positive Buge gravity anomal. The upheaval of Moho boundary is in mirror symmetry with the depression of the basin's basement. The positive and negative anomaly distributein axis symmetry, and the orientation is NNE. The thickness of the crust gradually reduces from west to east, from land to sea. The depth gradient strip of Curie surface is similar to Moho boundary, whereas their local buried depth is different. Local fractures imply that the orientation of base rock fractures is NNE-NE, and the base rock is intersected by the fractures of the same/ later term, whose orientation is NW, so the base rock likes rhombic mosaic. The results of tomography show that there exists significant asymmetry in vertical and horizontal direction in the velocity configuration of Huanghua depression. From Dezhou to Tianjin, there exits high-speed block, which extends from south to north. The bottom of this high-speed block is in good agreement with the depth of Moho boundary. Hence we can conclude that the high-speed block is actually the crystal basement. According to seismic data, well data and outcrop data, Huanghua depression can be divided into four structure layers, i.e. Pi,2-T, Ji,2-K, E, N-Q. Qianmiqiao burial hills undergo many tectonic movement, where reverse faults in developed in inner burial hill from Indosinian stage to Yanshanian stage, the normal faults extended in Himalayan stage. Under the influence of tectonic movements, the burial hills show three layers, i.e. the reverse rushing faults in buried hills, paleo-residual hill, and extended horst block. The evolution of burial hills can be divided into four stages: steady raising period from Calenonian to early Hercynian, rushing brake drape period from Indosinian to middle Yanshanian, block tilting period in early Tertiary, and heating depression period from late Tertiary to Quaternary. The basin modeling softwares BasinMod 1-D and Basin 2-D, which are made by PRA corporation, are used in this paper, according to the requirement, corresponding geological model is designed. And we model the burial history, thermal history, hydrocarbon generation and hydrocarbon expelling history of Qianmiqiao area. The results show that present bury depth is the deepest in the geological history, the sedimentary rate of Tertiary is highest and its rising rate of temperature rate is higher. During sedimentary history, there is no large erosion, and in the Tertiary, the deeper sediment was deposited in large space, therefore it is in favor of the conservation and transformation of oil and gas. The thermal research shows that the heat primarily comes from basement of the basin, present geotherm is the highest temperature in the geological history. Major source rock is the strata of ES3, whose organic is abundant, good-typed, maturative and of high-expulsive efficiency. The organic evolution of source rock of O has come to the overmature stage, the evolving time is long and the source rock can be easily destroyed. Therefore it is more difficult for the O formation source rock to form the huge accumulation of oil and gas than Es3 formation. In the research of oil assembling, we first calculated the characteristics of the fluid pressure of single well, then analyzed the distribution of the surplus fluid pressure of each formation and profile, and probe the first hydrocarbon migration situation and the distribution of pressure system of buried hill pool. In every formation, the pressure system of each burial hill has its own characteristics, e.g. high pressure or low pressure. In the research of secondary migration, the fluid potential is calculated while the relative low potential area is figured out. In Qianmiqiao area, the west margin faults have the low potential, and hence is the favorable reconnoiter belt.

人口统计信息空间可视化系统研究

Population research is a front area concerned by domestic and overseas, especially its researches on its spatial visualization and its geo-visualization system design, which provides a sound base for understanding and analysis of the regional difference in population distribution and its spatial rules. With the development of GIS, the theory of geo-visualization more and more plays an important role in many research fields, especially in population information visualization, and has been made the big achievements recently. Nevertheless, the current research is less attention paid to the system design for statistical-geo visualization for population information. This paper tries to explore the design theories and methodologies for statistical-geo-visualization system for population information. The researches are mainly focused on the framework, the methodologies and techniques for the system design and construction. The purpose of the research is developed a platform for population atlas by the integration of the former owned copy software of the research group in statistical mapping system. As a modern tool, the system will provide a spatial visual environment for user to analyze the characteristics of population distribution and differentiate the interrelations of the population components. Firstly, the paper discusses the essentiality of geo-visualization for population information and brings forward the key issue in statistical-geo visualization system design based on the analysis of inland and international trends. Secondly, the geo-visualization system for population design, including its structure, functionality, module, user interface design, is studied based on the concepts of theory and technology of geo-visualization. The system design is proposed and further divided into three parts: support layer, technical layer, user layer. The support layer is a basic operation module and main part of the system. The technical layer is a core part of the system, supported by database and function modules. The database module mainly include the integrated population database (comprises spatial data, attribute data and geographical features information), the cartographic symbol library, the color library, the statistical analysis model. The function module of the system consists of thematic map maker component, statistical graph maker component, database management component and statistical analysis component. The user layer is an integrated platform, which provides the functions to design and implement a visual interface for user to query, analysis and management the statistic data and the electronic map. Based on the above, China's E-atlas for population was designed and developed by the integration of the national fifth census data with 1:400 million scaled spatial data. The atlas illustrates the actual development level of the population nowadays in China by about 200 thematic maps relating with 10 map categories(environment, population distribution, sex and age, immigration, nation, family and marriage, birth, education, employment, house). As a scientific reference tool, China's E-atlas for population has already received the high evaluation after published in early 2005. Finally, the paper makes the deep analysis of the sex ratio in China, to show how to use the functions of the system to analyze the specific population problem and how to make the data mining. The analysis results showed that: 1. The sex ratio has been increased in many regions after fourth census in 1990 except the cities in the east region, and the high sex ratio is highly located in hilly and low mountain areas where with the high illiteracy rate and the high poor rate; 2. The statistical-geo visualization system is a powerful tool to handle population information, which can be used to reflect the regional differences and the regional variations of population in China and indicate the interrelations of the population with other environment factors. Although the author tries to bring up a integrate design frame of the statistical-geo visualization system, there are still many problems needed to be resolved with the development of geo-visualization studies.

A Theory of How the Brain Might Work

I wish to propose a quite speculative new version of the grandmother cell theory to explain how the brain, or parts of it, may work. In particular, I discuss how the visual system may learn to recognize 3D objects. The model would apply directly to the cortical cells involved in visual face recognition. I will also outline the relation of our theory to existing models of the cerebellum and of motor control. Specific biophysical mechanisms can be readily suggested as part of a basic type of neural circuitry that can learn to approximate multidimensional input-output mappings from sets of examples and that is expected to be replicated in different regions of the brain and across modalities. The main points of the theory are: -the brain uses modules for multivariate function approximation as basic components of several of its information processing subsystems. -these modules are realized as HyperBF networks (Poggio and Girosi, 1990a,b). -HyperBF networks can be implemented in terms of biologically plausible mechanisms and circuitry. The theory predicts a specific type of population coding that represents an extension of schemes such as look-up tables. I will conclude with some speculations about the trade-off between memory and computation and the evolution of intelligence.