基于MontaVista Linux的开放式机器人控制器研究与实现

本文提出了一种基于MontaVista Linux操作系统的开放式机器人控制器,该系统采用CAN总线作为控制器的系统总线。由于MontaVista Linux操作系统的开放性和良好的移植性,使得系统可以方便扩展、定制不同的应用软件模块和操作系统模块,并且在各种硬件平台间具有良好的移植性。同时由于采用CAN总线作为系统总线,使得系统可灵活配置且可以通过现场总线与其它设备共享数据。

一种新型柔索驱动并联机器人的模型样机

提出一种新型并联机器人机构 ,利用张紧柔索驱动该并联机器人·通过运动学和动力学分析、工作空间分析、轨迹规划、误差分析 ,设计并制作了模型样机本体、驱动与控制模块 ,开发了机器人语言 ,控制模型样机完成指定动作·实验结果表明 ,这种新型并联机器人是可行的 ,适用于轻型机床等设备·该机器人在某一速度范围内工作时 ,会产生较明显的振动 ,并伴有噪声 ,因此要提高机器人的性能还必须设法抑制其振动

微型遥控潜水器视频监控系统

介绍了一种微型遥控潜水器视频监控系统,包括硬件装置及基于软件技术的视频数据处理技术。硬件装置完成视频信号的采集、传输、显示。视频数据处理技术解决了视频信号的捕获、存储、画面质量调节等。该系统已经在微型遥控潜水器中应用,效果良好。

遥控设备中的抗干扰问题

遥控设备研制的过程是克服干扰的过程，作者成功地采用了降低单片机主振频率、利用单片机的待机省电状态功能、加设带通滤波器、采用光电隔离器件及各种屏蔽接地等措施研制成功了一套设备，遥控命令传输距离超过了原设计要求。

无缆水下机器人组合导航系统

无缆水下机器人是我国首次开展的高技术课题,组合导航系统是无缆水下机器人研究中的关键部分,本文介绍了多种导航设备同时工作,经过信息综合处理获得高精度导航信息的组合导航系统和组合导航系统中所需要的坐标转换及卡尔曼滤波器的计算,为无缆水下机器人建立一个较理想的导航方式。

机器人语言研究

本文从信息控制的角度出发将机器人语言定义为能处理某些特定的“外部设备”的计算机程序设计语言。并将机器人语言成份分为两大部分,即机器人核心语言和机器人专用语言。然后分别综述了机器人专用语言和机器人核心语言的进展情况。

胜利勘探数据中心及勘探辅助决策系统研究

In the paper through extensive study and design, the technical plan for establishing the exploration database center is made to combine imported and self developed techniques. By research and repeated experiment a modern database center has been set up with its hardware and network having advanced performance, its system well configured, its data store and management complete, and its data support being fast and direct. Through study on the theory, method and model of decision an exploration decision assistant schema is designed with one decision plan of well location decision support system being evaluated and put into action. 1. Study on the establishment of Shengli exploration database center Research is made on the hardware configuration of the database center including its workstations and all connected hardware and system. The hardware of the database center is formed by connecting workstations, microcomputer workstations, disk arrays, and those equipments used for seismic processing and interpretation. Research on the data store and management includes the analysis of the contents to be managed, data flow, data standard, data QC, data backup and restore policy, optimization of database system. A reasonable data management regulation and workflow is made and the scientific exploration data management system is created. Data load is done by working out a schedule firstly and at last 200 more projects of seismic surveys has been loaded amount to 25TB. 2. Exploration work support system and its application Seismic data processing system support has the following features, automatic extraction of seismic attributes, GIS navigation, data order, extraction of any sized data cube, pseudo huge capacity disk array, standard output exchange format etc. The prestack data can be accessed by the processing system or data can be transferred to other processing system through standard exchange format. For supporting seismic interpretation system the following features exist such as auto scan and store of interpretation result, internal data quality control etc. the interpretation system is connected directly with database center to get real time support of seismic data, formation data and well data. Comprehensive geological study support is done through intranet with the ability to query or display data graphically on the navigation system under some geological constraints. Production management support system is mainly used to collect, analyze and display production data with its core technology on the controlled data collection and creation of multiple standard forms. 3. exploration decision support system design By classification of workflow and data flow of all the exploration stages and study on decision theory and method, target of each decision step, decision model and requirement, three concept models has been formed for the Shengli exploration decision support system including the exploration distribution support system, the well location support system and production management support system. the well location decision support system has passed evaluation and been put into action. 4. Technical advance Hardware and software match with high performance for the database center. By combining parallel computer system, database server, huge capacity ATL, disk array, network and firewall together to create the first exploration database center in China with reasonable configuration, high performance and able to manage the whole data sets of exploration. Huge exploration data management technology is formed where exploration data standards and management regulations are made to guarantee data quality, safety and security. Multifunction query and support system for comprehensive exploration information support. It includes support system for geological study, seismic processing and interpretation and production management. In the system a lot of new database and computer technology have been used to provide real time information support for exploration work. Finally is the design of Shengli exploration decision support system. 5. Application and benefit Data storage has reached the amount of 25TB with thousand of users in Shengli oil field to access data to improve work efficiency multiple times. The technology has also been applied by many other units of SINOPEC. Its application of providing data to a project named Exploration achievements and Evaluation of Favorable Targets in Hekou Area shortened the data preparation period from 30 days to 2 days, enriching data abundance 15 percent and getting information support from the database center perfectly. Its application to provide former processed result for a project named Pre-stack depth migration in Guxi fracture zone reduced the amount of repeated process and shortened work period of one month and improved processing precision and quality, saving capital investment of data processing of 30 million yuan. It application by providing project database automatically in project named Geological and seismic study of southern slope zone of Dongying Sag shortened data preparation time so that researchers have more time to do research, thus to improve interpretation precision and quality.

环渤海花岗岩体地下油库建设的工程地质力学研究

As a kind of strategic resource，petroleum play an very important role in current social stability, economic development and state safety. Since 1993 China has turned from a net oil exporter into a net oil importer, the figure of imported oil increased from then on. In 2004 China's total energy consumption exceeded Japan’s, and ranked in the second place, just inferior to America. Today China is the world’s third-largest importing nation, accounting for 6% of world imports and 8% of world consumption. Comparing with other strategic petroleum reserve schemes, underground oil storage possess many advantages, such as security, economy, less pollution, save land, suited for strategic reserve and so on, so it is the most ideal form for strategic petroleum reserve. In the background of China Strategic Petroleum Reserve Program started just now, this paper choose Circum-Bo sea region as a study area, and do some system study on the underground oil storage caverns constructed in inter-large granite rock masses in Circum-Bo sea region. On the foundation of a great amount of information come from both home and abroad, firstly this paper analysed the principle, economy, cavern shape, profile dimension, and gain some cognizances and logos, as follows: ①Hard rock mass such as granite is the major rock, in which underground oil storage are constructed; ②Unlined underground oil storage caverns had been wide spread used as a sort of oil storage form abroad, there already exist a suit of skilled experience and technologies to prevent oil product from leaking; ③Compared with surface tanks, underground oil storage cavern possess predominance in economy clearly. In general, it will be more economical when the storage capacity exceed 50000m3. The quality of rock mass is the most important factor for underground storage cost, however such as hydrogeology, storage capacity, the number of storage galleries, the length, storage product, mechanical equipments, geographic location also influent the cost. In designed depth of the underground storage, the rock mass of Jinzhou mainly belong to class Ⅱ, but parts with dykes, clayization alteration, and dense joints are Ⅲ, Ⅳ; ④Now, there are few underground oil storages span more than 25m in both abroad and home. The examples of some ancient underground works and modern underground excavation with wide span surely give us many precious elicitations to construct more great unlined storage caverns, when the rock mass quality is good, cavern shape and construction method also are proper, it is quite possible to construct underground oil storage cavern with span more than 30m . The main axis orientation of Jinzhou underground oil storage cavern is NW direction, the cavern's elevation locate between -53msl and -76msl. The storage's total volume is about 3×106m3, composed of 8 parallel galleries with 950m length, the pillars between them are 45m, and every two of galleries form one unit, which can deposit 75×104m3 for each unit. The product will be stored are Saudi light and Saudi medium crude oil, the main cavern's section is 411.5m2, with 23m height and 19m width. According to the principle and technique of engineering geomechanics, this study supply a sort of system scientific thinking and method for sitting location of underground oil storage in granite region: ① On the foundation of the earth crust stability sub-zone appraise of Circum-Bo sea region, farther research concerning granite distribution, genesis, geological period and fault structure are conducted in stable areas, generally, this paper select Liaoxi, east shore of Liaotung peninsula and Jiaotung peninsula as target areas for underground oil storage regions, where Mesozoic granite is magnitude; ②After roundly comparison in facts of geologic structure, engineering geology, hydrogeology, topography, transportation and so on of three granite distributed areas, at last, selecting Jingzhou granite zone in Liaoxi out as an ideal construction area; ③ Detailed investigation is conducted in the southeast of Baimashi in Jingzhou development district, the final field. Ultrasonic Borehole Television, as a major way to collect original information of borehole rock mass were used, which is very effective to appraise the quality of deep rock mass; ④ According to the field data of tectonic stress, rock mass quality, the spatial distribution of fracture water, some optimum designs in cross section, axial direction and cavern span have been designed for the underground oil storage cavern layout in Jinzhou. To understand the characteristics of swelling alteration rock in Jinzhou granite mass, collected abundant swelling alteration rock engineering examples in granite, which study them in detail, concluded the swelling alteration rock distribute nearly everywhere in China, intruded medium-basic dykes alteration, along discontinuities and mineral hydrothermal alteration with genesis of granite are three main forms clayization alteration rock in granite rock mass. In Jinzhou field, from macro to micro studied the swelling rock which induced by mid-basic dyke intrusion, with weak swelling. In conclusion, this paper conclude the distribution rule and features of expansion alteration rock in filed, and advise some technical suggestions for excavation at swelling alteration rock part. The main features of this paper: ①In the process of site selection, investigation and design, a suit of technique and method of engineering geomechanics metasynthesis were formed, which is significative to guide the large scale underground oil storage cavern sitting location, investigation and design in granite rock mass; ②The detailed discussion on the engineering geology problems in granite mass, such as weathering crust, faults, dykes and clayization alteration rock, are useful for other projects in aspects of site selection, engineering geology evaluation and stability estimation; ③The summary and integration of the genesis, type, countermeasure relate to swelling alteration rock, also is likely to be used for other underground oil storage caverns constructed in swelling alteration granite. In conclusion, this study is meaningful for guiding the large scale underground oil storage for site selection, investigation and design in granite rock mass.

西藏高原草原化嵩草草甸生态系统呼吸及碳平衡

The soil respiration and net ecosystem productivity of Kobresia littledalei meadow ecosystem was investigated at Dangxiong grassland station, one grassland field station of Lhasa Plateau Ecosystem Research Station. Soil respiration and soil heterotrophic respiration were measured at the same time by using Li6400-09 chamber in growing season of year 2004. The response of soil respiration and its components, i.e. microbial heterotrophic respiration and root respiration to biotic and abiotic factors were addressed. We studied the daily and seasonal variation on Net Ecosystem carbon Exchange (NEE) measured by eddy covariance equipments and then the regression models between the NEE and the soil temperature. Based on the researches, we analyzed the seasonal variation in grass biomass and estimated NEE combined the Net Ecosystem Productivity with heterogeneous respiration and then assessed the whether the area is carbon source or carbon sink. 1.Above-ground biomass was accumulated since the grass growth started from May; On early September the biomass reached maximum and then decreased. The aboveground net primary production (ANPP) was 150.88 g m~" in 2004. The under-ground biomass reached maximum when the aboveground start to die back. Over 80% of the grass root distributed at the soil depth from 0 to 20cm. The underground NPP was 1235.04 g m"2.. Therefore annual NPP wasl.385X103kg ha"1, i.e.6236.6 kg C ha"1. 2. The daily variation of soil respiration showed single peak curve with maximum mostly at noon and minimum 4:00-6:00 am. Daily variations were greater in June, July and August than those in September and October. Soil respiration had strong correlation with soil temperature at 5cm depth while had weaker correlation with soil moisture, air temperature, surface soil temperature, and so on. But since early September the soil respiration had a obviously correlation with soil moisture at 5cm depth. Biomass had a obviously linearity correlation with soil respiration at 30th June, 20th August, and the daytime of 27th September except at 23lh October and at nighttime of 27th September. We established the soil respiration responding to the soil temperature and to estimate the respiration variation during monsoon season (from June through August) and dry season (May, September and October). The regression between soil respiration and 5cm soil temperature were: monsoon season (June through August), Y=0.592expfl()932\ By estimating , the soil daily respiration in monsoon season is 7.798gCO2m"2 and total soil respiration is 717.44 gCC^m" , and the value of Cho is 2.54; dry season (May, September and October), Y=0.34exp°'085\ the soil daily respiration is 3.355gCO2m~2 and total soil respiration is 308.61 gCC^m", and the value of Cho is 2.34. So the total soil respiration in the grown season (From May to October) is 1026.1 g CO2IT1"2. 3. Soil heterogeneous respiration had a strong correlation with soil temperature especially with soil temperature at 5cm depth. The variation range in soil heterogeneous respiration was widely. The regression between soil heterogeneous respiration and 5cm soil temperature is: monsoon season, Y=0.106exp ' 3x; dry season, Y=0.18exp°"0833x.By estimating total soil heterotrophic respiration in monsoon season is 219.6 gCC^m"2, and the value of Cho is 3.78; While total soil heterogeneous respiration in dry season is 286.2 gCCbm"2, and the value of Cho is 2.3. The total soil heterotrophic respiration of the year is 1379.4kg C ha"1. 4. We estimated the root respiration through the balance between soil respiration and the soil heterotrophic respiration. The contribution of root respiration to total respiration was different during different period: re-greening period 48%; growing period 69%; die-back period 48%. 5. The Ecosystem respiration was relatively strong from May to October, and of which the proportion in total was 97.4%.The total respiration of Ecosystem was 369.6 g CO2 m" .we got the model of grass respiration respond to the soil temperature at 5cm depth and then estimated the daytime grass respiration, plus the nighttime NEE and daytime soil respiration. But when we estimated the grass respiration, we found the result was negative, so the estimating value in this way was not close. 6. The estimating of carbon pool or carbon sink. The NPP minus the soil heterogeneous respiration was the NEE, and it was 4857.3kg C o ha"1, which indicated that the area was the carbon sink.

企业经营风险决策的组织行为学研究

This thesis has investigated the risk preferences of the Chinese company managers in kinds of simulated decision situations and their perceptions of risk concerning types of business decisions. Four studies are conducted: Study I is utility analysis. 214 company managers and 46 middle - school headmasters have responded to Utility Measurement Survey. The results indicate: (1) The risk preferences of the managers vary in the different decision situations. In most of the situations, most of the managers are risk aversion; In few situations, they are risk-seeking. (2) In some of the decision situations, there are significant differences on risk preference between business managers and school headmasters, male managers and female managers, senior managers and junior managers, managers with high qualifications and managers with low qualifications, non-state-owned firms' managers and state-owned firms' managers, medium-small sized firms' managers and large-sized firms' managers. In the other situations there aren't significant differences between them. (3) In all of the decision situations, so significant differences on risk preference are found among managers with different marriage, experience, age and education. Study II is risky decision simulation. The Risky Decision Situations Simulation Survey is administered to 82 company managers. The result indicates that firm culture, business condition, survival limit and risk preference of the superior influence the managers' risk decision-making behavior. Study III is perceptions of business decision risks. 68 company managers have filled in Decision Cases Risk Perception Inventory. The results indicate: (1) Inaccurate market analysis and prediction, instable politics and the changes of economic policy are the more risky elements to strategy decision. (2) Erroneous market analysis and prediction, appearance of new technology and the changes of market demands are the more risky elements to investment decision. (3) Poor quality control, backward technology and too large stocks are the more risky elements to production decision. (4) Shortage of development fund, wrong choice in development project and limitation of the development ability are the more risky elements to new production development decision. (5) No payment of the foreign partner's capital, the changes of national relevant policy, difficulty in marketing, too high selling prices of foreign partner's equipments are the more risky elements to joint-venture decision. (6) Unfamilarity with oneself and misjudgement in qualification of oneself are the more risky elements to personnel decision. (7) Bad market of the product, defects in product quality and the changes of consumers demands are the more risky elements to marketing decision. (8) Wrong strategy and ambiguous goals are the more risky elements to public relation decision. (9) Violation of the law, ambiguous goals and poor creation are the more risky elements to advertisement decision. (10) Deterioration of diplomatic relations, unsuitable products for foreign consumers and unfamilarity with foreign market are the more risky elements to international business decision. Study IV is structured interview. 5 company managers have answered all questions of the Interview Questionnaire. The results indicate: (1) The managers think that risks are the possible unfavourable consequences of decisions; (2) The self-ratings of the managers coordinate with the results of utility measurement; (3) The managers admit that risks always accompany bussiness decision; (4) Individual difference is found among managers on risk perception. This thesis has also pointed out the important implications of the research and discussed several further questions.

Ruído Ocupacional e sua Percepção pelos Alunos de Medicina Dentária

Monografia apresentada à Universidade Fernando Pessoa para obtenção do grau Licenciada em Medicina Dentária

Uso de equipamento auxiliar no preparo dentário para próteses

Trabalho apresentado à Universidade Fernando Pessoa como parte dos requisitos para obtenção do grau de Mestre em Medicina Dentária.

Thermal fatigue analysis of small-satellite structure

The small-satellite thermal subsystem main function is to control temperature ranges on equipments, and payload for the orbit specified. Structure subsystem has to ensure the satellite structure integrity. Structure integrity should meet two constraints; first constraint is accepted fatigue damage due to cyclic temperature, and second one is tolerable mounting accuracy at payload and Attitude Determination and Control Subsystem (ADCS) equipments’ seats. First, thermal analysis is executed by applying finitedifference method (IDEAS) and temperature profile for satellite components case is evaluated. Then, thermal fatigue analysis is performed applying finite-element analysis (ANSYS) to calculate the resultant damage due to on-orbit cyclic stresses, and structure deformations at the payload and ADCS equipments seats.

Thermal Deformation Analysis of Micro satellite Structure

Mounting accuracy of satellite payload and ADCS (attitude determination and control subsystem) seats is one of the requirements to achieve the satellite mission with acceptable performance. Components of mounting inaccuracy are technological inaccuracies, residual plastic deformations after loading (during transportation and orbital insertion), elastic deformations, and thermal deformations during orbital operation. This paper focuses on estimation of thermal deformations of satellite structure. Thermal analysis is executed by applying finite-difference method (IDEAS) and temperature profile for satellite components case is evaluated. Then, Perform thermal finite-element analysis applying the finite-difference model results as boundary conditions; and calculate the resultant thermal strain. Next, applying the resultant thermal strain, perform finite-element structure analysis to evaluate structure deformations at the payload and ADCS equipments seats.

Millimeter-wave and submillimeter-wave imaging for security and surveillance

Passive equipments operating in the 30-300 GHZ (millimeter wave) band are compared to those in the 300 GHz-3 THz (submillimeter band). Equipments operating in the submillimeter band can measure distance and also spectral information and have been used to address new opportunities in security. Solid state spectral information is available in the submillimeter region making it possible to identify materials, whereas in millimeter region bulk optical properties determine the image contrast. The optical properties in the region from 30 GHz to 3 THz are discussed for some typical inorganic and organic solids. in the millimeter-wave region of the spectrum, obscurants such as poor weather, dust, and smoke can be penetrated and useful imagery generated for surveillance. in the 30 GHZ-3 THZ region dielectrics such as plastic and cloth are also transparent and the detection of contraband hidden under clothing is possible. A passive millimeter-wave imaging concept based on a folded Schmidt camera has been developed and applied to poor weather navigation and security. The optical design uses a rotating mirror and is folded using polarization techniques. The design is very well corrected over a wide field of view making it ideal for surveillance, and security. This produces a relatively compact imager which minimizes the receiver count.