机器人力装配操作的顺应综合与实验验证

本文提出并实现了一种机器人装配顺应综合方法。装配操作过程可以表示为一列离散的几何接触状态的改变和转移。通过对不确定性下所有机器人形位进行仿真，得到每一接触形式对应的静态接触力特征。由对基本接触元的分析，求解实现接触状态转换的机器人运动方向，构成顺应的力－错误修复运动方向映射，为规划泊装配运动实现顺应。并在ＰＵＭＡ５６２机器人完成了一类简单装配实验对本文方法进行了验证。

“勇士号”遥控移动式作业机器人

介绍了863智能机器人型号之一──以核工业为应用背景的“勇士号”遥控移动式机器人的作业内容及其主要功能指标，分析了该型号的总体设计思想，同时概括总结了其操作性能、移动性能及计算机系统等方面的技术特点。

三维物体识别及姿态测定的推理系统

本文介绍了三维物体识别及姿态测定的一种新技术，从物体空间域模型出发，通过约束推理及几何推理，在物体三维信息部分给定的条件下，推断预测图象模型，并通过实测的图象数据反馈，推断出隐含在图象中未给定的三维信息，最终实现三维物体识别及姿态测定。整个系统在ＶＩＣＯＭ机上用Ｃ语言完成。

Computer-assisted automatic peak recognition and result evaluation for analysis of chlorinated hydrocarbons in environmental samples

A data manipulation method has been developed for automatic peak recognition and result evaluation in the analysis of organic chlorinated hydrocarbons with dual-column gas chromatography. Based on the retention times of two internal standards, pentachlorotoluene and decachlorobiphenyl, the retention times of chlorinated hydrocarbons can be calibrated automatically and accurately. It is very convenient to identify the peaks by comparing the retention times of samples with the calibrated retention times calculated from the relative retention indices of standards. Meanwhile, with a suggested two-step evaluation method the evaluation coefficients and the suitable quantitative results of each component can be automatically achieved for practical samples in an analytical system using two columns with different polarities and two internal standards. (C) 2002 Elsevier Science B.V. All rights reserved.

社会困境中的行为决策――社会身份与地位的影响

Social dilemmas are defined as such situations in which short-term individual and long-term collective interests are at odds (Hardin, 1968; Messick & Brewer, 1983). Severe social problems lead more and more researchers to pay attention to the issue of social dilemmas. Until now, research has widely examined the factors influencing cooperation in social dilemmas, and provided solutions to social dilemmas. In the need of theory development, previous research generally simplified the situation of realistic social dilemmas. Therefore, few studies have explored the issue of cooperation in social dilemmas in an intergroup situation. On the other hand, there has been little empirical attention for such issues in countries outside of United States and Western Europe. To meet this gap, the present study grounded itself in social identity theories and examined the effect of unequal group status on behavioral decision making in social dilemmas. To this end, the study designed three experiments to examine how individuals with different group status response psychologically and behaviorally to cooperation in intragroup and intergroup social dilemmas. In experiment 1, the study examined how independent and interdependent self- construals affect cooperative behavior in an intragroup social dilemma. The results showed that when individuals were primed with interdependent (as opposed to independent) self-construal, they consistently contributed highly, regardless of context manipulation. In contrast, those primed with independent self-construal contributed less in the investment game but only when placed in a context where group members were encouraged to think about their individual (versus shared) fate. Results supported the idea that independent self-construal in a low interdependent context produces the most competitive behavior and that this effect was partially mediated by the feeling of interaction within a group. In experiment 2, the study examined how the effect of group status on different level of cooperation in a nested social dilemma was moderated by individual status, and what roles ingroup and superordinate identifications played in the above effect. Results found that individuals in higher status groups tended to allocate more to private account and less to subgroup account compared to those in lower status group; individuals in higher status groups allocated more to higher level accounts than to private account, whereas those in lower status acted in a reverse way. The results indicated that group status (compared to individual status) exerted a positive influence on behavioral decision making in social dilemmas, with higher group status contributing more to subgroup as well as collective interests. Results also found that the effect of group status and/or individual status on cooperation in social dilemmas was moderated by sex. As for individual status, results showed that the effect of individual status on subgroup interest was significantly moderated only by the combination of higher ingroup identification and lower superordinate identification. In experiment 3, the study explored how group stability and cognitive categorization interactively influenced the relationship between group status and behavioral decision making in a social dilemma. Results did not support the prediction that group status and stability interactively affected behavioral decision-making in social dilemmas. However, it was found that this relationship was moderated by which level individuals categorized themselves at. When categorization at the individual level was salient, individuals in high status group contributed more to subgroup account than those in low status group if they perceived a stable status hierarchy; whereas they contributed more to private account and less to collective account if they perceived that the status was instable. On the other hand, when categorization at the subgroup level was salient, individuals in high status group contributed less to collective account than those in low status group if they perceived that the status was stable; whereas they contributed less to private account and more to subgroup account if they perceived an instable status relation. In summary, the present study suggests that cooperation with ingroup forms the basis of social harmony, and higher status for everyone in any given group is a necessary for social development. On the other hand, individuals in higher status group tend to be more selfish once they realize that their current status hierarchy is unstable. However, activating their collective identity will to some degree increase the level of their cooperation with the collective. The study thus provides psychological explanations on how to construct group harmony and management suggestions on how to solve social conflicts.

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.

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.

RABBIT: A Compiler for SCHEME

We have developed a compiler for the lexically-scoped dialect of LISP known as SCHEME. The compiler knows relatively little about specific data manipulation primitives such as arithmetic operators, but concentrates on general issues of environment and control. Rather than having specialized knowledge about a large variety of control and environment constructs, the compiler handles only a small basis set which reflects the semantics of lambda-calculus. All of the traditional imperative constructs, such as sequencing, assignment, looping, GOTO, as well as many standard LISP constructs such as AND, OR, and COND, are expressed in macros in terms of the applicative basis set. A small number of optimization techniques, coupled with the treatment of function calls as GOTO statements, serve to produce code as good as that produced by more traditional compilers. The macro approach enables speedy implementation of new constructs as desired without sacrificing efficiency in the generated code. A fair amount of analysis is devoted to determining whether environments may be stack-allocated or must be heap-allocated. Heap-allocated environments are necessary in general because SCHEME (unlike Algol 60 and Algol 68, for example) allows procedures with free lexically scoped variables to be returned as the values of other procedures; the Algol stack-allocation environment strategy does not suffice. The methods used here indicate that a heap-allocating generalization of the "display" technique leads to an efficient implementation of such "upward funargs". Moreover, compile-time optimization and analysis can eliminate many "funargs" entirely, and so far fewer environment structures need be allocated at run time than might be expected. A subset of SCHEME (rather than triples, for example) serves as the representation intermediate between the optimized SCHEME code and the final output code; code is expressed in this subset in the so-called continuation-passing style. As a subset of SCHEME, it enjoys the same theoretical properties; one could even apply the same optimizer used on the input code to the intermediate code. However, the subset is so chosen that all temporary quantities are made manifest as variables, and no control stack is needed to evaluate it. As a result, this apparently applicative representation admits an imperative interpretation which permits easy transcription to final imperative machine code. These qualities suggest that an applicative language like SCHEME is a better candidate for an UNCOL than the more imperative candidates proposed to date.

Presentation Based User Interface

A prototype presentation system base is described. It offers mechanisms, tools, and ready-made parts for building user interfaces. A general user interface model underlies the base, organized around the concept of a presentation: a visible text or graphic for conveying information. Te base and model emphasize domain independence and style independence, to apply to the widest possible range of interfaces. The primitive presentation system model treats the interface as a system of processes maintaining a semantic relation between an application data base and a presentation data base, the symbolic screen description containing presentations. A presenter continually updates the presentation data base from the application data base. The user manipulates presentations with a presentation editor. A recognizer translates the user's presentation manipulation into application data base commands. The primitive presentation system can be extended to model more complex systems by attaching additional presentation systems. In order to illustrate the model's generality and descriptive capabilities, extended model structures for several existing user interfaces are discussed. The base provides support for building the application and presentation data bases, linked together into a single, uniform network, including descriptions of classes of objects as we as the objects themselves. The base provides an initial presentation data base network graphics to continually display it, and editing functions. A variety of tools and mechanisms help create and control presenters and recognizers. To demonstrate the base's utility, three interfaces to an operating system were constructed, embodying different styles: icons, menu, and graphical annotation.

Time-dependent wavepacket approach to the influence of intense fields on the population of molecular excited states

The influence of laser-field parameters, such as intensity and pulse width, on the population of molecular excited state is investigated by using the time-dependent wavepacket method. For a two-state system in intense laser fields, the populations in the upper and lower states are given by the wavefunctions obtained by solving the Schrodinger equation through split-operator scheme. The calculation shows that both the laser intensity and the pulse width have a strong effect on the population in molecular excited state, and that as the common feature of light-matter interaction (LMI), the periodic changing of the population with the evolution time in each state can be interpreted by Rabi oscillation and area-theorem. The results illustrate that by controlling these two parameters, the needed population in excited state of interest can be obtained, which provides the foundation of light manipulation of molecular processes. (C) 2005 Elsevier B.V. All rights reserved.

Competing with CRS-generated information in the airline industry.

For over 20 years, computer reservation systems (CRSs) have been cited as a source of competitive advantage for the airlines that developed them. This paper reviews the developments that have given rise to such advantage, emphasising the use of CRS-generated information as a competitive tool within the airline industry. New evidence is presented suggesting that the control, dissemination and manipulation of CRS data by owning airlines continued to allow them to capitalise on their investment at the expense of competitors during the 1990s.

ROSSI: Emergence of communication in Robots through Sensorimotor and Social Interaction

ROSSI: Emergence of communication in Robots through Sensorimotor and Social Interaction, T. Ziemke, A. Borghi, F. Anelli, C. Gianelli, F. Binkovski, G. Buccino, V. Gallese, M. Huelse, M. Lee, R. Nicoletti, D. Parisi, L. Riggio, A. Tessari, E. Sahin, International Conference on Cognitive Systems (CogSys 2008), University of Karlsruhe, Karlsruhe, Germany, 2008 Sponsorship: EU-FP7

Columnar-to-disk structural transition in nanoscale (SiO2)(N) clusters

Bromley, S. T., Flikkema, E. (2005) 'Columnar-to-disk structural transition in nanoscale (SiO2)(N) clusters'. Physical Review Letters 95 (18), article no: 185505 RAE2008

Molecular analysis of the anaerobic rumen fungus Orpinomyces - insights into an AT-rich genome

Matthew J. Nicholson, Michael K. Theodorou and Jayne L. Brookman. (2005). Molecular analysis of the anaerobic rumen fungus Orpinomyces - insights into an AT-rich genome. Microbiology, 151 (1), 121-133. Sponsorship: BBSRC RAE2008

Etyczny profil "Familiaris consortio"

Artykuł koncentruje się na etycznym aspekcie „Familiaris Consortio”, zakładając równocześnie bogatą problematykę pastoralną. Pytanie etyczne, które pojawiało się wraz z ukazaniem się tego dokumentu wiązało się z nastrojami wahania i oczekiwania w wyniku ujawnienia się silnej opozycji wobec nauki zawartej w encyklice „Humanae Vitae” Pawła VI. Adhortacja nie podejmuje bezpośredniej polemiki z przeciwnikami nauki Kościoła, lecz przedstawia pozytywny wykład całościowej nauki na temat powołania małżeństwa i rodziny. Powołanie stanowi w tym dokumencie podstawową kategorię teologiczno-moralną, wyjaśniającą i uzasadniającą istotne wymogi moralne małżeństwa i rodziny i przenoszącą życie ludzkie na poziom świętości. Powołanie ma swe źródło w Boskim planie zbawienia i objawia się wraz z dokonaniem dzieła zbawienia w Jezusie Chrystusie. Tajemnica powołania uobecnia się w dziejach ludzkości jako ukryta a zarazem objawiona w misterium Chrystusa i Kościoła. Powołanie rzuca istotne światło na stworzenie mężczyzny i kobiety czyli stworzenie rodziny opartej na fundamencie małżeństwa. Odtąd prawda antropologiczna posiada wymiar sakramentalny. Powołanie przenikając wewnętrznie rzeczywistość stworzoną, umieszcza w samej głębi bytu „nie dające się stłumić wezwanie: rodzino, stań się tym, czym jesteś” (FC 17). Bóg Stwórca i Odkupiciel powierzył człowiekowi – mężczyźnie i kobiecie- zadanie budowania rodziny mocą tej samej Miłości, przez którą istnieje świat i człowiek, oraz tej samej Miłości, którą Objawił Syn Boży na Krzyżu, ustanawiając nowy porządek stworzenia. Odtąd prawda życia ludzkiego i prawda miłości musi być odczytywana wyłącznie w świetle tajemnicy Paschalnej. To wezwanie płynące z głębi sakramentu odzywa się mocą łaski w sercu małżeństwa, w sercu męża i żony, którzy są wezwani do miłowania się tą samą Miłością, która płynie z Misterium Krzyża. Ta koncepcja powołania, wypływająca z sakramentalnego charakteru chrześcijańskiego istnienia stanowi klucz do rozstrzygania szczegółowych pytań mogących się pojawić w kontekście życia małżeńskiego. Wizja przedstawiona przez „Familiaris Consortio” jest jednorodna i charyzmatyczna, jest teologiczna i antropologiczna zarazem, dotyczy bowiem człowieka jako człowieka, a nie tylko „pewnych jednostek” ludzkich uwikłanych w sidła małżeńskie. W „Familiaris Consortio” jest jedna norma małżeńska i jedna norma rodzicielska: to jest zawsze ta sama Miłość, która z Serca Boga poprzez sakrament przenika do serca małżonków. Dlatego miłość małżeńska jest miłością rodzicielską, czyli odpowiedzialną za świętość tajemnicy zrodzenia, to jest równocześnie za świętość Boga – Stwórcy i za godność człowieka powoływanego na świat. Zarówno miłość małżeńska jak miłość rodzicielska, nie mogą istnieć bez czystości małżeńskiej. Tu leży prawdopodobnie główna przyczyna powodująca opór wobec nauki „Humanae Vitae”. „Familiaris Consortio” odrzuca wszelką manipulację antykoncepcyjna, podkreślając sprzeczność postawy antykoncepcyjnej nie tylko z prawem Bożym, ale i z istotą człowieczeństwa. Zawiera się to w twierdzeniu, które głosi, że pomiędzy prawidłowym życiem małżeńskim a antykoncepcją zachodzi nie tylko różnica moralna, lecz także antropologiczna (FC 32). Jest to surowy osąd tej praktyki, ale prawdziwy: ci, którzy stosują antykoncepcję, staczają się na poziom poniżej-ludzki.