超高压输电线路巡检机器人两种越障定位方法比较

将两种基于传感器信息的导线定位方法的特点和差异进行了分析和对比,得出方法Ⅱ的解算能力强于方法Ⅰ的解算能力,但由于方法Ⅱ的定位精度低于方法Ⅰ的定位精度,因此,选用方法Ⅰ进行野外作业。

基于网络直角坐标机器人视觉伺服系统研究

为了实现定位抓取任务,提出基于网络的直角坐标机器人视觉控制系统。针对机器人运动控制的非线性与强耦合特性,采用神经网络控制器,构建了图像偏差与运动控制量之间的对应关系。通过对图像增强、边缘提取、特征提取等图像处理方法的综合分析,提出了一套优化组合图像处理法。在计算机网络环境下,采用自定义协议实现图像处理器与运动控制器协调控制,并将远程监控应用到机器人控制中。实验结果表明,该系统能够在视野范围内自动实现定位抓取动作。

模糊控制在现场总线控制系统中的应用

介绍了如何把模糊控制算法与现场总线中的CAN总线结合起来应用于控制系统 ,并设计了一种智能型模糊控制算法 ,给出了系统的整体结构和现场模糊控制单元的硬件实现电路及其软件设计思路 ;系统的仿真结果表明 ,该系统实时性好 ,控制精度较高 ,鲁棒性强 ,在现场控制中有效可行

基于波动方程的层间多次波预测方法研究

In exploration geophysics，velocity analysis and migration methods except reverse time migration are based on ray theory or one-way wave-equation. So multiples are regarded as noise and required to be attenuated. It is very important to attenuate multiples for structure imaging, amplitude preserving migration. So it is an interesting research in theory and application about how to predict and attenuate internal multiples effectively. There are two methods based on wave-equation to predict internal multiples for pre-stack data. One is common focus point method. Another is inverse scattering series method. After comparison of the two methods, we found that there are four problems in common focus point method: 1. dependence of velocity model; 2. only internal multiples related to a layer can be predicted every time; 3. computing procedure is complex; 4. it is difficult to apply it in complex media. In order to overcome these problems, we adopt inverse scattering series method. However, inverse scattering series method also has some problems: 1. computing cost is high; 2. it is difficult to predict internal multiples in the far offset; 3. it is not able to predict internal multiples in complex media. Among those problems, high computing cost is the biggest barrier in field seismic processing. So I present 1D and 1.5D improved algorithms for reducing computing time. In addition, I proposed a new algorithm to solve the problem which exists in subtraction, especially for surface related to multiples. The creative results of my research are following: 1. derived an improved inverse scattering series prediction algorithm for 1D. The algorithm has very high computing efficiency. It is faster than old algorithm about twelve times in theory and faster about eighty times for lower spatial complexity in practice; 2. derived an improved inverse scattering series prediction algorithm for 1.5D. The new algorithm changes the computing domain from pseudo-depth wavenumber domain to TX domain for predicting multiples. The improved algorithm demonstrated that the approach has some merits such as higher computing efficiency, feasibility to many kinds of geometries, lower predictive noise and independence to wavelet； 3. proposed a new subtraction algorithm. The new subtraction algorithm is not used to overcome nonorthogonality, but utilize the nonorthogonality's distribution in TX domain to estimate the true wavelet with filtering method. The method has excellent effectiveness in model testing. Improved 1D and 1.5D inverse scattering series algorithms can predict internal multiples. After filtering and subtracting among seismic traces in a window time, internal multiples can be attenuated in some degree. The proposed 1D and 1.5D algorithms have demonstrated that they are effective to the numerical and field data. In addition, the new subtraction algorithm is effective to the complex theoretic models.

隐伏金矿床预测中的地震勘探险方法

Based on brief introduction of seismic exploration and it's general developing situation, the seismic exploration method in field work implementation and some problems frequently encountered in field, which should be pay attention to, are analyzed in detail. The most economic field work techniques are emphasized. Then the seismic data processing flow and it's interpretation technique about the processing results are presented. At last four examples of seismic prospecting in gold deposits are showed. The main conclusions of our research are: 1. Seismic prospecting technique is a very efficient method in the prediction of concealed gold deposits. With appropriate application, it can absolutely reflect the detail underground geological structure in the condition of rugged area and complicated geological environment. 2. The field geometry should be designed and changed according to different kinds of objective exploration depth and ground situation. The best field implementing parameters which include offset, the distance between two adjacent traces, the quantity of dynamite and the depth of hole for explosion, should be determined with examination. Only this way, the high quality original seismic data can be gotten. 3. In seismic data processing, the edition of invalid trace and source gather, signal enhancement, velocity analysis and migration are the key steps. It has some different points with conventional processing and needs a new processing flow and methods which is suitable to the data acquired in rugged area and complicated geological environment. 4. The new common reflection area stacking method in crooked line data processing is an efficient method to improve the signal to noise ratio of seismic data The innovations of our research work are: 1. In the areas which were considered to be forbidden zone, we implement the seismic exploration in several gold deposits in China through our application. All acquire distinguished effects. This show the seismic exploration method is a new effective method in the prediction of concealed gold deposits. 2. We developed a set of seismic field work techniques and data processing which is suitable to complex environment, especially find a effective method in stacking and noise elimination in crooked line data processing. 3. In the field of seismic profile interpretation, through our research work, we are convinced of that: in different kinds of geological condition, the seismic reflection character are not same. For example the lava, the intrusion rock and sediment layers are different in the character of reflection structure and strength. So we accumulate some experience about seismic data interpretation in the area of gold deposits.

DAS24-3B数据采集系统控制系统软件的研制与开发

Under the auspices of the 'knowledge-Innovation Program' of CAS, Institute of Geology and Geophysics has established the Broadband Seismic Laboratory. A new kind of 24-bit high-resolution seismograph DAS24-3B has been designed and manufactured in an effort of developing China's own technology of seismic array. Since these instruments will primarily be used in field operation, there is a need to optimize the system software of data acquisition system (DAS) to enhance its stability, compatibility and maintenance. The design ideas of the system software of DAS24-3B are partly learned from the advanced DAS 72A-08. In this system there are two exclusive communication programs DNAPI-COM1 and DNAPI-LPT1, which are suitable for all standard industrial computers with ECP parallel port and serial port. By these exclusive parallel and serial communication interface the system software is split into three parts, acquisition program, user's control program and graphical display program, which can function well in separate units and can run correctly in whole. The three parts of DAS24-3B's system software possess different functions and advantages. The function of acquisition program is to control the process of seismic data acquisition. DAS24-3B system reduced its power and harddisk read-write disturbance by using the extended memory attached to its CPU, which functions as enlarging the data buffer of system and lessening the times of harddisk read-write operations. Since GPS receiver of DAS is strongly sensitive to the around environment and has the possibility of signal loss the acquisition program has been designed with the ability to automatically trail the GPS locked time. The function of user's controlling program is to configure the system's work environment, to inform the user's commands to DAS, to trail the status of DAS in real-time. The function of graphical display program is to illustrate data in figures, to convert data file into some common formatted file, to split data file in parts and combine data files into one. Both user's control program and graphical display program are API (Application Programming Interface) in window 95/98 system. Both possess the features of clearness and friendship by use of all kind of window controls, which are composed by menu, toolbar, statusbar, dialogue box, message box, edit box, scrollbar, time control, button and so on. Two programs of systemic exception handles are provided to treat the trouble in field. The DAS24-3B DAS has been designed to be easier to use-better ability, more stable and simpler. It has been tested in field and base station and has been proved more suitable for field operation of seismic array than other native instruments.

波动方程辛几何算法三维叠前深度偏移及其并行实现

Oil and scientific groups have been focusing on the 3D wave equation prestack depth migration since it can solve the complex problems of the geologic structure accurately and maintain the wave information, which is propitious to lithology imaging. The symplectic method was brought up by Feng Kang firstly in 1984 and became the hotspot of numerical computation study. It will be widely applied in many scientific field of necessity because of its great virtue in scientific sense. This paper combines the Symplectic method and the 3-D wave equation prestack depth migration to bring up an effectual numerical computation method of wave field extrapolatation technique under the scientific background mentioned above. At the base of deep analysis of computation method and the performance of PC cluster, a seismic prestack depth migration flow considering the virtue of both seismic migration method and Pc cluster has formatted. The software, named 3D Wave Equation Prestack Depth Migration of Symplectic Method, which is based on the flow, has been enrolled in the National Bureau of Copyright (No. 0013767). Dagang and Daqing Oil Field have now put it into use in the field data processing. In this paper, the one way wave equation operator is decompounded into a phase shift operator and a time shift operator and the correct item with high rank Symplectic method when approaching E exponent. After reviewing eliminating alias frequency of operator, computing the maximum angle of migration and the imaging condition, we present the test result of impulse response of the Symplectic method. Taking the imaging results of the SEG/EAGE salt and overthrust models for example and seeing about the imaging ability with complex geologic structure of our software system, the paper has discussed the effect of the selection of imaging parameters and the effectuation on the migration result of the seismic wavelet and compared the 2-D and 3-D prestack depth migration result of the salt mode. We also present the test result of impulse response with the overthrust model. The imaging result of the two international models indicates that the Symplectic method of 3-D prestack depth migration accommodates great transversal velocity variation and complex geologic structure. The huge computing cost is the key obstruction that 3-D prestack depth migration wave equation cannot be adopted by oil industry. After deep analysis of prestack depth migration flow and the character of PC cluster ,the paper put forward :i)parallel algorithms in shot and frequency domain of the common shot gather 3-D wave equation prestack migration; ii)the optimized setting scheme of breakpoint in field data processing; iii)dynamic and static load balance among the nodes of the PC cluster in the 3-D prestack depth migration. It has been proven that computation periods of the 3-D prestack depth migration imaging are greatly shortened given that adopting the computing method mentioned in the paper. In addition,considering the 3-D wave equation prestack depth migration flow in complex medium and examples of the field data processing, the paper put the emphasis on: i)seismic data relative preprocessing, ii) 2.5D prestack depth migration velocity analysis, iii)3D prestack depth migration. The result of field data processing shows satisfied application ability of the flow put forward in the paper.

Reliable Interconnection Networks for Parallel Computers

This technical report describes a new protocol, the Unique Token Protocol, for reliable message communication. This protocol eliminates the need for end-to-end acknowledgments and minimizes the communication effort when no dynamic errors occur. Various properties of end-to-end protocols are presented. The unique token protocol solves the associated problems. It eliminates source buffering by maintaining in the network at least two copies of a message. A token is used to decide if a message was delivered to the destination exactly once. This technical report also presents a possible implementation of the protocol in a worm-hole routed, 3-D mesh network.

Aferição de competências em Endodontia percepcionadas pelos finalistas em Medicina Dentária e pelos Médicos Dentistas licenciados na Faculdade de Ciências de Saúde da Universidade Fernando Pessoa

Monografia apresentada à Universidade Fernando Pessoa como parte dos requisitos para obtenção do grau de Licenciada em Medicina Dentária

Método DeLorme versus Electroestimulação no fortalecimento muscular do quadricípete

Monografia apresentada à Universidade Fernando Pessoa para obtenção do grau de Licenciada em Fisioterapia

TCP over CDMA2000 Networks: A Cross-Layer Measurement Study

Modern cellular channels in 3G networks incorporate sophisticated power control and dynamic rate adaptation which can have significant impact on adaptive transport layer protocols, such as TCP. Though there exists studies that have evaluated the performance of TCP over such networks, they are based solely on observations at the transport layer and hence have no visibility into the impact of lower layer dynamics, which are a key characteristic of these networks. In this work, we present a detailed characterization of TCP behavior based on cross-layer measurement of transport layer, as well as RF and MAC layer parameters. In particular, through a series of active TCP/UDP experiments and measurement of the relevant variables at all three layers, we characterize both, the wireless scheduler and the radio link protocol in a commercial CDMA2000 network and assess their impact on TCP dynamics. Somewhat surprisingly, our findings indicate that the wireless scheduler is mostly insensitive to channel quality and sector load over short timescales and is mainly affected by the transport layer data rate. Furthermore, with the help of a robust correlation measure, Normalized Mutual Information, we were able to quantify the impact of the wireless scheduler and the radio link protocol on various TCP parameters such as the round trip time, throughput and packet loss rate.

Profiling phytochemical and nutritional components of potato

Potatoes (Solanum Tuberosum L.) contain secondary metabolites that may have an impact on human health. The aim of this study was to assess the levels of some of these compounds in a wide range of varieties, including rare, heritage and commercial cultivars. Vitamin C, total carotenoids, phenolics, flavonoids, antioxidant activity and glycoalkaloids were determined, using spectroscopy and chromatography, in the skin and flesh of tubers grown in field trials. Transcript levels of key synthetic enzymes were assessed by qPCR. Accumulation of selected metabolites was higher in the skin than in the flesh of tubers, except ascorbate, which was undetected in the skin. Differences were on average 2.5 to 3-fold for carotenoids, 6-fold for phenolics, 15 to 16-fold for flavonoids, 21-fold for glycoalkaloids and 9 to 10-fold for antioxidant activity. Higher contents of carotenoids were associated with yellow skin or flesh, and higher values of phenolics, flavonoids and antioxidant activity with blue flesh. Variety ‘Burren’ had maxima values of carotenoids in skin and flesh, variety ‘Nicola’ of ascorbate, variety ‘Congo’ of phenolics, flavonoids and antioxidant activity in both tissues, except antioxidant activity in the skin, which was higher in ‘Edzell Blue’. Varieties ‘May Queen’ and ‘International Kidney’ had highest glycoalkaloid content in skin and flesh respectively. The effect of the environment was diverse: year of cultivation was significant for all metabolites, but site of cultivation was not for carotenoids and glycoalkaloids. Levels of expression of phenylalanine ammonia-lyase and chalcone synthase were higher in varieties accumulating high contents of phenolic compounds. However, levels of expression of phytoene synthase and L-galactono-1,4-lactone dehydrogenase were not different between varieties showing contrasting levels of carotenoids and ascorbate respectively. This work will help identify varieties that could be marketed as healthier and the most suitable varieties for extraction of high-value metabolites such as glycoalkaloids.

Boosting high-intensity focused ultrasound-induced anti-tumor immunity using a sparse-scan strategy that can more effectively promote dendritic cell maturation.

BACKGROUND: The conventional treatment protocol in high-intensity focused ultrasound (HIFU) therapy utilizes a dense-scan strategy to produce closely packed thermal lesions aiming at eradicating as much tumor mass as possible. However, this strategy is not most effective in terms of inducing a systemic anti-tumor immunity so that it cannot provide efficient micro-metastatic control and long-term tumor resistance. We have previously provided evidence that HIFU may enhance systemic anti-tumor immunity by in situ activation of dendritic cells (DCs) inside HIFU-treated tumor tissue. The present study was conducted to test the feasibility of a sparse-scan strategy to boost HIFU-induced anti-tumor immune response by more effectively promoting DC maturation. METHODS: An experimental HIFU system was set up to perform tumor ablation experiments in subcutaneous implanted MC-38 and B16 tumor with dense- or sparse-scan strategy to produce closely-packed or separated thermal lesions. DCs infiltration into HIFU-treated tumor tissues was detected by immunohistochemistry and flow cytometry. DCs maturation was evaluated by IL-12/IL-10 production and CD80/CD86 expression after co-culture with tumor cells treated with different HIFU. HIFU-induced anti-tumor immune response was evaluated by detecting growth-retarding effects on distant re-challenged tumor and tumor-specific IFN-gamma-secreting cells in HIFU-treated mice. RESULTS: HIFU exposure raised temperature up to 80 degrees centigrade at beam focus within 4 s in experimental tumors and led to formation of a well-defined thermal lesion. The infiltrated DCs were recruited to the periphery of lesion, where the peak temperature was only 55 degrees centigrade during HIFU exposure. Tumor cells heated to 55 degrees centigrade in 4-s HIFU exposure were more effective to stimulate co-cultured DCs to mature. Sparse-scan HIFU, which can reserve 55 degrees-heated tumor cells surrounding the separated lesions, elicited an enhanced anti-tumor immune response than dense-scan HIFU, while their suppressive effects on the treated primary tumor were maintained at the same level. Flow cytometry analysis showed that sparse-scan HIFU was more effective than dense-scan HIFU in enhancing DC infiltration into tumor tissues and promoting their maturation in situ. CONCLUSION: Optimizing scan strategy is a feasible way to boost HIFU-induced anti-tumor immunity by more effectively promoting DC maturation.

Análisis foliar en plantas de maíz II : microelementos

p.31-38

Análisis foliar en plantas de maíz de cultivo, I : macroelementos

p.23-30