工业机器人机械手的小脑模型自适应控制

本文为动力学控制工业机器人机械手提出一种综合控制算法。该控制算法,利用小脑模型算术计算机模块模拟机器人机械手的动力学方程并计算实现期望运动所需力矩作为前馈力矩控制项;利用自适应控制器实现反馈控制,以消除由输入扰动和参数变化而引起的机器人机械手运动误差。这种控制方法在时间上是有效的,且很适合于定点实现。控制方法的有效性通过四自由度的直接驱动机器人前两个关节的计算机仿真实验得到验证。

用光学反射传感器的机器人初始定位系统

本文叙述一种用光学反射传感器自动确定机器人在工作坐标中的起始参考位置的方法。装在机器人手爪边上的光学反射传感器与工作面上的T形目标相配合,用自动反复循环定位法确定机器人在工作坐标中的期望起始点。实践和理论分析表明,虽然开机时的机器人手爪的原始位置基本上是随机的,但手爪都能自动精确地收敛到期望的起始点上。

金川镍矿岩体移动与开采稳定性研究

The two major issues in mining industry are work safety and protection of ground environment when carrying on underground mining activities. Cut-and-fill mining method is increasingly applied in China owing to its advantages of controlling ground pressure and protecting the ground environment effectively. However, some cut-and-fill mines such as Jinchuan nickel mine which has big ore body, broken rock mass and high geostress have unique characteristics on the law of ground pressure and rock mass movement that distinguish from other mining methods. There are still many problems unknown and it is necessary for the further analysis. In this dissertation, vast field survey, geology trenching and relative data analysis are carried out. The distribution of ground fissures and the correlation of the fissures with the location of underground ore body is presented. Using of monitoring data by three-dimension fissure meter and GPS in Jinchuan Deposit Ⅱ, the rule of the surface deformation and the reason of ground fissures generation are analyzed. It is shown that the stress redistribution in surrounding rocks resulting from mining, the existence of the void space underground and the influence of on-going mining activities are three main reasons for the occurrence of ground fissures. Based on actual section planes of No.1 ore body, a large-scale 3D model is established. By this model, the complete process of excavation and filling is simulated and the law of rock mass movement and stability caused by Cut-and-fill Mining is studied. According to simulation results, it is concluded that the deformation of ground surface is still going on developing; the region of subsidence on the ground surface is similar with a circle; the area on the hanging wall side is larger than one on the lower wall side; the contour plots show the centre of subsidence lay on the hanging wall side and the position is near the ore body boundary of 1150m and 1250m where ore body is the thickest. Along strike-line of Jinchuan Deposit Ⅱ, the deformation at the middle of filling body is larger than that in the two sides. Because of the irregular ore body, stress concentrates at the boundary of ore body. With the process of excavation and filling, the high stress release and the stress focus disappear on the hanging wall side. The cut-and-fill mechanism is studied based on monitoring data and numerical simulation. The functions of filling body are discussed. In this dissertation, it is concluded that the stress of filling body is just 2MPa, but the stress of surrounding rock mass is 20MPa. We study the surface movement influenced by the elastic modulus of backfill. The minimal value of the elastic modulus of backfill which can guarantee the safety production of cut-and-fill mine is obtained. Finally, based on the real survey results of the horizontal ore layer and numerical simulation, it is indicated that the horizontal ore layer has destroyed. Key words: cut-and-filling mining, 3D numerical simulation, field monitoring, rock mass movement, cut-and-filling mechanism, the elastic modulus of backfill, the horizontal ore layer

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.

地震波散射非线性反演问题不动点理论及方法的研究

How to create a new method to solve the problem or reduce the influence of that the result of the seismic waves scattering nonlinear inversion is not uniqueness is a main purpose of this research work in the paper. On the background of research into the seismic inversion, new progress of the nonlinear inversion is introduced at the first chapter in this paper. Especially, the development, basic theories and assumptions on some major theories of seismic inversion are analyzed, discussed and summarized in mathematics and physics. Also, the problems faced by the mathematical basis of investigations of the seismic inversion are discussed, and inverse questions of strongly seismic scattering due to strong heterogeneous media in the Earth interior are analyzed and viewed. What the kernel of paper is that gathers all our attention making a new nonlinear inversion method of seismic scattering. The paper provides a theory and method of how to introduce the fixed-point theory into the nonlinear seismic scattering inversion and how to obtain the solution, and gives the actually method to create a serials of contractive mappings of velocity parameter's in the mapping space of wave. Therefore, the results testify the existence of fixed point of velocity parameter and give the method the find it. Further, the paper proves the conclusion that the value obtained by taking the fixed point of velocity parameter into wave equation is the fixed point of the wave of the contractive mapping. Thence, the fixed point is the global minima since the stabilities quality of the fixed point. Based on the new theory, in the chapter three, many inverse results are obtained in the numerical value test. By analysis the results one could find a basic facts that all the results, which are inversed by the different initial model, are tended to the true value in theoretical true model. In other words, the new method mostly eliminates the non-uniqueness that which is existed in seismic waves scattering nonlinear inversion in degree. But, since the test results are quite finite now, more test is need here to positive our theory. As a new theoretical method, it must be existed many weaken in it. The chapter four points out all the questions which is bother us. We hope more people to join us to solve the problem together.

利用宽频带台阵资料研究华北地区地壳及上地幔间断面结构

Intense tectonic renovation has occurred in the eastern continent of china since Mesozoic, as evidenced by the high heat flow, widespread magma extrusion and volcanic activities, and development of large sedimentary basins. To explain the cause and mechanism for the tectonic process in this period, some researchers have put forward various models, such as mantle plume, subduction of the Pacific slab, Yangtze Block-North China Block collision, etc. Their seismological evidence, however, is still scarce..During the period from 2000 to 2003, large temporary seismic arrays were established in North China by the Institute of the Geology and Geophysics, Chinese Academy of Sciences. Total 129 portable seismic stations were linearly emplaced across the western and eastern boundaries of the Bohai Bay Basin, and accumulated a large amount of high-quality data. Moreover, abundant data were also collected at the capital digital seismic network established in the ninth five-year period of national economic and social development. These provide an unprecedented opportunity for us to study the deep structure and associated geodynamic mechanism of lithospheric processes in North China using seismological techniques.Seismology is a kind of observation-based science. The development of seismic observations greatly promotes the improvement of seismologic theory and methodology. At the beginning of this thesis, I review the history of seismic observation progress, and present some routine processing techniques used in the array seismology. I also introduce two popular seismic imaging methods (receiver function method and seismic tomography).Receiver function method has been widely used to study the crustal and upper mantle structures, and many relevant research results have been published. In this thesis I elaborate the theory of this method, including the basic concept of receiver functions and the methodology for data pre-processing, stacking and migration. I also address some problems often encountered in practical applications of receiver function imaging.By using the teleseismic data collected at the temporary seismic arrays in North China, in particular, the traveltime information of P-to-S conversion and multiple reverberations of the Moho discontinuity, I obtain the distributions of the crustal thickness and the poisson ratio at the northwest boundary area of the Bohai Bay Basin and discuss the geological implications of the results.Through detailed intestigations on the crustal structural feature around the middle part of the Tanlu fault, considerable disparity in poisson ratios is found in the western and eastern sides of the Tanlu fault. Moreover, an obvious Moho offset is coincidently observed at the same surface location. A reasonable density model for the Tanlu fault area is also derived by simulating the observed gravity variations. Both receiver function study and gravity anomaly modeling suggest that the crustal difference between the western and eastern sides of the Tanlu fault is mainly resulted from their different compositions.With common conversion point imaging of receiver functions, I estimate the depths of the upper and lower boundaries of the mantle transition zone, i.e., the 410 and 660 km discontinuities, beneath most part of the North China continent The thickness of the transition zone (TTZ) in the study area is calculated by subtracting the depth of .410 km discontinuity from that of the 660km discontinuity. The resultant TTZ is 10-15 km larger in the east than in the west of the study area. Phase transitions at the 410 km and the 660 km discontinuities are known to have different Clapeyron slopes. Therefore, the TTZ is sensitive to the temperature changes in the transition zone. Previous studies have shown that the TTZ would be smaller in the mantle plume areas and become larger when the remnants of subducted slabs are present The hypothesis of mantle plume cannot give a reasonable interpretation to the observed TTZ beneath North China, Instead, the receiver function imaging results favor a dynamic model that correlates the thermal structure of the mantle transition zone and associated upper mantle dynamics of North China to the Pacific plate subduction process.

中文MMPI与MMPI－2效度量表及临床量表的比较研究

This study is aimed at examining the degree of the basic scales (validity scales and clinical scales) between The Chinese MMPI and MMPI-2. Four samples (include schizophrenia, affective disorder, neuroses and normal subjects) of 236 subjects completed MMPI/MMPI-2 Combined Questionnaires in groups. The concordance rate for total code types was 90.1%. For 1-point, 2-point, 3-point and elevated code types, they were separately 81.6%, 65.8%, 49.2%, 64%. Only 56.8% of men compared to 73.8% of the women showed concordance in 2-ponit code types between MMPI and MMPI-2. And 58% of normal subjects compared to 48% of the schizophrenia subjects showed concordance in 3-point code types. Of the 236 cases, 156 (66.1%) had code types that were "well-defined" (1-, 2- or 3-point). 1-point, 2-point, 3-point well-defined code types respectively were 38.6%, 29.7%, 21.6%. For 2-point code types which were well-defined, the concordances was 84.3%, 82.8%, 85.7% (all the cases, men, women), higher than 64.4%, 56.8%, 72.9% when they were free-defined. 96.4% of subjects with incongruent 2-point code types had one of the scales in their MMPI code types with MMPI-2 code types. When deference caused by the use of uniform T-scores and new norms in MMPI-2 were found, the differences typically in code types congruence were not very great. Comparison of mean scores for the validity and clinical scales, 7 raw scores and 12 T-scores showed significant difference for MMPI versus MMPI-2 (Form). In spite of significant mean differences, correlational analyses show correlations above 0.92 for the raw scores and T-scores for each gender. All these results showed the good consistence between MMPI and MMPI-2 in basic scales, and showed MMPI-2 should be studied deeply.

On The Uniqueness of Correspondence Under Orthographic and Perspective Projections

The task of shape recovery from a motion sequence requires the establishment of correspondence between image points. The two processes, the matching process and the shape recovery one, are traditionally viewed as independent. Yet, information obtained during the process of shape recovery can be used to guide the matching process. This paper discusses the mutual relationship between the two processes. The paper is divided into two parts. In the first part we review the constraints imposed on the correspondence by rigid transformations and extend them to objects that undergo general affine (non rigid) transformation (including stretch and shear), as well as to rigid objects with smooth surfaces. In all these cases corresponding points lie along epipolar lines, and these lines can be recovered from a small set of corresponding points. In the second part of the paper we discuss the potential use of epipolar lines in the matching process. We present an algorithm that recovers the correspondence from three contour images. The algorithm was implemented and used to construct object models for recognition. In addition we discuss how epipolar lines can be used to solve the aperture problem.

Swimming in Space-Time

Cyclic changes in the shape of a quasi-rigid body on a curved manifold can lead to net translation and/or rotation of the body in the manifold. Presuming space-time is a curved manifold as portrayed by general relativity, translation in space can be accomplished simply by cyclic changes in the shape of a body, without any thrust or external forces.

On the Behavior of the Homogeneous Self-Dual Model for Conic Convex Optimization

There is a natural norm associated with a starting point of the homogeneous self-dual (HSD) embedding model for conic convex optimization. In this norm two measures of the HSD model’s behavior are precisely controlled independent of the problem instance: (i) the sizes of ε-optimal solutions, and (ii) the maximum distance of ε-optimal solutions to the boundary of the cone of the HSD variables. This norm is also useful in developing a stopping-rule theory for HSD-based interior-point methods such as SeDuMi. Under mild assumptions, we show that a standard stopping rule implicitly involves the sum of the sizes of the ε-optimal primal and dual solutions, as well as the size of the initial primal and dual infeasibility residuals. This theory suggests possible criteria for developing starting points for the homogeneous self-dual model that might improve the resulting solution time in practice

Saying isn't necessarily believing: influencing self-theories in computing

Simon, B., Hanks, B., Murphy, L., Fitzgerald, S., McCauley, R., Thomas, L., and Zander, C. 2008. Saying isn't necessarily believing: influencing self-theories in computing. In Proceeding of the Fourth international Workshop on Computing Education Research (Sydney, Australia, September 06 - 07, 2008). ICER '08. ACM, New York, NY, 173-184.

Birkhoff normal forms for Fourier integral operators II

Iantchenko, A.; Sj?strand, J., (2001) 'Birkhoff normal forms for Fourier integral operators II', American Journal of Mathematics 124(4) pp.817-850 RAE2008

Framingham Heart Study 100K project: genome-wide associations for cardiovascular disease outcomes

BACKGROUND:Cardiovascular disease (CVD) and its most common manifestations - including coronary heart disease (CHD), stroke, heart failure (HF), and atrial fibrillation (AF) - are major causes of morbidity and mortality. In many industrialized countries, cardiovascular disease (CVD) claims more lives each year than any other disease. Heart disease and stroke are the first and third leading causes of death in the United States. Prior investigations have reported several single gene variants associated with CHD, stroke, HF, and AF. We report a community-based genome-wide association study of major CVD outcomes.METHODS:In 1345 Framingham Heart Study participants from the largest 310 pedigrees (54% women, mean age 33 years at entry), we analyzed associations of 70,987 qualifying SNPs (Affymetrix 100K GeneChip) to four major CVD outcomes: major atherosclerotic CVD (n = 142; myocardial infarction, stroke, CHD death), major CHD (n = 118; myocardial infarction, CHD death), AF (n = 151), and HF (n = 73). Participants free of the condition at entry were included in proportional hazards models. We analyzed model-based deviance residuals using generalized estimating equations to test associations between SNP genotypes and traits in additive genetic models restricted to autosomal SNPs with minor allele frequency [greater than or equal to]0.10, genotype call rate [greater than or equal to]0.80, and Hardy-Weinberg equilibrium p-value [greater than or equal to] 0.001.RESULTS:Six associations yielded p <10-5. The lowest p-values for each CVD trait were as follows: major CVD, rs499818, p = 6.6 x 10-6; major CHD, rs2549513, p = 9.7 x 10-6; AF, rs958546, p = 4.8 x 10-6; HF: rs740363, p = 8.8 x 10-6. Of note, we found associations of a 13 Kb region on chromosome 9p21 with major CVD (p 1.7 - 1.9 x 10-5) and major CHD (p 2.5 - 3.5 x 10-4) that confirm associations with CHD in two recently reported genome-wide association studies. Also, rs10501920 in CNTN5 was associated with AF (p = 9.4 x 10-6) and HF (p = 1.2 x 10-4). Complete results for these phenotypes can be found at the dbgap website http://www.ncbi.nlm.nih.gov/projects/gap/cgi-bin/study.cgi?id=phs000007.CONCLUSION:No association attained genome-wide significance, but several intriguing findings emerged. Notably, we replicated associations of chromosome 9p21 with major CVD. Additional studies are needed to validate these results. Finding genetic variants associated with CVD may point to novel disease pathways and identify potential targeted preventive therapies.

Mapping Parallel Iterative Algorithms onto Workstation Networks

For communication-intensive parallel applications, the maximum degree of concurrency achievable is limited by the communication throughput made available by the network. In previous work [HPS94], we showed experimentally that the performance of certain parallel applications running on a workstation network can be improved significantly if a congestion control protocol is used to enhance network performance. In this paper, we characterize and analyze the communication requirements of a large class of supercomputing applications that fall under the category of fixed-point problems, amenable to solution by parallel iterative methods. This results in a set of interface and architectural features sufficient for the efficient implementation of the applications over a large-scale distributed system. In particular, we propose a direct link between the application and network layer, supporting congestion control actions at both ends. This in turn enhances the system's responsiveness to network congestion, improving performance. Measurements are given showing the efficacy of our scheme to support large-scale parallel computations.

Computing a Uniform Scaling Parameter for 3D Registration of Lung Surfaces

A difficulty in lung image registration is accounting for changes in the size of the lungs due to inspiration. We propose two methods for computing a uniform scale parameter for use in lung image registration that account for size change. A scaled rigid-body transformation allows analysis of corresponding lung CT scans taken at different times and can serve as a good low-order transformation to initialize non-rigid registration approaches. Two different features are used to compute the scale parameter. The first method uses lung surfaces. The second uses lung volumes. Both approaches are computationally inexpensive and improve the alignment of lung images over rigid registration. The two methods produce different scale parameters and may highlight different functional information about the lungs.