AUV自主导航航位推算算法的分析研究

地球形状的不规则性,各种导航传感器本身的误差,以及仪器的安装偏差等,使得AUV(自治水下机器人)在进行远距离自主航行时,自主导航的精度大大下降。针对以上问题及实际工程需要,论文对AUV自主导航的航位推算算法做了进一步研究并加以改进,以提高其自主导航精度。最后,利用2004年中国科学院沈阳自动化所水下机器人研究中心进行AUV湖试所获得的数据,对文中提出的算法进行了验证。结果表明,AUV的自主导航精度得到大大提高,可以用于修正原来的自主导航算法。

动基座机器人的末端受限鲁棒跟踪控制

结合具有扰动基座末端受限机器人的动力学特性，提出了虚构线性不确定系统的匹配模型概念．通过引入线性不确定系统的鲁棒跟踪控制器设计方法，发展了一种新的受约束机器人的力鲁棒跟踪控制方法．文中给出了动基座ＰＵＭＡ５６２机器人的实验结果。

移动机器人环境建模的结构基自由网格法

本文给出的结构基自由网格法综合了正规栅格法和自由空间法的基本思想,依环境的结构信息确定地解决自由空间分割过程中构造想象边界的任意性问题,由此消除了路径的不确定性;此外,结构基自由网格模型可以在一定程度上消除规划路径“绕大弯”的现象。

小波域地震资料的处理方法（WSSP）研究

The modeling formula based on seismic wavelet can well simulate zero - phase wavelet and hybrid-phase wavelet, and approximate maximal - phase and minimal - phase wavelet in a certain sense. The modeling wavelet can be used as wavelet function after suitable modification item added to meet some conditions. On the basis of the modified Morlet wavelet, the derivative wavelet function has been derived. As a basic wavelet, it can be sued for high resolution frequency - division processing and instantaneous feature extraction, in acoordance with the signal expanding characters in time and scale domains by each wavelet structured. Finally, an application example proves the effectiveness and reasonability of the method. Based on the analysis of SVD (Singular Value Decomposition) filter, by taking wavelet as basic wavelet and combining SVD filter and wavelet transform, a new de - noising method, which is Based on multi - dimension and multi-space de - noising method, is proposed. The implementation of this method is discussed the detail. Theoretical analysis and modeling show that the method has strong capacity of de - noising and keeping attributes of effective wave. It is a good tool for de - noising when the S/N ratio is poor. To give prominence to high frequency information of reflection event of important layer and to take account of other frequency information under processing seismic data, it is difficult for deconvolution filter to realize this goal. A filter from Fourier Transform has some problems for realizing the goal. In this paper, a new method is put forward, that is a method of processing seismic data in frequency division from wavelet transform and reconstruction. In ordinary seismic processing methods for resolution improvement, deconvolution operator has poor part characteristics, thus influencing the operator frequency. In wavelet transform, wavelet function has very good part characteristics. Frequency - division data processing in wavelet transform also brings quite good high resolution data, but it needs more time than deconvolution method does. On the basis of frequency - division processing method in wavelet domain, a new technique is put forward, which involves 1) designing filter operators equivalent to deconvolution operator in time and frequency domains in wavelet transform, 2) obtaining derivative wavelet function that is suitable to high - resolution seismic data processing, and 3) processing high resolution seismic data by deconvolution method in time domain. In the method of producing some instantaneous characteristic signals by using Hilbert transform, Hilbert transform is very sensitive to high - frequency random noise. As a result, even though there exist weak high - frequency noises in seismic signals, the obtained instantaneous characteristics of seismic signals may be still submerged by the noises. One method for having instantaneous characteristics of seismic signals in wavelet domain is put forward, which obtains directly the instantaneous characteristics of seismic signals by taking the characteristics of both the real part (real signals, namely seismic signals) and the imaginary part (the Hilbert transfom of real signals) of wavelet transform. The method has the functions of frequency division and noise removal. What is more, the weak wave whose frequency is lower than that of high - frequency random noise is retained in the obtained instantaneous characteristics of seismic signals, and the weak wave may be seen in instantaneous characteristic sections (such as instantaneous frequency, instantaneous phase and instantaneous amplitude). Impedance inversion is one of tools in the description of oil reservoir. one of methods in impedance inversion is Generalized Linear Inversion. This method has higher precision of inversion. But, this method is sensitive to noise of seismic data, so that error results are got. The description of oil reservoir in researching important geological layer, in order to give prominence to geological characteristics of the important layer, not only high frequency impedance to research thin sand layer, but other frequency impedance are needed. It is difficult for some impedance inversion method to realize the goal. Wavelet transform is very good in denoising and processing in frequency division. Therefore, in the paper, a method of impedance inversion is put forward based on wavelet transform, that is impedance inversion in frequency division from wavelet transform and reconstruction. in this paper, based on wavelet transform, methods of time - frequency analysis is given. Fanally, methods above are in application on real oil field - Sansan oil field.

长时记忆中图形不同特征的加工与提取

Information can be represented both conceptually and imaginarily in long-term memory. However, it seems that only conceptual representation appears, neglecting imaginary information, in most of the long-term memory (LTM) models. In the matter of fact, picture can be stored in LTM directly and conceptually. There is no evidence for what specific type of information, conceptual or imaginary, for the color, shape, or texture to be represented. However, it is evident that the shape and color can be represented separately in LMT. Further research is needed on whether features are represented separately or not, such as color and texture, texture and shape etc. Rehearsal plays important role in picture memory besides the types of storage and representation. Memory of picture is indeed enhanced by rehearsal. There are two types of rehearsal. One is for creating image, another is articulatory loop. Which one will be taken during picture memory process depends on the characteristics of stimuli, subjects' encoding preferences and/or task requirements. Nevertheless, the relation between two types of rehearsal is not very clear yet up to now. Different features could be activated at different time course or possibilities since they can be represented separately. Six experiments were conducted dealing with the characteristics of representation, rehearsal and retrieval of picture in LTM. From these experiments, further understanding of picture information processing was expected. It would add more evidence to the LTM models, and make practical sense to the computer visual identification. The first two experiments were based on the paradigm from Hanna et al.(1996) to investigate separable representation of texture and shape, texture and color. The results indicated that texture could be represented separately with color and shape respectively. It suggested that different features might be processed in different way during remembering. Another interest finding is that recognition performance for shape, color and texture are quite different. What for shape is highest, for color is lowest, and for texture is between of them. Three features of picture can be represented separately. How about the roles of rehearsal when they enter the LTM from short-term memory(STM)? The second three experiments assigned three different types of rehearsal, i. e. visual, verbal, and subject-run(might be both of visual and verbal). The findings are that performances of picture memory were affected significantly by different types of rehearsal. Both visual and verbal rehearsal played important role during remembering process. It seems that verbal rehearsal, which might enhance the relative strength of memory trace, was much more effective than visual one. In addition, subjects tended to choose those difficult-to-name, features to rehearse, to improve the memory performance. Only two features were changed in each of the first two experiments. They might interact (facilitate or disturb) each other when they were retrieved. So it was difficult to identify the retrieval difference between them. In the last experiment, easy-to-name pictures were studied, and only one feature could be recognized. The results indicated that the retrieval performances of three features(shape, color, and texture) were quite different. They were different on the relative strength of memory trace, with the shape was strongest, color was lightest, and texture was in between. No difference was found on the absolute strength of them.

A Performance Cosmology (Testimony from the Future, Evidence of the Past)

Gough, Richard, et al., A Performance Cosmology (Testimony from the Future, Evidence of the Past) (New York: Routledge, 2006), pp.xi+324 RAE2008

Croniclau Pentre Simon

Morgan, Mihangel, Croniclau Pentre Simon (Talybont: Y Lolfa, 2003)

Stolzman w Belwederze? Instrumentalizacja antysemityzmu w kampaniach prezydenckich w Polsce po roku 1989

Antysemicki dyskurs wcale nie potrzebuje obecności Żydów jako racji swojego bytu i legitymizacji istnienia. Zwalcza Żydów wyimaginowanych i symbolicznych. Żydów z nadania, a zwłaszcza wszystko to, przeciwko czemu występuje i na różne sposoby stara się z Żydami skojarzyć. Praktyka taka niejednokrotnie dała o sobie znać w toku prezydenckich kampanii wyborczych w Polsce po roku 1989. Efektów płynących z instrumentalizacji antysemityzmu, choć samo zjawisko jest godne wyłącznie pogardy, nie należy jednak przeceniać i nadawać mu nadmiernego znaczenia przy interpretacji decyzji powziętych przez wyborców. Gdyby w istocie miał on stanowić instrument o przemożnym oddziaływaniu, to ironizując Aleksander Kwaśniewski nie zostałby dwukrotnie prezydentem Polski.

Optimized strong stability preserving IMEX Runge-Kutta methods

Esta es la versión no revisada del artículo: Inmaculada Higueras, Natalie Happenhofer, Othmar Koch, and Friedrich Kupka. 2014. Optimized strong stability preserving IMEX Runge-Kutta methods. J. Comput. Appl. Math. 272 (December 2014), 116-140. Se puede consultar la versión final en https://doi.org/10.1016/j.cam.2014.05.011

Antropoloxía e literatura oral

A proposta realizada neste traballo fai de altovolante dalgunhas reflexións que creo fundamentais para seguir camiño na investigación da literatura oral. A miña perspectiva é a da antropoloxía sociocultural, pero afecta nun sentido máis amplo ao conxunto das disciplinas sociais e humanísticas que abordan o tema da literatura oral e da oralidade en xeral. É evidente que a literatura aporta datos sobre a organización social, o estilo de vida e a Cultura dunha sociedade no pasado e no presente (1). En particular a literatura oral, é dicir, a que se transmite oralmente aínda que ás veces a encontremos escrita, é un vector privilexiado para captar os imaxinarios colectivos do grupo humano que a crea, os seus valores, as súas moralidades e crenzas. The paper presents some lines of thought considered to be fundamental in the study of oral literature. The perspective followed is one marked by socio/cultural anthropology, but one that is also related to all of those Social Sciences and Humanities that analyse oral traditions. Literature gives us data on social organization, on the life style and culture of a social group, both past and present. Oral literature, in particular, is a extremely suitable vehicle for reaching the collective imaginary of the group that creates it. (1) Fribourg, J.(1995): "Literatura oral y antropología", en Lisón Tolosana, C. (comp.): Antropología y Literatura. Zaragoza: Gobierno de Aragón, p. 37.

Which of the three action-oriented corporate social responsibility (CSR) types is the most effective in improving the public attitude toward tobacco companies?

Dissertação apresentada à Universidade Fernando Pessoa como parte dos requisitos para a obtenção do grau de Mestre em Ciências da Comunicação, ramo de Marketing e Publicidade

Conductance of quantum impurity models from quantum monte carlo

The conductance of two Anderson impurity models, one with twofold and another with fourfold degeneracy, representing two types of quantum dots, is calculated using a world-line quantum Monte Carlo (QMC) method. Extrapolation of the imaginary time QMC data to zero frequency yields the linear conductance, which is then compared to numerical renormalization-group results in order to assess its accuracy. We find that the method gives excellent results at low temperature (T TK) throughout the mixed-valence and Kondo regimes but it is unreliable for higher temperature. © 2010 The American Physical Society.

The evolutionary origin of Indian Ocean tortoises (Dipsochelys).

Today, the only surviving wild population of giant tortoises in the Indian Ocean occurs on the island of Aldabra. However, giant tortoises once inhabited islands throughout the western Indian Ocean. Madagascar, Africa, and India have all been suggested as possible sources of colonization for these islands. To address the origin of Indian Ocean tortoises (Dipsochelys, formerly Geochelone gigantea), we sequenced the 12S, 16S, and cyt b genes of the mitochondrial DNA. Our phylogenetic analysis shows Dipsochelys to be embedded within the Malagasy lineage, providing evidence that Indian Ocean giant tortoises are derived from a common Malagasy ancestor. This result points to Madagascar as the source of colonization for western Indian Ocean islands by giant tortoises. Tortoises are known to survive long oceanic voyages by floating with ocean currents, and thus, currents flowing northward towards the Aldabra archipelago from the east coast of Madagascar would have provided means for the colonization of western Indian Ocean islands. Additionally, we found an accelerated rate of sequence evolution in the two Malagasy Pyxis species examined. This finding supports previous theories that shorter generation time and smaller body size are related to an increase in mitochondrial DNA substitution rate in vertebrates.

Minor Moves: Growth, Fugitivity, and Children's Physical Movement

From tendencies to reduce the Underground Railroad to the imperative "follow the north star" to the iconic images of Ruby Bridges' 1960 "step forward" on the stairs of William Frantz Elementary School, America prefers to picture freedom as an upwardly mobile development. This preoccupation with the subtractive and linear force of development makes it hard to hear the palpable steps of so many truant children marching in the Movement and renders illegible the nonlinear movements of minors in the Underground. Yet a black fugitive hugging a tree, a white boy walking alone in a field, or even pieces of a discarded raft floating downstream like remnants of child's play are constitutive gestures of the Underground's networks of care and escape. Responding to 19th-century Americanists and cultural studies scholars' important illumination of the child as central to national narratives of development and freedom, "Minor Moves" reads major literary narratives not for the child and development but for the fugitive trace of minor and growth.

In four chapters, I trace the physical gestures of Nathaniel Hawthorne's Pearl, Harriet Beecher Stowe's Topsy, Harriet Wilson's Frado, and Mark Twain's Huck against the historical backdrop of the Fugitive Slave Act and the passing of the first compulsory education bills that made truancy illegal. I ask how, within a discourse of independence that fails to imagine any serious movements in the minor, we might understand the depictions of moving children as interrupting a U.S. preoccupation with normative development and recognize in them the emergence of an alternative imaginary. To attend to the movement of the minor is to attend to what the discursive order of a development-centered imaginary deems inconsequential and what its grammar can render only as mistakes. Engaging the insights of performance studies, I regard what these narratives depict as childish missteps (Topsy's spins, Frado's climbing the roof) as dances that trouble the narrative's discursive order. At the same time, drawing upon the observations of black studies and literary theory, I take note of the pressure these "minor moves" put on the literal grammar of the text (Stowe's run-on sentences and Hawthorne's shaky subject-verb agreements). I regard these ungrammatical moves as poetic ruptures from which emerges an alternative and prior force of the imaginary at work in these narratives--a force I call "growth."

Reading these "minor moves" holds open the possibility of thinking about a generative association between blackness and childishness, one that neither supports racist ideas of biological inferiority nor mandates in the name of political uplift the subsequent repudiation of childishness. I argue that recognizing the fugitive force of growth indicated in the interplay between the conceptual and grammatical disjunctures of these minor moves opens a deeper understanding of agency and dependency that exceeds notions of arrested development and social death. For once we interrupt the desire to picture development (which is to say the desire to picture), dependency is no longer a state (of social death or arrested development) of what does not belong, but rather it is what Édouard Glissant might have called a "departure" (from "be[ing] a single being"). Topsy's hard-to-see pick-pocketing and Pearl's running amok with brown men in the market are not moves out of dependency but indeed social turns (a dance) by way of dependency. Dependent, moving and ungrammatical, the growth evidenced in these childish ruptures enables different stories about slavery, freedom, and childishness--ones that do not necessitate a repudiation of childishness in the name of freedom, but recognize in such minor moves a fugitive way out.

THE GREAT RUSSIAN PIANO TRADITION: SELECTED REPERTOIRE BY TCHAIKOVSKY, RACHMANINOFF AND PROKOFIEV

This dissertation explores representative piano music by three great Russian composers: Tchaikovsky, Rachmaninoff and Prokofiev. The areas of research include: 1) the short character piece; 2) the Russian piano transcription tradition; 3) the concerto and sonata cycle; 4) extra-musical imagery; 5) the influence of popular and dance music of the period. Perhaps the most important result of this research is learning how the art of incorporating a singing quality at the piano stands at the center of Russian pianistic heritage. The first recital features compositions by Sergei Prokofiev. The Seventh Sonata exhibits rebellious, uncompromisingly dissonant treatment of its musical content. Ten Pieces from “Cinderella” shows an ascetic approach to piano texture - a common characteristic in Prokofiev’s late works. The Third Concerto is Prokofiev’s masterpiece in the genre. One of the 20th century’s most performed concerti, it overflows with pianistic challenges. For my second dissertation recital, I have chosen Peter Ilich Tchaikovsky’s The Seasons. These short character pieces were inspired by literary sources. The text portrays Russian rural life, nature, moments of intimate reflection, and imaginary experiences and impressions. Tchaikovsky’s gift as a melodist and remarkable musical individualist is represented in his two Nocturnes as well as in the Nutcracker Suite, masterfully transcribed by Mikhail Pletnev. The final program features Sergei Rachmaninoff’s Ten Preludes, Op. 23, regarded as a culmination of the turn-of-the-century grand Russian pianistic style. The Fantasy Pieces helped establish Rachmaninoff’s reputation as a pianist-composer, a profoundly lyrical poet of the piano. The three Rachmaninoff transcriptions, the Minuet, the Hopak and the Polka de W.R. preserve the spirit of the Golden Era’s musical salon. These pieces were written to delight and dazzle audiences with their bold character, musical taste, virtuosic tricks and technical finesse. The three recitals comprising this dissertation were presented in Gildenhorn Recital at the University of Maryland School of Music on November 13, 2010, April 11, 2011 and February 27, 2012. The recitals were recorded on compact discs and are archived within the Digital Repository at the University of Maryland (DRUM).