基于线性不变矩和角度向量的立体匹配算法

针对室内场景双目立体匹配有别于一般场景立体匹配的特殊性,提出了一种计算简便、准确度高的立体图像匹配算法。该算法首先利用canny算子检测物体的边缘,根据边缘的线性不变矩寻找出目标物体,然后提取出目标物体轮廓的特征点,利用角度直方图计算出左右图像的旋转角度,最后利用角度向量实现左右图像的对应像素点的匹配。线性不变矩有效地将计算复杂度由二维降低到一维,大大降低了计算量。角度向量的提出降低了特征点匹配的复杂度,而且计算简便,准确率高。实验表明,该算法对图像的缩放、旋转、平移均免疫,具有较高的识别精度和良好的抗干扰性,计算效率高于传统方法,有着较高的应用价值。

一种新型爬壁机器人机构及运动学研究

提出了一种新型爬壁机器人机构,介绍了机构的构型及结构特点,推导了运动学正、逆解方程式,规划了直线行走、平面旋转及交叉面跨越三种运动模式.机构构型及运动模式的分析表明,该机构具有体积小、运动特性较好的特点.仿真结果证明,该机器人在运动过程中所需吸附力矩较小且占据的空间较少.

光纤微缆对SARV操纵性的影响分析

以新概念小型自治遥控水下机器人SARV及其光纤微缆系统为研究对象,在对光纤微缆进行受力分析的基础上,采用集中质量法建立了光纤微缆的动力学模型。结合作业中SARV载体的实际运动,利用直接计算法分析了不同运动状态下光纤微缆对SARV载体产生的附加力和附加力矩及其对SARV载体操纵性的影响,并提出了合理的操纵建议。为SARV载体端设计光纤微缆释放装置张力控制提供了一定的理论依据,在一定程度上有助于完善SARV控制系统,提高SARV航行的稳定性。

景物的三维信息获取及其运动分析

采用模糊熵函数对图象象素分类作出整体最优分类评价,实现了区域分割.利用矩及其函数做为各区域的特征表达,构成以区域为基元的符号特征集并描述图象内容。根据立体图象对间的几何关系,解出各区域(基元)的相对三维坐标。与象索匹配相比较,它可以获得较高精度的三维信息和可描述的景物信息.通过获取不同时空的各区域(基元)三维信息,确定了它们的空间运动状态。联系这些状态,构造出景物中物体间的空间关系和近似模型,实现了对景物的3-D识别和描述。

基于Zernike矩边缘检测的焊缝信息获取

针对目前焊缝坐标提取方法存在精度较低,难于实现视觉引导的机器人激光焊接高速度、高精度的要求,提出一种基于Zernike正交矩的曲线焊缝位置坐标信息获取算法,该算法首先采用Zernike边缘检测算法识别焊缝边缘,然后提取出焊缝的中心线,最后计算出该中心线的亚像素坐标。通过试验验证了该算法的可行性。

基于Zernike正交矩的图像亚像素边缘检测算法改进

介绍了Zernike矩及基于Zernike矩的图像亚像素边缘检测原理,针对Ghosal提出的基于Zernike矩的亚像素图像边缘检测算法检测出的图像存在边缘较粗及边缘亚像素定位精度低等不足,提出了一种改进算法.推导了7×7 Zernike矩模板系数,提出一种新的边缘判断依据.改进的算法能较好检测图像边缘并实现了较高的边缘定位.最后,设计了3组不同的实验.实验结果同Canny算子及Ghosal算法相比,证明了改进算法的优越性.

白垩纪超静磁带地球磁场古强度测定

The long-term variations in the strength of the geomagnetic field provide important constraints on the chemical-physical processes of the Earth’s interior. Especially, the intensity of the geomagnetic field during the Cretaceous normal superchron (CNS) is crucial to understand the geodynamo. But a paucity of paleointensity further limits to obtain essential knowledge interior process in the deep earth. In order to improve the experimental efficiency, this study tried to apply two new rock magnetic methods (FORC diagram and low-temperature demagnetization technique) to determine the paleointensity. First, some problems in the theory and technique in paleointensity experiments were introduced. A combined palaeomagnetic and geochronologic study was further conducted on a basaltic lava sequence at Jianchang in Liaoning Province, northeastern China. Radiometric 40Ar/39Ar dating indicates that the volcanism occurred at about 119 Ma within the marine anomaly C34n in Cretaceous normal superchron (CNS). Rock magnetic investigations show that pseudo-single domain (PSD) titanium-poor titanomagnetite is dominant in the studied lava flows. Both stepwise thermal and alternating field demagnetizations isolate the well-defined normal characteristic remanent magnetization (ChRM) in three independent lava flows with a mean direction of D/I = 6.0/51.9 degree(a95 = 12.3degree). Palaeointensity was determined using the modified Thellier method with systematic partial thermoremanent magnetization (pTRM) checks on total 72 samples, but only 10 samples exhibit ideal linear behavior on the Arai-plot in the temperature interval of 300-560 C and yield an average paleointensity of (25.8+/-1.4)uT. In addition, slopes of the line defined by the initial and the final points on the Arai-plot for the other 18 samples with characteristic PSD features give an average paleointensity estimation value of (24.8+/-1.9)uT. The consistency of these two approaches confidently demonstrates the fidelity of our results. The overall mean field strength determined using both approaches are thus estimated to be (25.2+/-0.7 )uT. This value corresponds to the virtual dipole magnetic moments (VDM) of (4.5+/-0.1)E22 Am^2, which is about half of the value of present field. This finding suggests that palaeointensity just at the onset of the CNS is characterized by a weak magnetic field.

大别山岩石圈有效弹性厚度初步研究

As powerful tools to study the lithosphere dynamics, the effective elastic thickness (Te) as well as the envelope of yielding stress of lithosphere have been attracted great attention of geoscientists in the past thirty years. The oceanic lithosphere, contrary to the continental lithosphere, has more fruits for its simple structures and evolution process. In continent, the lithosphere commonly is complex and variable in the rheological, thermal structures, and has a complicated history. Therefore, the application of the effective elastic thickness in continent is still a subject to learn in a long time. Te, with the definition of the thickness of an elastic plate in theory flexured by the equal benging of the real stress in the lithosphere plate (Turcotte, 1982), marks the depth of transition between elastic and fluid behaviors of rocks subjected to stress exceeding 100 MPa over the geological timescales (McNutt, 1990). There are three methods often adapted: admittance or isostatic response function, coherence and forwarding. In principle, the models of Te consist of thermal-rheological, non-linear Maxwell, non-linear work hardening and rheological layered models. There is a tentative knowledge of Te that it is affected by the following factors: crustal thickness, crust-mantle decoupling, plate bending, boundary conditions of plate (end forces and bending moments), stress state, sedimentary layer, faulting effect, variation in the mountain belts' strike, foreland basin, inheritance of tectonic evolution, convection of mantle, seismic depth and lithosphere strength. In this thesis, the author introduces the geological sketch of the Dabie collisional orogenic belt and the Hefei Basin. The Dabie Mts. is famous for the ultra-high pressure metamorphism. The crustal materials subducted down to the depth of at least 100 km and exhumed. So that the front subjects arise such as the deeply subduction of continent, and the post-collisional crust-mantle interaction. In a geological journey at June of 1999, the author found the rarely variolitic basaltic andesite in the Dabie Mts. It occurs in Susong Group, near Zhifenghe Countryside, Susong County, Anhui Province. It is just to the south of the boundary between the high-grade Susong melange and the ultra-high grade South Dabie melange. It has a noticeable knobby or pitted appearance in the surface. The size of the varioles is about 1-4 mm. In hand-specimen and under microscope, there are distinct contacts between the varioles and the matrice. The mineralogy of the varioles is primarily radiate plagioclase, with little pyroxene, hornblende and quartz. The pyroxene, hornblende and quartz are in the interstices between plagioclase. The matrix is consisted of glass, and micro-crystals of chlorite, epidote and zoisite. It is clearly subjected and extensive alteration. The andesite has an uncommon chemical composition. The SiO_2 content is about 56.8%, TiO_2 = 0.9%, MgO = 6.4%, (Fe_2O_3)_(Total) = 6.7% ～ 7.6%, 100 Mg/(Mg+Fe) = 64.1 ～ 66.2. Mg# is significantly high. The andesite has higher abundances of large-lithophile trace elements (e.g. K, Ba, Sr, LREE), e.g. La/Nd = 5.56-6.07, low abundances of high-strength-field elements (HFSE, e.g. Ta, Nb, P, Ti), particularly Ta and Nb strongly depleted. These are consistent with the characteristics of subducted-related magmas (Pearcce, 1982; Sun and McDonaugh, 1989). In the spider diagram of trace elements, from Ce to right hand, the abundances of elements decrease quickly, showing a characteristic of the continental margins (Pearce, 1982). There has a strongly enrichment of light-rare-earth elements, with a significant diffraction of REEs (the mean value of (La/Yb)_N is 32.84). No Eu anomaly, but there are anomaly high (La/Yb)_N = 28.63-36.74, (La/Y)_N = 70.33 - 82.84. The elements Y and Yb depleted greatly, Y < 20 ppm, Y_N = 2.74-2.84, Yb_N = 2.18 - 2.35. From the La-(La/Sm) diagram, the andesite is derived from partial melting. But the epsilone value of Nd is -18.7 ～ -19.2, so that the material source may be the mantle materials affected by the crustal materials. The Nd model age is 1.9 Ga indicating that the basaltic andesite was resulted from the post-collisional crust-mantle interaction between the subducted Yangze carton and the mantle of Sino-Korea carton. To obtain the Te of the lithosphere beneath the Dabie Mts. and the Hefei Basin, the author applies the coherence method in this thesis. The author makes two topography-gravity profiles (profiles 7~(th) and 9~(th)) across the Dabie Mts. and the Hefei Basin, and calculates the auto-coherence, across coherence, power spectrum, across power spectrum of the topography and gravity of the two profiles. From the relationships between the coherence and the wave-number of profiles. From the relationships between the coherence and the wave-number of profiles 7~(th) and 9~(th), it is obtained that the characteristic wavelengths respectively are 157 km and 126 km. Consequently the values of effective elastic thickness are 6.5 km and 4.8 km, respectively. However, the Te values merely are the minimum value of the lithosphere because the coherencemethod in a relative small region will generate a systemic underestimation. Why there is a so low Te value? In order to check the strength of the lithosphere beneath the Dabie Mts., the authore tries to outline the yielding-stress envelope of the lithosphere. It is suggested that the elastic layers in the crust and upper mantle are 18 km and 35 km, respectively. Since there exist a low viscosity layer about 3-5 km thickness, so it is reasonable that the decoupling between the crust and mantle occurred. So the effective thickness of the lithosphere can be estimated from the two elastic layers. Te is about 34 km. This is the maximum strength of the lithosphere. We can make an approximately estimation about the strength of the lithosphere beneath the Dabie Mts.: Te is about 20-30 km. The author believes that the following factors should be responsible for the low Te value: (1) the Dabie Mts. has elevated strongly since K_3-J_1. The north part of the Dabie Mts. elevates faster than the south part today; (2) there occur large active striking faults in this area. And in the east, the huge Tan-Lu striking fault anyway tends to decrease the lithosphere strength; (3) the lithosphere beneath the Dabie Mts. is heter-homogeneous in spatio-temporal; (4) the study area just locates in the adjacent region between the eastern China where the lithosphere thickness is significantly reduced and the normal western China. These factors will decrease the lithosphere strength.

柴达木盆地北缘地区油气成藏过程模拟与含油气系统评价

As an important part of petroleum exploration areas in the west of China, the north part of Qaidam basin is very promising in making great progress for petroleum discovery. But there are still many obstacles to overcome in understanding the process of petroleum formation and evaluation of oil & gas potential because of the complexity of geological evolution in the study area. Based upon the petroleum system theory, the process of petroleum formation is analyzed and the potential of oil & gas is evaluated in different petroleum systems by means of the modeling approach. The geological background for the formation of petroleum systems and the consisting elements of petroleum systems are described in detail. The thickness of strata eroded is estimated by means of vitrinite reflectance modeling, compaction parameter calculating and thickness extrapolating. The buried histories are reconstructed using the transient compaction model, which combines of forward and reverse modeling. The geo-history evolution consists of four stages - sedimentation in different rates with different areas and slow subsidence during Jurassic, uplifting and erosion during Cretaceous, fast subsidence during the early and middle periods of Tertiary, subsidence and uplifting in alternation during the late period of Tertiary and Quaternary. The thermal gradients in the study area are from 2.0 ℃/100m to 2.6 ℃/100m, and the average of heat flow is 50.6 mW/m~2. From the vitrinite reflectance and apatite fission track data, a new approach based up Adaptive Genetic Algorithms for thermal history reconstruction is presented and used to estimate the plaeo-heat flow. The results of modeling show that the heat flow decreased and the basin got cooler from Jurassic to now. Oil generation from kerogens, gas generation from kerogens and gas cracked from oil are modeled by kinetic models. The kinetic parameters are calculated from the data obtained from laboratory experiments. The evolution of source rock maturation is modeled by means of Easy %Ro method. With the reconstruction of geo-histories and thermal histories and hydrocarbon generation, the oil and gas generation intensities for lower and middle Jurassic source rocks in different time are calculated. The results suggest that the source rocks got into maturation during the time of Xiaganchaigou sedimentation. The oil & gas generation centers for lower Jurassic source rocks locate in Yikeyawuru sag, Kunteyi sag and Eboliang area. The centers of generation for middle Jurassic source rocks locate in Saishenteng faulted sag and Yuka faulted sag. With the evidence of bio-markers and isotopes of carbonates, the oil or gas in Lenghusihao, Lenghuwuhao, Nanbaxian and Mahai oilfields is from lower Jurassic source rocks, and the oil or gas in Yuka is from middle Jurassic source rocks. Based up the results of the modeling, the distribution of source rocks and occurrence of oil and gas, there should be two petroleum systems in the study area. The key moments for these two petroleum, J_1-R(!) and J_2-J_3, are at the stages of Xiaganchaigou-Shangyoushashan sedimentation and Xiayoushashan-Shizigou sedimentation. With the kinetic midels for oil generated from kerogen, gas generated from kerogen and oil cracked to gas, the amount of oil and gas generated at different time in the two petroleum systems is calculated. The cumulative amount of oil generated from kerogen, gas generated from kerogen and gas cracked from oil is 409.78 * 10~8t, 360518.40 * 10~8m~3, and 186.50 * 10~8t in J_1-R(!). The amount of oil and gas generated for accumulation is 223.28 * 10~8t and 606692.99 * 10~8m~3 in J_1-R(!). The cumulative amount of oil generated from kerogen, gas generated from kerogen and gas cracked from oil is 29.05 * 10~8t, 23025.29 * 10~8m~3 and 14.42 * 10~8t in J_2-J_3 (!). The amount of oil and gas generated for accumulation is 14.63 * 10~8t and 42055.44 * 10~8m~3 in J_2-J_3 (!). The total oil and gas potential is 9.52 * 10~8t and 1946.25 * 10~8m~3.

地磁场的长期变化

In this paper, we studied the secular variations of the main geomagnetic field during 1900-2000 in details. Emphasis is put on three aspects of the secular variations, i.e. westward drifts and intensity variations of non-dipole part, the decay of the dipole field. Firstly, we introduced the method of correlation analysis of moving random pattern into Geomagnetism in order to overcome the weakness of available methods on westward drift studies. We had committed testing and modifying the method, and analyzed the westward drifts and intensity variations of the non-dipole parts of geomagnetic field and 6 planetary-scale geomagnetic anomalies by this way. The globe and area characters of the westward drifts and intensity variations were discussed in detail. Second, the lat-dependence and dispersion of drift velocities were examined carefully. The results showed the velocities of the different wavelengths (from m = 1 to m = 10) geomagnetic potential were changing with the latitude. The lat-dependence of drift velocities is related to the latitude distributing of the geomagnetic potential. There was a negative dispersion in the westward drift, namely, the components of long wavelength drift faster than that of short wavelengths. Finally, we calculated the moments of the geomagnetic dipole, and found that the intensity of the dipole fields has been decreasing. Linking to the results in paleomagnetism, we draw a conclusion that the geomagnetic polarities may be reversed in 700 years.

华南震旦纪-寒武纪两期成磷事件及其地球动力学意义

Phosphorus is an important biological and ecological element that to a certain degree constrains ecological environment and nutrient (including carbon) cycling. Marine sedimentary phosphorites are the principal phosphorus supply of the mankind. In the eastern to southern margins of the Yangtze Craton, South China, there are two phosphogenetic events at the Doushantuo stage of the Late Sinian and the Meishucun stage of the Early Cambrian respectively, corresponding two explosion events of life across the Precambrian\Cambrian boundary. Phosphorus ores from the Sinian and Cambrian phosphate in South China can be classified roughly into two categories, namely, grained and non-grained phosphorites. Grained phosphorites, hosted in dolostone type of phosphogenetic sequences and with larger industrial values, occur mainly in margins of the Upper Yangtze Platform, formed in shallow-water environments with high hydraulic energy and influenced by frequent sea-level change. Non-grained phosphorites, hosted principally in black-shale type of phosphogenetic sequences and with smaller industrial values, are distributed mainly in the Jiangnan region where deeper-water sub-basins with low hydraulic energy were prevailing at the time of phosphogenesis. Secular change ofδ~(13)C, δ~(18) O, ~(86)Sr/~(87)Sr values of carbonates from Sinian and Cambrian sequences were determined. A negative abnormal ofδ~(13)C, δ~(18)O values and positive abnormal of 86Sr/87Sr values from the fossiliferous section of the Lowest Cambrian Meishucun Formation implies life depopulation and following explosion of life across the PrecambriamCambrian boundary. Based on a lot of observations, this paper put forward a six-stage genetic model describing the whole formational process of industrial phosphorites: 1) Phosphorus was transported from continental weathering products and stored in the ocean; 2) dissolved phosphates in the seawater were enriched in specific deep seawater layer; 3) coastal upwelling currents took this phosphorus-rich seawater to a specific coastal area where phosphorus was captured by oceanic microbes; 4) clastic sediments in this upwelling area were enriched in phosphorus because of abundant phosphorus-rich organic matters and because of phosphorus absorption on grain surfaces; 5) during early diagenesis, the phosphorus enriched in the clastic sediments was released into interstitial water by decomposition and desorption, and then transported to the oxidation-reduction interface where authigenic phosphates were deposited and enriched; 6) such authigenic phosphate-rich layers were scoured, broken up, and winnowed in shallow-water environments resulting in phosphate enrichment. The Sinian-Cambrian phosphorites in South China are in many aspects comparable with coastal-upwelling phosphorites of younger geological ages, especially with phosphorites from modern coastal upwelling areas. That implies the similarities between the Sinian-Cambrian ocean and the modern ocean. Although Sinian-Cambrian oceanic life was much simpler than modern one, but similar oceanic planktons prevail, because oceanic planktons (particularly phytoplanktons) are crucial for phosphate enrichment related to coastal upwelling. It implies also a similar seawater-layering pattern between the Sinian-Cambrian ocean and the modern ocean. The two global phosphate-forming events and corresponding life-explosion events at the Sinian and Cambrian time probably resulted from dissolved-phosphate accumulation in seawater over a critical concentration during the Earth's evolution. Such an oceanic system with seawater phosphorus supersaturation is evidently unstable, and trends to return to normal state through phosphate deposition. Accordingly, this paper put forward a new conception of "normal state <=> phosphorus-supersaturation state" cycling of oceanic system. Such "normal state <=> phosphorus-supersaturation state" cycling was not only important for the three well-known global phosphate-forming events, also related to the critical moments of life evolution on the Earth. It might be of special significance. The favorable paleo-oceanic orientation in regard to coastal-upwelling phosphorite formation suggests a different orientation of the Yangtze Craton between the Sinian time and the present time (with a 135° clockwise difference), and a 25° anti-clockwise rotation of the Yangtze Craton from late Sinian to early Cambrian. During the Sinian-Cambrian time, the Yangtze Craton might be separated from the Cathaysia Block, but might be still associated with the North China Craton.

东营凹陷成藏组合体研究与勘探实践

With the development of petroleum exploration, subtle reservoir has become the main exploration object in Dongying Depression, which requires some new technologies and methods to further reveal the geological characteristics in step with the mature exploration stage. In this paper, on the references to the studies of petroleum system and multiple oil-gas accumulation belt with flexible maneuverability, and the application of systematic theory, the concept of reservoir assemblage is initially defined as "the association of active source rock(s) and hydrocarbon reservoir(s) that are genetically related, with the bridge of pathway system in an oil and gas bearing basin". Compared with the theories of petroleum system and multiple oil-gas accumulation belts, it emphasizes on the processes of petroleum migration and accumulation and the correlation among active source rock, trapped hydrocarbon and migration pathway, and has been confirmed to be more suitably applied to high maturely explored basin. In the first study of this paper, sequence stratigraphy and subtle analytical technology of source rock have been employed to find that two categories of source rock with their characteristic types of organic matter and substantial states occurred in Dongying Depression. The first category, consisting of the oil shales within the third-order sequences of lacustrine expanding system tracts in the upper interval of the fourth Member of Shahejie Formation and both in the middle and lower intervals of the third Member of Shahejie Formation, is featured with the highest abundance of total organic matter (TOC) and the strongest abilities of hydrocarbon generation and expulsion, which is classified into the standard of good hydrocarbon source rock. Exploration assessment confirmed that about 70-80% of hydrocarbon in Dongying Depression came from this set of source rock for which the low sedimentary rate and strong oxygen-free environment would play the key role during its generation. The second category, composed of organic matter of dark mudstone in high stand system tracts in the upper and middle intervals of the third Member of Shahejie Formation, has been characterized by low content of total organic matter which mostly dispersedly distributes, and formed in the pre-delta to delta front environments. In classification, it belongs to the ordinary standard of source rocks. In the second research part, through the studies of high frequency sequence stratigraphy, fault geometry and active history combining with geochemistry of fluid inclusion and nitrogen compound and simulation test of hydrocarbon migration and accumulation, the faults have been thought to be the principal conduits, and the sandy bodies and unconformities might played the complementary pathways for hydrocarbon migration and accumulation in Dongying Depression of the continental faulted basin. Therefore, the fault activities may mainly constrain on the development of hydrocarbon pathways in space and time. Even more, using homogenization temperatures of fluid inclusion in digenetic minerals, three critical moments for hydrocarbon accumulation have been determined as well in Dongying Depression, which happened during the late stage of Dongying Formation (Ed), the early stage of Guantao Formation (Nig) and the early stage of Minghuazhen Formation (Nim), respectively. Comparatively, the last stage is looked as the main forming-reservoir period, which has also been supported by the results of geochemical analysis and simulation experiments of hydrocarbon generation and expulsion. Clearly, the times of hydrocarbon migration and accumulation are consistent with those of the fault activities in Dongying Depression, which indicate that tectonic activities would control the forming-reservoir. A conceptual model of faulting-episodic expulsion coupled with episodic forming-reservoir has then been established in this study. In the third part of this paper, some focusing areas were selected for the fine descriptions of pathway distribution and forming-reservoir, which has given four types of reservoir assemblage in terms of the main pathway and its correlation with the reservoir and trap: (1) mainly consisted of sandy bodies; (2) mainly consisted of faults; (3) mainly consisted of unconformities; and (4) their complex with two or three types of pathways. This classified criteria has also been applied to access the risk of some prospected traps in Dongying Depression. Finally, through the application of reservoir assemblage integrated with pathway distribution to all the prospective targets in Dongying Depression, the new favorably hydrocarbon accumulated belts have been figured out, and more subtle reservoirs have also been found. For examples, during 2000 and 2002, in the mature exploration areas, such as Liangjialou and Shengtuo structural closures etc., newly proved reserves were 2274 * 104t, and forecasted oil reserves 5660-5860xl04t; and in the predicted favorable areas, newly additional controlled oil reserves was 3355xl04t. Besides those, many other favorable exploration areas need to be further appraised.

认知电位时空模式研究

This report mainly focused on methodology of spatiotemporal patterns (STP) of cognitive potentials or event-related potentials (ERP). The representation of STP of brain wave is an important issue in the research of neural assemblies. This paper described methods of parametric 3D head or brain modeling and its corresponding interpolation for functional imaging based on brain waves. The 3D interpolation method is an extension of cortical imaging technique. It can be used with transformed domain features of brain wave on realistic head or brain models. The simulating results suggests that it is a better method in comparison with the global nearest neighbor technique. A stable and definite STP of brainwave referred as microstate may become basic element for comprehending sophisticated cognitive processes. Fuzzy c-mean algorithm was applied to segmentation STPs of ERP into microstates and corresponding membership functions. The optimal microstate number was estimated with both the trends of objective function against increasing clustering number and the decorrelation technique base don microstate shape similarity. Comparable spatial patterns may occur at different moments in time with fuzzy indices and thus the serial processing limit generated from behavioral methods has been break through. High-resolution frequency domain analysis was carried out with multivariate autoregressive model. Bases on a 3D interpolation mentioned above, visualization of dynamical coordination of cerebral network was realized with magnitude-squared partial coherence. Those technique illustrated with multichannel ERP of 9 subjects when they undertook Strop task. Stroop effects involves several regions during post-perception stage with technique of statistical parameter mapping based F-test [SPM(F)]. As SPM(F) suggested task effects occurred within 100 ms after stimuli presentation involved several sensory regions, it may reflect the top-down processing effect.

Gait Dynamics for Recognition and Classification

This paper describes a representation of the dynamics of human walking action for the purpose of person identification and classification by gait appearance. Our gait representation is based on simple features such as moments extracted from video silhouettes of human walking motion. We claim that our gait dynamics representation is rich enough for the task of recognition and classification. The use of our feature representation is demonstrated in the task of person recognition from video sequences of orthogonal views of people walking. We demonstrate the accuracy of recognition on gait video sequences collected over different days and times, and under varying lighting environments. In addition, preliminary results are shown on gender classification using our gait dynamics features.

The Synthesis of Stable Force-Closure Grasps

This thesis addresses the problem of synthesizing grasps that are force-closure and stable. The synthesis of force-closure grasps constructs independent regions of contact for the fingertips, such that the motion of the grasped object is totally constrained. The synthesis of stable grasps constructs virtual springs at the contacts, such that the grasped object is stable, and has a desired stiffness matrix about its stable equilibrium. A grasp on an object is force-closure if and only if we can exert, through the set of contacts, arbitrary forces and moments on the object. So force-closure implies equilibrium exists because zero forces and moment is spanned. In the reverse direction, we prove that a non-marginal equilibrium grasp is also a force-closure grasp, if it has at least two point contacts with friction in 2D, or two soft-finger contacts or three hard-finger contacts in 3D. Next, we prove that all force-closure grasps can be made stable, by using either active or passive springs at the contacts. The thesis develops a simple relation between the stability and stiffness of the grasp and the spatial configuration of the virtual springs at the contacts. The stiffness of the grasp depends also on whether the points of contact stick, or slide without friction on straight or curved surfaces of the object. The thesis presents fast and simple algorithms for directly constructing stable fore-closure grasps based on the shape of the grasped object. The formal framework of force-closure and stable grasps provides a partial explanation to why we stably grasp objects to easily, and to why our fingers are better soft than hard.