基于多传感器的可变形机器人自主控制方法研究

将GPS、电子罗盘、倾角仪、码盘传感器等应用到可变形机器人自主运动控制中.针对可变形机器人自身结构特点,提出了一种基于多传感器信息融合的可变形机器人在野外环境中自主控制的方法.该方法主要实现了在非结构环境中机器人的自主变形、自主避障和自主导航定位等功能.实验验证了该方法的有效性.

移动机器人多传感器信息融合技术述评

多传感器信息融合技术是目前移动机器人领域的研究热点。详细阐述了多传感器信息融合技术在移动机器人领域中的应用与研究进展,尤其对多传感器信息融合实现方法进行了深入的探讨。指明了移动机器人领域中多传感器信息融合技术未来的发展方向。

复合机构移动机器人红外和超声阵列信息处理方法

传感器是移动机器人认识和了解外部环境的重要途径。在导航过程中,移动机器人要对当前环境进行实时感知和快速理解,并加以识别从而准确避开障碍物。论文提出一种适用于复合机构移动机器人的红外阵列和超声阵列传感器信息采集和处理方法。结合笔者研制的“基于复合机构的非结构环境移动机器人”,给出了系统具体的软、硬件的设计和局部路径规划实现方法。实验验证了该方法的可靠性和有效性。

柔性机械臂运动轨迹的鲁棒自适应控制

本文针对多连杆柔性机械臂的运动轨迹控制问题，讨论了动力学建模、控制系统结构设计以及鲁棒自适应控制算法，运用假设模态方法得到了柔性机械臂动力学近似方程，通过对柔性机械臂动力学特性分析，建立了等价动力学模型，依此提出了一种鲁棒自适应控制算法，并给出了仿真研究结果。

复杂断块群四维应力场模型及油藏预测

This paper is belonging to Chinese Petrochemical Corporation's key project. Although it is difficult and great workload, it has important theoretical and practical value. Its targets is to establish 4 dimension stress fields of complex fault block groups, and then to predict the forming mechanism and distribution rule of petroleum pools, by applying the most advanced theories, methods and technology and the most sophisticated software in highly explored zones. By means of multi-discipline theories, methods, technologies and multi-source information, using computer with maximum efforts, investigating the strata framework, structure framework, petroleum pool forming mechanism and forming mode of complex fault block groups, several results have been achieved as following: The fastigiated mode of Xianhe complex fault block groups was established, pointed out the control function of pool accumulate in Xianhe complex fault block groups Xianhe fastigiated complex fault block groups are the results of combining stress of extending, slipping and reversing, which formed in early Shahejie stage, changed and perplexed during Dongying stage and that control the forming and destruction of petroleum pools. By measuring the earth stress and rock mechanics parameters in the research region, the model of 4 dimension stress field and potential fields of migrating fluids was established from ES3 stage to current, with their space distribution and time evolve and petroleum accumulate. The fault-sealing model in Xianhe complex fault block groups was established, which reveal the sealing mechanism of petroleum about control-fault, made for petroleum pool prediction in complex fault block. The petroleum pool forming mode and mechanism in complex fault block was established. Petroleum distribution were predicted in three stress inverse zones, and remaining oil were point out in the high points of 2 micro-structures and the region with strong fault-sealing capabilities. (6). A set of theories, technology and methods of complex fault block petroleum pool have been developed, bring on an improvement of the development geology theory in continental fault depression lake basin, good economic benefits have been obtained by applying on both east and west areas of our country.

5-13岁儿童对惯性运动的认知发展

Research on naïve physics investigates children’s intuitive understanding of physical objects, phenomena and processes. Children, and also many adults, were found to have a misconception of inertia, called impetus theory. In order to investigate the development of this naïve concept and the mechanism underlying it, four age groups (5-year-olds, 2nd graders, 5th graders, and 8th graders) were included in this research. Modified experimental tasks were used to explore the effects of daily experience, perceptual cues and general information-processing ability on children’s understanding of inertia. The results of this research are: 1) Five- to thirteen-year-olds’ understanding of inertia problems which were constituted by two ogjects moving at the same spped undergoes an L-shaped developmental trend; Children’s performance became worse as they got older, and their performance in the experiment did not necessarily ascend with the improvement of their cognitive abilities. 2) The L-shaped developmental curve suggests that children in different ages used different strategies to solve inertia problems: Five- to eight-year-olds only used heuristic strategy, while eleven- to thirteen-year-olds solved problems by analyzing the details of inertia motion. 3) The different performance between familiar and unfamiliar problems showed that older children were not able to spontaneously transfer their knowledge and experience from daily action and observation of inertia to unfamiliar, abstract inertia problems. 4) Five- to eight-year-olds showed straight and fragmented pattern, while more eleven- to thirteen-year-olds showed standard impetus theory and revised impetus theory pattern, which showed that younger children were influenced by perceptual cues and their understanding of inertia was fragmented, while older children had coherent impetus theory. 5) When the perceptual cues were controlled, even 40 percent 5 years olds showed the information-processing ability to analyze the distance, speed and time of two objects traveling in two different directions at the same time, demonstrating that they have achieved a necessary level to theorize their naïve concept of inertia.

社会冲突信息加工的事件相关电位研究

Processing of discrepant information is an important part in our everyday life. According to the social attributes of information, it can be categorized into two parts: social discrepancy and nonsocial discrepant information. The researches focused on nonsocial discrepancy are much mature than those of social discrepancy processing. This serial study employed three ERP experiments to explore the attributes of social discrepancy cognition. Experiment one compared the ERP differences between social and nonsocial discrepancy processing, experiment two adopted single stimulus paradigm to explore the negativity attention biases of social emotions, experiment three investigated the affective mechanism of emotions to social discrepancy information with cue-target paradigm, based on the experiment one and two. We invited healthy undergraduates to participate in our researches, in which social gender words and affective images were stimuli to explore the temporal sequences, activated modes and affective mechanisms of social discrepancy. The results were as below: 1. The differences of attention resource distributions between social and nonsocial information processing exhibited as early as 200 ms, since which P2 was evoked in both blocks. The larger P2 in nonsocial block represented the more attention to physical and nonsocial attributes of objects. N300/400 indicated the differences of evaluating systems in each block. The cognitive mechanisms of social and nonsocial tasks were specific, based on the fact: (1) the discrepancy evaluating system was activated earlier in nonsocial block than that of social block; (2) the social cognition performed right hemisphere advantage, but nonsocial task did not so. 2. Social emotions also could raise a negativity bias on attention. The latency of P2 evoked by social sad images was shorter than that of social happiness and neutral images. The latencies of P2 indicated that sad emotions attracted attention earlier, and possessed a processing advantage. The phenomenon that the larger N2 was evoked by social sadness showed that people was easily moved by sad emotions and sympathized the sadness. 3. Emotions affected social discrepancy processing. Positive affective mood magnified the discrepancy effect, based on the smaller latencies of difference N400 and larger amplitudes. Persons with happy mood synthesized social stereotypes to accelerate the social tasks. 4. Three experiments all showed the right hemisphere advantages of social cognition and social emotions, offered more proof in laterality hypothesis of social cognition. Above all, social cognition had essential distinctions with nonsocial cognition; they two had their own specific characteristics. The fact that social cognition was prone to be affected by different emotional mood made it more complex.

任职者工作分析评价结果影响因素的多水平探讨

As the foundation of other human resource practices, job analysis plays an essential role in HR management. Exploring sources of variance in job analysis ratings given by incumbents from the same job is of much significance to HRM practices. It can also shed lights on employee motivation in organizations. But previous studies in job analysis field have usually been conducted at individual level and take variance in job analysis ratings given by incumbents of the same job as error or bias. This dissertation takes the position that the variance may be meaningful based on role theory and other relevant theories. It first reviewed pervious studies on factors which may influence job analysis ratings provided by incumbents of the same job, and then investigated individual, interpersonal and organizational level variables which may exert impacts on these job analysis ratings, using multilevel data from 8 jobs of 1124 incumbents. The major findings are as follows: 1) Level of job performance and job attitudes affect incumbents’ job analysis ratings by incumbents of the same job at individual level. Specifically, incumbents with high level of job performance rated their job require higher levels of technical skills (power plant designers), and regarded information processing activities as more important to their job (book editors). Regarding the effects of job attitudes, incumbents of the four jobs with high level of job satisfaction gave higher importance and level ratings on organizational and cognitive skills, as well as higher level ratings on technical skills. Further, incumbents with higher affective commitment provided higher importance and level ratings of cognitive skills. Lastly, more involved job incumbents perceived organizational skills and cognitive skills as more important, and required at higher levels, for their job. 2) Leader-Member Exchange and goal structure also have effects on job analysis ratings by incumbents of the same job at interpersonal level. In good quality LMX relationship, news reporters rated decision-making activities and interpersonal activities as more important to their job. On the other side, when book editors structured their goals as cooperative with others’, they provided higher importance ratings on reasoning and interpersonal skills, and related personality requirements, as well as higher level ratings on reasoning abilities. 3) Worker requirements for the identical job are distinct from one organization to another. Specifically, there were between-organization differences in achievement orientation and conscientiousness related personality requirements. In addition, two dimensions of organizational culture, achievement-oriented culture and integrity-oriented culture in particular, were significantly associated with importance ratings of achievement orientation and conscientiousness related personality requirements respectively. Furthermore, achievement-oriented culture both directly and indirect (through job involvement) influenced achievement orientation related personality requirements. The results indicate that variation in job analysis ratings provided by incumbents of the same job may be meaningful. Future job analysis studies and practices should consider the impacts of these individual, interpersonal and organizational level factors on job analysis information. The results also have important implications for employee motivation concerning how organizational demands can be transformed into specific job and worker requirements.

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.

小学儿童对复合时距认知发展的实验研究

The purpose of this study was to explore the development of the cognitive processing on temporal continuity (duration) in primary school children with the information processing approach. The results showed: (1) The performances of cognitive processing on compound duration developed increasingly with age. (2) The intervals of duration, the method of display, the varieties of display had effects on cognitive processing of compound duration; however, the effective ways and extents varied with the specific tasks. (3) The primary school children could use cognitive strategies initially, the effectiveness and the flexibility of strategies developed increasingly with age.

线索语义相容性的研究

With the studies of the Stimulus-Response Compatibility (SRC), more and more psychologists consider that the compatibility isn't only exist between stimulus and stimulus, response and response, but also any two sets in the information processing, it means that the compatibility is the basic feature of the human information processing. Research on the compatibility of the precue is a powerful evidence to support the issue. Dimension Overlap Model (Kornblum, 1990) is one of the most popular models to explain the mechanism of the SRC which focus on the dimension overlapping between the stimulus and response will activate the compatible response automatically, the compatibility effects origin from whether the compatible response prove or interference the response, the so the time course between the automatic activation and the task processing cause the dynamical time feature of the SRC (Kornblum, 1997). Yet the DO model has gotten many supports, it hasn't been tested in the paradigm of the precue task. At the same time, company with the development of the Environment Psychology, the effect of the ex-information in the environment on the inside information processing has drown much attention, does the validity probability of the cue have any influence on the cue compatibility? How about the relationship of the cue compatibility and the SRC? Research on the questions will reveal the characteristics of the human information processing, enhance the knowledge of the compatibility phenomena and resource, enlarge the field of SRC and produce more practice usage on the design of human-machine system. The mechanism and influence factors of symbolic compatibility between cue and stimulus were investigated within a precueing paradigm. The influence of the dimension overlapping relation between the cue and the stimulus, cue and the response on the reaction time were studied under the different kinds of SRC, to test whether or not it confirms the dimension overlap hypothesis, to test is there any effect of SOA and validity probability of cues on the cue compatibility. The results showed that the cue compatibility exists and owns such features: 1, It confirms the dimension overlap model that the cue which dimension overlapped with the stimulus or the response will influence the efficiency of the processing, the reaction time is shorter when the cue is congruent with the stimulus or the response that that of the incongruent cue; 2, Consistent to the automatic activation hypothesis, the time course is the important characteristic of the cue compatibility. The largest compatibility effect can be gotten from the middle duration of SOA. 3, The validity probability of cues influence the cue compatibility significantly, the strength of the cue compatibility effect grows stronger with the higher validity probability of cues. 4, The cue compatibility affect the effect of SRC, especially when the cue is compatible with the stimulus; 5, The cue compatibility has two-fold meaning, the cue-stimulus compatibility and the cue-response compatibility, the former is stronger than the later when they compete each other. In summary, the compatibility, the basic feature of human information processing, is proved by the research, and the dimension overlap model and automatic activation hypothesis is tested by the studying on the cue compatibility.

计算机环境下的呈现方式对学生样例学习的影响

This study designed tow experiments to explore the effect of two presentation forms(liner presentation and concept-map navigation presentation)on the student's learning process. Using the method of protocal analysis and the learning path records of these students, the author of this paper further analysed the information-processing process of these students. The main results showed as follows: (1) In the initial study phase, the main effects of both the presentation form and the learner type were obvious, and the interaction effect of these two variables was also obvious. Contrasting with the liner presentation form, the concept map navigation form interfered with the learning process of the student, especially the learning-disabled students. (2) There was a significant difference between excellent students and learning-disabled learning-disabled on self explanations amount. Excellent students produced more self- explanations than learning-disabled students, especially on two phases of learning from the the example and the conclusion. (3) Under the same learning path, the main effect of the learner type variable was obvious, the main effect of the presentation form and interaction effect of these two variables weren't obvious. But the liner presentation grouped still acquired a better result than the concept-map navigation presentation groupe.

Computational Consequences of Agreement and Ambiguity in Natural Language

The computer science technique of computational complexity analysis can provide powerful insights into the algorithm-neutral analysis of information processing tasks. Here we show that a simple, theory-neutral linguistic model of syntactic agreement and ambiguity demonstrates that natural language parsing may be computationally intractable. Significantly, we show that it may be syntactic features rather than rules that can cause this difficulty. Informally, human languages and the computationally intractable Satisfiability (SAT) problem share two costly computional mechanisms: both enforce agreement among symbols across unbounded distances (Subject-Verb agreement) and both allow ambiguity (is a word a Noun or a Verb?).

Perceptual Organization, Figure-Ground, Attention and Saliency

Notions of figure-ground, inside-outside are difficult to define in a computational sense, yet seem intuitively meaningful. We propose that "figure" is an attention-directed region of visual information processing, and has a non-discrete boundary. Associated with "figure" is a coordinate frame and a "frame curve" which helps initiate the shape recognition process by selecting and grouping convex image chunks for later matching- to-model. We show that human perception is biased to see chunks outside the frame as more salient than those inside. Specific tasks, however, can reverse this bias. Near/far, top/bottom and expansion/contraction also behave similarly.

A Theory of How the Brain Might Work

I wish to propose a quite speculative new version of the grandmother cell theory to explain how the brain, or parts of it, may work. In particular, I discuss how the visual system may learn to recognize 3D objects. The model would apply directly to the cortical cells involved in visual face recognition. I will also outline the relation of our theory to existing models of the cerebellum and of motor control. Specific biophysical mechanisms can be readily suggested as part of a basic type of neural circuitry that can learn to approximate multidimensional input-output mappings from sets of examples and that is expected to be replicated in different regions of the brain and across modalities. The main points of the theory are: -the brain uses modules for multivariate function approximation as basic components of several of its information processing subsystems. -these modules are realized as HyperBF networks (Poggio and Girosi, 1990a,b). -HyperBF networks can be implemented in terms of biologically plausible mechanisms and circuitry. The theory predicts a specific type of population coding that represents an extension of schemes such as look-up tables. I will conclude with some speculations about the trade-off between memory and computation and the evolution of intelligence.