冗余度机器人作业区域轨迹的自动规划

机器人化是提高工程机械施工控制自动化的关键问题。对于工程机械机器人 ,特别是具有空间冗余度的工程机械机器人 ,其执行机构末端的轨迹规划的自动实现研究对提高其自动化程度有着重要意义。本文以泵车为例 ,提出了一种泵车布料机构的浇筑过程的自动轨迹规划算法 ,该算法通过将其所浇筑区域离散成浇筑点集 ,对两浇筑点的轨迹利用冗余度机器人学的最小关节范数法 ,并通过在关节速度和加速度非连续之处采用平滑或连续处理 ,从而实现了泵车布料机构浇筑过程的自动轨迹规划。

混凝土泵车布料机构自动浇筑及过程仿真

机器人化是提高工程机械施工控制自动化的关键问题·通过将泵车布料机构的浇筑区域离散为浇筑点集 ,对两浇筑点内轨迹利用冗余度机器人学的最小关节范数法的轨迹规划 ,并将两相临浇筑段自动连接和自动协调 ,从而实现了混凝土泵车布料机构浇筑过程自动轨迹规划·

关于参数规划在自治智能移动式机器人中实际应用的探讨

机器人行走空间的复杂性决定了导航监控系统不仅为机器人提供行走路线,还要依据预先得到的先验数据与知识告诉机器人不同行走段的障碍分布、环境边界走向及约束程度,按照载体的几何形状,运动特性选择合适的速度、加速度,保证在安全的前提下最快完成行走.本文讨论了提取影响机器人当前行走的障碍、环境边界算法和不同行走速度段的划分与关键点抽取方法,讨论了各种速度段的分离、合并、高速行走段的插补和过短行走段的平滑滤除等等.

鄂尔多斯盆地环县地区长6-长8沉积相及储层研究

The exploration in recent years shows that the Yanchang Formation in the southwest of Ordos Basin is of great resource potential and good exploration and exploitation prospect. In the thesis ，sedimentary source analysis，sedimentary system，sedimentary microfacies，sandstones distribution and reservoir characteristic are studied and favorable oil area are forecasted in Chang6-Chang8 of Yanchang formation in HuanXian region， by mainly study on the data of field section observation ，core observation, well logging explaination and routine microscope slice identification，scanning Electron Microscope and reservoir analysis of lithology and physical property , Under the guidance of such advanced theories and methods as sedimentology，reservoir sedimentology，lithological oil pool and so on. The stratum of Chang6-Chang8 of Yanchang formation could be divided into pieces of member following the principles that firstly contrasting the big segments, then contrasting the small segments, being controlled by cycle and consulting the thickness etc.And the characteristic of stratum are detailed discussed , respectively. Based on the source direction of the central basin, heavy and light minerals are used to analyse source direction of Chang6 and Chang8 member, in HuanXian area. Research result shows that the source of Chang6 and Chang8 member is mixed provenance,including west-south,west and east-north. By the study of rock types、 sedimentary conformation、lithology and electromotive curve combination and palaeo-biology,lake、delta and braided delta mianly developed in study area are recognized, Subaqueous distributary channels in delta front and in braided delta front, and sand body in deep-lake turbidite, are the main reservoir.forthermore,the characteristic of depositional system and sandy body in space are discussed. Applied with routine microscope slice identification, Scanning Electron Microscope, reservoir lithology and physical property analysis and other analytic machinery, Feldspar-lithic fine-sandstone and feldspar fine-sandstone are mainly sandstone of Y Chang6-Chang8 in Huanxian area, small pore and tiny pore are the main pore types, tiny throat type and micro-fine throat type are widely developed , secondary dissolution porosity, intercrystal porosity, tiny pore and micro-crack are main pore types.Intergranular porosity and dissolution porosity secondary is the main pore secondary. The dominant diagenesis types in the area are compaction, cementation, replacement and dissolution. Chlorite films cementation facies, carbonate cementation facies ,mud cementation compaction facie, compaction 、pressure solution facies are the main diagenetic facies,in which Chlorite films cementation facies is the best diagenetic facies in study area. Reservoir influence factor analysis ,rock types are the main factor forming this low-pore and low-permeability of Chang6-Chang8 member in study area,and relatively higher permeability area are cortrolled by sedimentary facies distribution, diagenesis improved reservoir physical property. According to the distributing of sedimentary micro-facies and sandy body , and the test oil, favorable region in Chang6-Chang8 are forecasted.

陕北地区石家湾-李家岔探区三叠系延长组石油成藏条件分析

Shijiawan –Lijiacha area, lying on the northeastern part of the Shanbei Slope of Ordos Basin, was selected as studying area. The previous explorations proved that the 2nd segment and 6th segment of the Yanchang Formation are the most important oil-bearing formations. It is indicated that the sedimentary facies and reservoir characteristics restricted the hydrocarbon accumulation regularity. Therefore, with petrology methodologies, such as outcrop observation, core description, geophysical logging interpretation, thin section determination, scanning electron microscope, as well as rock property analysis, the reservoirs was were systematically studied and characterized. The sedimentary micro-facies, seals, reservoir-seal combines, migration pathways and entrapping modes were taken into account. The author tempted to establish a base for further studies on reservoirs and on petroleum geology, and to provide some reliably geological evidences for later prospect activities. It was found that the sediments in the 2nd and 3rd segments of the Yanchang Formation in Shijiawan –Lijiacha area were deposited in braided rivers, and most sandy-bodies were identified as channel sandbars. The 4+5th and 6th segments were principally deposited in deltaic-plain environment, consisting of corresponding sub-facies such as distributary channels, natural levee, crevasse-splay and marsh. The skeleton sandy-bodies were identified as sandy sediments of distributary channels. The sand grains in reservoir in studied area possess generally low mineralogical maturity and moderate structural maturity, and the form of pores may be classified into intergranular types and dissolved types. Most reservoirs of Yanchang Formation in Shijiawan –Lijiacha area belong to extreme low-porosity low-permeability ones (type III), and the 2nd sediments belongs to low permeability one (type II) and the 6th segment belong to super low-permeability one(type Ⅳ). The reservoirs in the 2nd segment behave more heterogeneous than those in the 6th segment. The statistic analysis results show that, for 6th and 4+5th segments, the high quality reservoir-seal combines may be found everywhere in the studied area except in the northwest and the southwest parts; and for 1st and 2nd segments, in the northeast, central and southwest parts Petroleum migration happened in the duration of the Early Cretaceous period in both lateral and vertical directions. The migration paths were mainly constructed by permeable sandy-bodies. The superimposed channel sandy-bodies consist of the principal part of the system of carriers. the vertical fractures, that may travel through the seals between reservoirs, offered the vertical paths for migrating oil. It may be synthesized that oil coming from south kitchens migrated first laterally in carriers in the 6th segment. When arrived at the studied area, oil will migration laterally or/and vertical within both the sandy-bodies and fractures, in a climbing-stair way. The results demonstrate that the oil was entrapped in traps structure-lithology and/or lithology traps. In some cases, the hydrodynamic force may help to trap oil. Accumulation of oil in the area was mainly controlled by sedimentary facies, seals, structure, and heterogeneity of reservoir in the 2nd, 4+5th and 6th segments. Especially, the oil distributions in both the 2nd and 6th segments were obviously influenced by seals in the 4+5th segment. The existence of seals in 1st segment seems important for accumulation in the 2nd segment.

各向同性与各向异性介质中地震波旅行时正演模拟与反演成像

By seismic tomography, interesting results have been achieved not only in the research of the geosphere with a large scale but also in the exploration of resources and projects with a small scale since 80'. Compared with traditional inversion methods, seismic tomography can offer more and detailed information about subsurface and has been being paid attention by more and more geophysicists. Since inversion based on forward modeling, we have studied and improved the methods to calculate seismic traveltimes and raypaths in isotropic and anisotropic media, and applied the improved forward methods to traveltime tomography. There are three main kinds of methods to calculate seismic traveltime field and its ray path distribution, which are ray-tracing theory, eikonal equation by the finite-difference and minimum traveltime tree algorithm. In ray tracing, five methods are introduced in the paper, including analytic ray tracing, ray shooting, ray bending, grid ray tracing and rectangle grid ray perturbation with three points. Finite-difference solution of eikonal equation is very efficient in calculation of seismic first-break, but is awkward in calculation of reflection traveltimes. We have put forward a idea to calculate traveltimes of reflected waves using a combining way of eikonal equation method and other one in order to improve its capability of dealing with reflection waves. The minimum traveltime tree algorithm has been studied with emphases. Three improved algorithms are put forward on the basis of basic algorithm of the minimum traveltime tree. The first improved algorithm is called raypath tracing backward minimum traveltime algorithm, in which not only wavelets from the current source but also wavelets from upper source points are all calculated. The algorithm can obviously improve the speed of calculating traveltimes and raypaths in layered or blocked homogeneous media and keep good accuracy. The second improved algorithm is raypath key point minimum traveltime algorithm in which traveltimes and raypaths are calculated with a view of key points of raypaths (key points of raypths mean the pivotal points which determine raypaths). The raypath key point method is developed on the basis of the first improved algorithm, and has better applicability. For example, it is very efficient even for inhomogeneous media. Another improved algorithm, double grid minimum traveltime tree algorithm, bases upon raypath key point scheme, in which a model is divided with two kinds of grids so that the unnecessary calculation can be left out. Violent undulation of curved interface often results in the phenomenon that there are no reflection points on some parts of interfaces where there should be. One efficacious scheme that curved interfaces are divided into segments, and these segments are treated respectively is presented to solve the problem. In addition, the approximation to interfaces with discrete grids leads to large errors in calculation of traveltimes and raypaths. Noting the point, we have thought a new method to remove the negative effect of mesh and to improve calculation accuracy by correcting the traveltimes with a little of additional calculation, and obtained better results.

接收函数方法与中国及邻区上地幔间断面的研究

The receiver function method applied in researching the discontinuities in upper mantle was systematically studied in this paper. Using the theoretical receiver functions, the characteristics of P410S and P660S phases were analyzed, and the influencing factors for detection of these phases were discussed. The stability of receiver function was studied, and a new computational method of receiver function, RFSSMS (Receiver Function of Stack and Smooth of Multi seismic-records at a Single station), was put forward. We built initial reference velocity model for the media beneath each of 18 seismic stations respectively; then estimated the buried depths of 410-km and 660-km discontinuities(simply marked as '410' and '660') under the stations by using the arrive time differences of P410S and P660S with P. We developed a new receiver function inversion method -PGARFI (Peeling-Genetic Algorithm of Receiver Function Inversion), to obtain the whole crust and upper mantle velocity structure and the depths of discontinuities beneath a station. The major works and results could be summarized as follows: (1) By analysis of the theoretical receiver functions with different velocity models and different ray parameters, we obtain the knowledge: The amplitudes of P410S and P660S phases are decreasing with the increasing of epicentral distance A , and the arrival time differences of these phases with P are shorter as A is longer. The multiple refracted and/or reflected waves yielded on Moho and the discontinuities in the crust interfere the identification of P410S. If existing LVZ under the lithosphere, some multiple waves caused by LVZ will interfere the identification of P410S. The multiple waves produced by discontinuity lied near 120km depth will mix with P410s phase in some range of epicentral distance; and the multiple waves concerned with the discontinuity lied near 210km depth will interfere the identification of P660S. The epicentral distance for P4i0s identification is limited, the upper limit is 80° . The identification of P660S is not restricted by the epicenter distance obviously. The identification of P410S and P6gos in the theoretical receiver functions is interfered weakly from the seismic wave attenuation caused by the media absorption if the Q value in a reasonable range. (2) The stability of receiver function was studied by using synthetic seismograms with different kind of noise. The results show that on the condition of high signal-noise-ratio of seismic records, the high frequency background noise and the low frequency microseism noise do not influence the calculating result of receiver function. But the media "scattering noise" influence the stability of receiver function. When the scattering effect reach some level, the identification of P4iOs and P66os is difficult in single receiver function which is yielded from only one seismic record. We provided a new method to calculate receiver function, that is, with a group of earthquake records, stacking the R and Z components respectively in the frequency domain, and weighted smooth the stacked Z component, then compute the complex spectrum ratio of R to Z. This method can improve the stability of receiver function and protrude the P4i0s and P66os in the receiver function curves. (3) 263 receiver functions were provided from 1364 three component broadband seismograms recorded at 18 stations in China and adjacent areas for the tele-earthquakes. The observed arrival time differences of P410S and P660S with P were obtained in these receiver functions. The initial velocity model for every station was built according to the prior research results. The buried depths of '410' and '660' under a station were acquired by the way of adjusting the depths of these two discontinuities in the initial velocity model until the theoretical arrival time differences of P410S and P660S with P well conformed to the observed. The results show an obvious lateral heterogeneity of buried depths of ' 410' and (660' . The depth of '410' is shallower beneath BJI, XAN, LZH and ENH, but deeper under QIZ and CHTO, and the average is 403km . The average depth of '660' is 663km, deeper under MDJ and MAJO, but shallower under QIZ and HYB. (4) For inversing the whole crust and upper mantle velocity structure, a new inversion method -PGARFI (Peeling-Genetic Algorithm of Receiver Function Inversion) has- been developed here. The media beneath a station is divided into segments, then the velocity structure is inversed from receiver function from surface to deep successively. Using PGARFI, the multi reflection / refraction phases of shallower discontinuities are isolated from the first order refraction transform phase of deep discontinuity. The genetic algorithm with floating-point coding was used hi the inversion of every segment, and arithmetical crossover and non-uniform mutation technologies were employed in the genetic optimization. 10 independent inversions are completed for every segment, and 50 most excellent velocity models are selected according to the priority of fitness from all models produced in the inversion process. The final velocity structure of every segment is obtained from the weighted average of these 50 models. Before inversion, a wide range of velocity variation with depth and depth range of the main discontinuities are given according to priori knowledge. PGARFI was verified with numerical test and applied in the inversion of the velocity structure beneath HIA station down to 700km depth.

中新世秦安黄土一古土壤序列记录的古气候变化周期

Analysis of periodic oscillations of climate is very important in understanding the behavior of the climate system. Milankovitch hypothesis, which holds that the glacial-interglacial climatic cycles during the Quaternary were primarily driven by variations in orbital parameters, has been supported by substantial geological evidence. Continuous long-term and high-resolution records are crucial to detect how variations of Earth's orbital parameters affected climate before the Quaternary when the boundary conditions were significantly different. Qinan loess formed in the Miocene is nearly continuous aeolian deposit in northern China. Previous study has established a constrained chronology, which provides a basis to examine long-term climatic variations. One of important issues to untangle the mechanisms behind major climate changes is the investigation of climate cycles recorded in Qinan loess. In this paper, two climatic proxies, magnetic susceptibility and redness, are analyzed for QA-I section to evaluate climate cycles using Maximum entropy spectral analysis and Blackman-Tuckey method. Main conclusions are presented as following: Results exhibit significant peaks at periods of 100 ka, 64 ka, 41 ka, 30 ka and 23 ka, but also 1000 ka, 600 ka and 400 ka. These peaks correspond to the dominant periods of the Earth's orbit parameters, which indicates that the formation of the aeolian sediment in northern China might be primarily driven by variations in orbital parameters. Fluctuations with different cycles respectively dominated in different periods. Major shifts in the dominant cycles occurred at 20.3, 19.0, 17.9, 15.2, 12.5 and 11.3 Myr ago. The transition that happened at 17.9 Myr ago was synchronous with the uplift of the Tibetan Plateau, while others at 15.2, 12.5 and 11.3 Myr ago were in good agreement with the timing of the development of Antarctic ice sheet. Therefore we inferred that these shifts might be related to changes in global ice volume and/or the Tibetan uplift. 3. The strong period of 100 ka is observed between 17.9 and 15.2, and 12.5 and 11.3 Myr ago. Ice sheet-climate models that have been used to explain the cause of the 100 ka period since the middle Pleistocene couldn't be responsible for driving the 100 ka climate cycle in the Miocene in Northern China because of the different boundary of climatic conditions between the Quaternary and Miocene. Further investigation is needed to understand how this cycle became dominant in Qinan loess records during these two time segments.

苏丹被动裂谷盆地的油气成藏机理和成藏模式

The research area of this paper covers the maximum exploration projects of CNPC, including Blocks 1/2/4 and Block 6 of the Muglad basin and the Melut basin in Bocks 3/7 in Sudan. Based on the study of the evolution history of the Central African Shear Zone (CASZ), structural styles and filling characteristics of the rift basins, it is put forward that the rift basins in Sudan are typical passive rift basins undergoing the strike-slip, extension, compression and inversion since the Cretaceous. The three-stage rift basins overlapped obliquely. The extension and rifting during the Early Cretaceous is 50-70% of the total extension. The features of the passive rift basins decided that there is a single sedimentary cycle and one set of active source rocks within the middle. Influenced by the three-stage rifting and low thermal gradient, hydrocarbon generation and charging took place very late, and the oil pool formation mechanism is very unique from the Lower Cretaceous rift sequences to the Paleogene. The reservoir-seal assemblages are very complicated in time and space. The sealing capacity of cap rocks was controlled by the CASZ. In general the oils become heavier towards the CASZ and lighter far away. The oil biodegradation is the reason causing the high total acid number. The determination of effective reservoir depth ensures that all discovered fields up to now are high-production fields. The propagation and growth of boundary faults in the rift basins can be divided into a simple fault propagation pattern and a fault growth-linkage pattern. It is firstly found that the linkage of boundary fault segments controls the formation of petroleum systems. Three methods have been established to outline petroleum systems. And a new classification scheme of rift-type petroleum system has been put forward: pre-rift, syn-rift (including passive and active) and post-rift petroleum systems. This scheme will be very important for the further exploration of rift basins. This paper firstly established the formation models of oil pools for the passive rift basins in Sudan: the coupling of accommodation zones and main plays for the formation of giant fields. The overlapping of late rifting broke the anticlines to be several fault-blocks. This process determined that anti-fault blocks are the main traptypes in the cretaceous sequences and anticlines in the Paleogene. This can explain why the traptypes are different between the Muglad and Mefut basins, and will provide theoretic guidance for the exploration strategy. The established formation mechanism and models in this paper have had great potential guidance and promotion for the exploration in Sudan, and resulted in significant economic and social benefit. A giant field of 500 million tons oil in place was found 2003. The cost in Blocks 3/7 is only 0.25

单（多）井抽灌对浅部地温场的影响研究

The technique of energy extraction using groundwater source heat pumps, as a sustainable way of low-grade thermal energy utilization, has widely been used since mid-1990's. Based on the basic theories of groundwater flow and heat transfer and by employing two analytic models, the relationship of the thermal breakthrough time for a production well with the effect factors involved is analyzed and the impact of heat transfer by means of conduction and convection, under different groundwater velocity conditions, on geo-temperature field is discussed.A mathematical model, coupling the equations for groundwater flow with those for heat transfer, was developed. The impact of energy mining using a single well system of supplying and returning water on geo-temperature field under different hydrogeological conditions, well structures, withdraw-and-reinjection rates, and natural groundwater flow velocities was quantitatively simulated using the finite difference simulator HST3D. Theoretical analyses of the simulated results were also made. The simulated results of the single well system indicate that neither the permeability nor the porosity of a homogeneous aquifer has significant effect on the temperature of the production segment provided that the production and injection capability of each well in the aquifers involved can meet the designed value. If there exists a lower permeable interlayer, compared with the main aquifer, between the production and injection segments, the temperature changes of the production segment will decrease. The thicker the interlayer and the lower the interlayer permeability, the longer the thermal breakthrough time of the production segment and the smaller the temperature changes of the production segment. According to the above modeling, it can also be found that with the increase of the aquifer thickness, the distance between the production and injection screens, and/or the regional groundwater flow velocity, and/or the decrease of the production-and-reinjection rate, the temperature changes of the production segment decline. For an aquifer of a constant thickness, continuously increase the screen lengths of production and injection segments may lead to the decrease of the distance between the production and injection screens, and the temperature changes of the production segment will increase, consequently.According to the simulation results of the single well system, the parameters, that can cause significant influence on heat transfer as well as geo-temperature field, were chosen for doublet system simulation. It is indicated that the temperature changes of the pumping well will decrease as the aquifer thickness, the distance between the well pair and/or the screen lengths of the doublet increase. In the case of a low permeable interlayer embedding in the main aquifer, if the screens of the pumping and the injection wells are installed respectively below and above the interlayer, the temperature changes of the pumping well will be smaller than that without the interlay. The lower the permeability of the interlayer, the smaller the temperature changes. The simulation results also indicate that the lower the pumping-and-reinjection rate, the greater the temperature changes of the pumping well. It can also be found that if the producer and the injector are chosen reasonably, the temperature changes of the pumping well will decline as the regional groundwater flow velocity increases. Compared with the case that the groundwater flow direction is perpendicular to the well pair, if the regional flow is directed from the pumping well to the injection well, the temperature changes of the pumping well is relatively smaller.Based on the above simulation study, a case history was conducted using the data from an operating system in Beijing. By means of the conceptual model and the mathematical model, a 3-D simulation model was developed and the hydrogeological parameters and the thermal properties were calibrated. The calibrated model was used to predict the evolution of the geo-temperature field for the next five years. The simulation results indicate that the calibrated model can represent the hydrogeological conditions and the nature of the aquifers. It can also be found that the temperature fronts in high permeable aquifers move very fast and the radiuses of temperature influence are large. Comparatively, the temperature changes in clay layers are smaller and there is an obvious lag of the temperature changes. According to the current energy mining load, the temperature of the pumping wells will increase by 0.7°C at the end of the next five years. The above case study may provide reliable base for the scientific management of the operating system studied.

Total analytical method for Radix astragali extract using two-binary multi-segment gradient elution liquid chromatography

There is an urgent need for thorough analysis of Radix astragali, a widely used Chinese herb, for quality control purposes. This paper describes the development of a total analytical method for Radix astragali extract, a multi-component complex mixture. Twenty-four components were separated step by step from the extract using a series of isocratic isopropanol-methanol elutions, and then 42 components were separated similarly using methanol-water elutions. Based on the log k(w) and -S of the 66 components obtained from the above procedure and the optimization software developed in our laboratory, an optimum elution program consisting of seven methanol-water segments and four isopropanol-methanol segments was developed to finish the task of analyzing the total components in a single run. Under optimized gradient conditions, the sample of Radix astragali extract was analyzed. As expected, most of the components were well separated and the experimental chromatogram was in a good agreement with the predicted one.

公共政策制定程序对政策可接受性的影响

This research addresses the problems of public policy-making procedures. In conducting our research, we considered public policy as the allocation or reallocation of interests or resources among different members of the public. Due to limited resources, administrations should trade off all interests among different segments of society when formulating a policy. Unfortunately, in recent years there have been several mass conflicts with administration of public policy. This infers that some people’s interests were ignored or harmed by certain policies. According to the theory of procedural justice, people may accept the unexpected result if they consider the procedure is just. This research hypothesizes that there are certain problems in current policy-making procedures and that improving these procedures may make policies more acceptable. A pilot study was conducted by interviewing ten scholars from a range of disciplines. The interview record transcripts were coded by three analysts. The results indicate that: 1) Most of the scholars criticized current public policies as lacking sensitivity to public issues; 2) Most of them considered that current public policies do not resolve problems effectively; and 3) They all considered that psychology research may enhance awareness of public issues and improve the effectiveness of policy. In study 2, the procedure of public policy was tracked and compared with a social survey. The Beijing government would like to increase the taxi fare rate to cope with the rising price of petroleum. Although the majority of delegates in a hearing of witnesses supported the policy consideration, the social survey of 186 residents and 63 taxi drivers indicated that both of them oppose the consideration. The findings indicate that the hearing of witnesses was not able to delegate the opinions of the public, resulting in the policy failing to resolve the problem. Study 3 was a nonequivalent control group quasi-experiment. Visitors of two Internet Website were chosen as subjects for original photo games. For the experiment group, visitors were invited to express their desires and suggestions on the game rules for one week, and then declare rules referencing the suggestions before starting the game. Meanwhile, the control group simply declared the rules at the beginning of the game. Compared with the two games during 23 days, the experiment group submitted more photos than the control group. The results of this research imply that, the good will of policy makers is not enough to make a policy effective. Surveys on public attitudes at the beginning of the policy-making process can allow policy makers to better determine public issues, assess the tradeoff of public interests, help ensure policies are more acceptable, and help foster a harmonious society. The authors of this research suggest that psychology research should take more social level problems into account in the policy-making process.

语音意识缺陷儿童的言语知觉技能

Considerable studies find that developmental dyslexia is associated with deficits in phonological processing skills, especially phonological awareness. In order to explore the nature of phonological awareness deficits in dyslexia, researchers have begun to investigate the role of speech perception. The findings about speech perception abilities in dyslexics are inconsistent. The heterogeneity of dyslexia may be responsible for the inconsistency of findings. Considering the general suggestion that phonological awareness deficits in dyslexia are attributed to categorical perception deficits, it is more direct to examine whether children with phonological awareness difficulties or phonological dyslexia show speech categorization deficits consistently. The present study would investigate whether Chinese children with phonological awareness deficits or phonological dyslexia showed abnormal speech perception. The whole study consisted of two parts. Part I screened children with phonological-awareness deficits from Year 3 kindergartens and examined their abilities of perceiving native category continuum, nonnative category contrasts and non-speech sound series. Part II selected phonological dyslexics from an elementary school as participants, and further explored the relation between phonological deficits and speech perception. The first two experiments of Part II examined separately the abilities to label stimuli in native category continuum and brief stops in different contexts, the last experiment investigated the adaptation effects of different participant groups. The main conclusions are as follows: 1) Children with phonological dyslexia showed categorical perception deficits: they had lower consistency than controls when perceiving stimuli within phonetic categories, especially for the stimuli which were not natural sounds. 2) Children with phonological dyslexia exhibited a general difficulty of perceiving brief segments of stops from different contexts. 3) Children with phonological dyslexia did not show adaptation to repeatedly presented stimuli. Based on the present conclusions and the findings of previous studies, we suggested that the representations of sound stimuli in phonological dyslexics’ brains are different from those in normal children’s; the representations of sound stimuli in dyslexics’ cortical neural networks are more diffuse and inconsistent.

Direct Computation of 3D Shape Invariants and the Focus of Expansion

Structure from motion often refers to the computation of 3D structure from a matched sequence of images. However, a depth map of a surface is difficult to compute and may not be a good representation for storage and recognition. Given matched images, I will first show that the sign of the normal curvature in a given direction at a given point in the image can be computed from a simple difference of slopes of line-segments in one image. Using this result, local surface patches can be classified as convex, concave, parabolic (cylindrical), hyperbolic (saddle point) or planar. At the same time the translational component of the optical flow is obtained, from which the focus of expansion can be computed.

SketchIT: A Sketch Interpretation Tool for Conceptual Mechanical Design

We describe a program called SketchIT capable of producing multiple families of designs from a single sketch. The program is given a rough sketch (drawn using line segments for part faces and icons for springs and kinematic joints) and a description of the desired behavior. The sketch is "rough" in the sense that taken literally, it may not work. From this single, perhaps flawed sketch and the behavior description, the program produces an entire family of working designs. The program also produces design variants, each of which is itself a family of designs. SketchIT represents each family of designs with a "behavior ensuring parametric model" (BEP-Model), a parametric model augmented with a set of constraints that ensure the geometry provides the desired behavior. The construction of the BEP-Model from the sketch and behavior description is the primary task and source of difficulty in this undertaking. SketchIT begins by abstracting the sketch to produce a qualitative configuration space (qc-space) which it then uses as its primary representation of behavior. SketchIT modifies this initial qc-space until qualitative simulation verifies that it produces the desired behavior. SketchIT's task is then to find geometries that implement this qc-space. It does this using a library of qc-space fragments. Each fragment is a piece of parametric geometry with a set of constraints that ensure the geometry implements a specific kind of boundary (qcs-curve) in qc-space. SketchIT assembles the fragments to produce the BEP-Model. SketchIT produces design variants by mapping the qc-space to multiple implementations, and by transforming rotating parts to translating parts and vice versa.