一种基于神经网络的视觉定位系统

本文提出了一种基于人工神经网络的多线阵相机系统标定与 3D定位方法 ,并应用于基于多线阵相机构成的视觉空间定位系统 .该视觉定位系统利用了线阵相机的快速性与高分辨率的特点 ,非平行空间投影面相交定位的基本原理 ,实现了这种结构下快速、高精度空间定位 .实验表明 ,人工神经网络的定位方法简化了多线阵视觉定位系统标定与定位计算的复杂性 ,在定位精度上达到了良好效果 .为机器人位置反馈控制提供了有效的技术途径

空间向量法求解坐标变换

介绍一种利用空间向量求解坐标变换关系的方法，简化了传统的坐标系之间坐标变换关系求解的复杂计算，减小了采样误差对计算结果的影响．为建立各物体之间的位姿关系描述提供了有效的数学计算手段

单程波算子空间-波数域可分近似方法研究

In the petroleum exploration industry, it is very important to simulate the evolvement of wave field beneath our earth in the aspects of time and space quickly and effectively. Because of the huge data size in petroleum exploration and also the strict requirement of time limit in the actual process of production, simplification of models and approximation of algorithm are necessary. At the same time, every fine improvement to algorithm has its great practical significance and use value. Based on the reasons above, this dissertation researches the separable approximation methods of space-wave number domain for One-way Wave Operator and gets the conclusions as follow: 1. It is insufficient to value One-way Wave Operator purely from the mathematical modulus and phase error, while, holding some specific structural character of operator should be more important. Because, the evaluation criterion of One-way Wave Operator’s imaging ability is quite complicate and obscured, which is similar to the evaluation of an artwork. 2. We can not search for a best or most effective One-way Wave Operator approximation solution for all. However, to different speed model and precision requirement the best approximation solution does exist which is maybe also a compromise, because it is very beneficial to One-way Wave Operator to take full advantage of speed model’s pre-tested information.

花岗岩风化土微观结构及其工程地质特性研究

Saprolite is the residual soil resulted from completely weathered or highly weathered granite and with corestones of parent rock. It is widely distributed in Hong Kong. Slope instability usually happens in this layer of residual soil and thus it is very important to study the engineering geological properties of Saprolite. Due to the relic granitic texture, the deformation and strength characteristics of Saprolite are very different from normal residual soils. In order to investigate the effects of the special microstructure on soil deformation and strength, a series of physical, chemical and mechanical tests were conducted on Saprolite at Kowloon, Hong Kong. The tests include chemical analysis, particle size analysis, mineral composition analysis, mercury injection, consolidation test, direct shear test, triaxial shear test, optical analysis, SEM & TEM analysis, and triaxial shear tests under real-time CT monitoring.Based on the testing results, intensity and degree of weathering were classified, factors affecting and controlling the deformation and strength of Saprolite were identified, and the interaction between those factors were analyzed.The major parameters describing soil microstructure were introduced mainly based on optical thin section analysis results. These parameters are of importance and physical meaning to describe particle shape, particle size distribution (PSD), and for numerical modeling of soil microstructure. A few parameters to depict particle geometry were proposed or improved. These parameters can be used to regenerate the particle shape and its distribution. Fractal dimension of particle shape was proposed to describe irregularity of particle shapes and capacity of space filling quantitatively. And the effect of fractal dimension of particle shape on soil strength was analyzed. At the same time, structural coefficient - a combined parameter which can quantify the overall microstructure of rock or soil was introduced to study Saprolite and the results are very positive. The study emphasized on the fractal characteristics of PSD and pore structure by applying fractal theory and method. With the results from thin section analysis and mercury injection, it was shown that at least two fractal dimensions Dfl(DB) and Df2 (Dw), exist for both PSD and pore structure. The reasons and physical meanings behind multi-fractal dimensions were analyzed. The fractal dimensions were used to calculate the formation depth and weathering rate of granite at Kowloon. As practical applications, correlations and mathematical models for fractal dimensions and engineering properties of soil were established. The correlation between fractal dimensions and mechanical properties of soil shows that the internal friction angle is mainly governed by Dfl 9 corresponding to coarse grain components, while the cohesion depends on Df2 , corresponding to fine grain components. The correlations between the fractal dimension, friction angle and cohesion are positive linear.Fractal models of PSD and pore size distribution were derived theoretically. Fragmentation mechanism of grains was also analyzed from the viewpoint of fractal. A simple function was derived to define the theoretical relationship between the water characteristic curve (WCC) and fractal dimension, based on a number of classical WCC models. This relationship provides a new analytical tool and research method for hydraulic properties in porous media and solute transportation. It also endues fractal dimensions with new physical meanings and facilitates applications of fractal dimensions in water retention characteristics, ground water movement, and environmental engineering.Based on the conclusions from the fractal characteristics of Saprolite, size effect on strength was expressed by fractal dimension. This function is in complete agreement with classical Weibull model and a simple function was derived to represent the relationship between them.In this thesis, the phenomenon of multi-fractal dimensions was theoretically analyzed and verified with WCC and saprolite PSD results, it was then concluded that multi-fractal can describe the characteristics of one object more accurately, compared to single fractal dimension. The multi-fractal of saprolite reflects its structural heterogeneity and changeable stress environment during the evolution history.

Minimizing Residual Vibrations in Flexible Systems

Residual vibrations degrade the performance of many systems. Due to the lightweight and flexible nature of space structures, controlling residual vibrations is especially difficult. Also, systems such as the Space Shuttle remote Manipulator System have frequencies that vary significantly based upon configuration and loading. Recently, a technique of minimizing vibrations in flexible structures by command input shaping was developed. This document presents research completed in developing a simple, closed- form method of calculating input shaping sequences for two-mode systems and a system to adapt the command input shaping technique to known changes in system frequency about the workspace. The new techniques were tested on a three-link, flexible manipulator.

Heuristics for Job-Shop Scheduling

Two methods of obtaining approximate solutions to the classic General Job-shop Scheduling Program are investigated. The first method is iterative. A sampling of the solution space is used to decide which of a collection of space pruning constraints are consistent with "good" schedules. The selected space pruning constraints are then used to reduce the search space and the sampling is repeated. This approach can be used either to verify whether some set of space pruning constraints can prune with discrimination or to generate solutions directly. Schedules can be represented as trajectories through a Cartesian space. Under the objective criteria of Minimum maximum Lateness family of "good" schedules (trajectories) are geometric neighbors (reside with some "tube") in this space. This second method of generating solutions takes advantage of this adjacency by pruning the space from the outside in thus converging gradually upon this "tube." One the average this methods significantly outperforms an array of the Priority Dispatch rules when the object criteria is that of Minimum Maximum Lateness. It also compares favorably with a recent relaxation procedure.

Plasma acceleration above Martian magnetic anomalies

Grande, Manuel, et al., 'Plasma acceleration above Martian magnetic anomalies', Science (2006) 311(5763) pp.980-983 RAE2008

DOŚWIADCZENIE PRZESTRZENI W PAMIĘCI O HOLOCAUŚCIE

This paper analyzes different experiences of space by which memory of Holocaust could be passed on. The Memorial for the murdered Jews of Europe in Berlin gives visitors the feeling of insecurity and overwhelms them with monumentality. For that reason it is criticized as reflecting the other side of German memory: The Third Reich’s megalomania and dream about power. The Hamburger memorial against fascism designed in 1986 by conceptual artists Jochen and Esther Gerz offers quite an opposite experience of space. A twelve-meter-high pillar has been established for visitors to sign on it. Once the area was covered by signature it was lowered into the ground till it completely disappeared. The intention of the artists was to put memory not into the monument but into people. Pozdrowienia z Alej Jerozolimskich (Greetings from the Jerusalem Avenue, 2002) by Joanna Rajkowska – a fifteen-meter tall artificial palm tree installed in the centre of Warsaw – is an attempt to infuse with Israel's scenery a Warsaw's street whose name and history sends the observer to the history of the Jews in Poland. In another work called Dotleniacz (Oxygenator, 2007) Rajkowska created an artificial lake with oxygen concentrators, gold fish, flowers and banks. Again, the installation was placed in a very meaningful place – Grzybowski Square – which is strongly connected with Jewish life in Poland as well as Polish anti-Semitism. The synagogue in Poznan was transformed during the Nazi occupation into a swimming pool which it has remained until the present day. This fact ( just like the building) seems to be invisible for most citizens. In 2003 Rafał Jakubowicz changed the fact by projecting a Hebrew inscription הייחש-תכירב (swimming pool) on the façade of the former synagogue. In Berek (The Game of Tag, 1999) by Artur Żmijewski a group of naked men and women of various age play tag. The artist filmed them in two rooms: in a symbolically neutral space and in a gas chamber of a former Nazi death camp. The film is an attempt at breaking the spell of this horrifying and paralysing space.

Polski Hamlet

Chapter is an attempt at reconstruction of the culminating moment of the first stage of the Polish reception of Shakespeare's "Hamlet". It has been entirely devoted to J. Słowacki's "Horsztyński". There is no doubt that "Horsztyński" should be viewed as the fullest and deepest interpretation of Shakespearean elements in the literary output of Juliusz Słowacki. Numerous citations and references to the works of the Elizabethan dramatist reach deeply into the structure of the world and human's life. Thanks to many adductions (citations) to Shakespeare, Słowacki approached the so much important problem for the Romantic period in Polish literature, namely the problem of individual tragedy of existence of the main character of a play and a clash with historical dilemmas of the community. The analysis of the text is aimed at showing all references to Shakespearean masterpiece with a particular emphasis on the hamletism of the charactwe of Szczęsny Kossakowski. The author describes the motif of betrayal, ever-present on different levels of the text structure, which in the most complete way describes the organisation of space between humans and their interaction in "Horsztyński". The author focuses his attention on detailed description and analysis of the recurrent themes frequently repeated in Szczęsny's statements, namely motifs of "man-harp", "man-actor in the theatre of the world", and "man-puppet", harlequin, clown. These motifs prove the sensibility of Szczęsny's to the theatrical aspect of the surrounding reality. The motif of darkness and of a blind man groping his way in the darkness so frequent in Szczęsny's statements can be interpreted as a manifestation of utter lack of hope and the feeling of uselessness of one's existence in the world.

Wizualizacja kartograficzna dostępności przestrzennej w modelu monocentrycznym

Wydział Nauk Geograficznych i Geologicznych

Obraz podboju kosmosu w amerykańskiej i radzieckiej literaturze i sztuce

Wydział Anglistyki

Os motivos da não erupção dos terceiros molares

Projeto de Pós-Graduação/Dissertação apresentado à Universidade Fernando Pessoa como parte dos requisitos para obtenção do grau de Mestre em Medicina Dentária

A influência da iluminação nos crimes contra estabelecimentos comerciais

Dissertação apresentada à Universidade Fernando Pessoa como parte dos requisitos para obtenção do grau de Mestre em Criminologia

Homosexuality and the United Methodist Church: An Ecclesiological Dilemma

Since 1968 The United Methodist Church has publicly debated the status and roles of homosexual persons in the life of the Church, creating considerable conflict within the Denomination. Academic research on the question of homosexuality and the Church has often focused on theological understandings of homosexuality and on the ways the conflict reflects broader "culture wars" in society. Yet little attention has been given to how the Church's concrete practices and polity toward homosexual persons reflect underlying tensions within the ecclesiological identity of the Denomination. This dissertation proposes that the issue of homosexuality is a critically important case study for exploring the practical ecclesiology of The United Methodist Church. In an effort to identify tensions within contemporary United Methodism's practical ecclesiology, it traces in detail the history of the denominational debate over homosexuality since 1968 and articulates the diverse and often conflicting ecclesiological commitments embedded within that debate. Focusing on the debate itself as a practice of the Church, this dissertation illustrates the ways in which the controversy over sexuality reflects the Denomination's conflicted practical ecclesiology. By examining the rhetoric of the sexuality debates in The United Methodist Church from 1968 to 2008, and by articulating the ecclesiological commitments embedded in those debates, the dissertation reveals a fundamental conflict over interpretations of ecclesial unity. Moreover, the dissertation explores the extent to which the conflict over unity reflects ecclesiological tensions present in John Wesley's own practical ecclesiology; and it asks whether or not contemporary interpretations of United Methodist ecclesiology might provide a normative framework for assessing and resolving the underlying ecclesial conflict at work in sexuality debates. The dissertation concludes by exploring the practice of public narrative as a concrete strategy that might be employed by the Denomination to reconcile the diverging ecclesiological visions within the contemporary church so that a clear and consensual ecclesiology might emerge.

Building Responsive Systems from Physically-correct Specifications

Predictability - the ability to foretell that an implementation will not violate a set of specified reliability and timeliness requirements - is a crucial, highly desirable property of responsive embedded systems. This paper overviews a development methodology for responsive systems, which enhances predictability by eliminating potential hazards resulting from physically-unsound specifications. The backbone of our methodology is the Time-constrained Reactive Automaton (TRA) formalism, which adopts a fundamental notion of space and time that restricts expressiveness in a way that allows the specification of only reactive, spontaneous, and causal computation. Using the TRA model, unrealistic systems - possessing properties such as clairvoyance, caprice, in finite capacity, or perfect timing - cannot even be specified. We argue that this "ounce of prevention" at the specification level is likely to spare a lot of time and energy in the development cycle of responsive systems - not to mention the elimination of potential hazards that would have gone, otherwise, unnoticed. The TRA model is presented to system developers through the CLEOPATRA programming language. CLEOPATRA features a C-like imperative syntax for the description of computation, which makes it easier to incorporate in applications already using C. It is event-driven, and thus appropriate for embedded process control applications. It is object-oriented and compositional, thus advocating modularity and reusability. CLEOPATRA is semantically sound; its objects can be transformed, mechanically and unambiguously, into formal TRA automata for verification purposes, which can be pursued using model-checking or theorem proving techniques. Since 1989, an ancestor of CLEOPATRA has been in use as a specification and simulation language for embedded time-critical robotic processes.