三维环境中基于ESMF的多机器人协作观测方法

提出了一种基于扩展集员估计（ESMF）的多机器人协作观测方法，该方法将多机器人之间的观测数据融合过程嵌入到估计过程当中，从而减少了数据处理的过程，增强了算法的快速性。同时，这种方法在实现协作观测时只需要协作机器人传送观测信息而不是整个的估计信息，因此可以减轻多机器人系统的通信负担。除此之外，该方法在融合多机器人的观测数据过程中避免了多余的近似过程，增加了观测的准确性。最后，给出了三维环境下的仿真结果，验证了方法的可行性。

基于MIT规则的自适应Unscented卡尔曼滤波及其在旋翼飞行机器人容错控制的应用

提出一种新颖的基于MIT规则的自适应Unscented卡尔曼滤波(Unscented Kalman filter,UKF)算法,用来进行参数以及状态的联合估计。针对旋翼飞行机器人执行器提出一种执行器健康因子(Actuator health coefficients,AHCs)的故障模型结构,应用自适应UKF对AHCs参数进行在线估计,将联合估计的状态以及故障参数引入基于模型的反馈线性化控制结构,组成完整的容错控制系统。提出的自适应UKF算法以及容错控制结构经过中科院沈阳自动化研究所ServoHeli-20旋翼无人智能平台数学模型进行仿真试验验证,效果良好。

基于天际线识别的无人机实时姿态角估计

以无人机天际线识别为背景,提出了一种准确、实时的天际线识别算法,并由此估计姿态角。在结合实际情况的基础上,对天际线建立能量泛函模型,利用变分原理推出相应偏微分方程。在实际应用中出于对实时性的考虑,引入直线约束对该模型进行简化,然后利用由粗到精的思想识别天际线。首先,对图像预处理并垂直剖分,然后利用简化的水平直线模型对天际线进行粗识别,通过拟合获得天际线粗识别结果,最后在基于梯度和区域混合开曲线模型约束下精确识别天际线,并由此估计无人机滚动和俯仰姿态角。实验结果表明,该算法对天际线识别具有较好的鲁棒性、准确性和实时性。

基于多传感器融合的组合导航方法研究

本文提出一种基于多传感器融合的组合导航方法,能够在小型旋翼无人机上实现低成本、高精度导航定位.该方法通过建立导航系统的机械编排模型,设计了一个17状态的扩展卡尔曼滤波器(EKF).对加速计的零偏和陀螺仪的漂移进行在线估计,实时的补偿传感器的测量误差.从而对旋翼无人机的速度、位置、角速度和姿态等参数进行精确的估计.通过对实际飞行数据仿真实验,并对比参考的导航系统,证明该方法在飞机的全包线飞行下均能够解算出可靠的导航信息。

地理信息系统支持下的滑坡灾害空间分析预测-以云南小江流域为例

As a typical geological and environmental hazard, landslide has been causing more and more property and life losses. However, to predict its accurate occurring time is very difficult or even impossible due to landslide's complex nature. It has been realized that it is not a good solution to spend a lot of money to treat with and prevent landslide. The research trend is to study landslide's spatial distribution and predict its potential hazard zone under certain region and certain conditions. GIS(Geographical Information System) is a power tools for data management, spatial analysis based on reasonable spatial models and visualization. It is new and potential study field to do landslide hazard analysis and prediction based on GIS. This paper systematically studies the theory and methods for GIS based landslide hazard analysis. On the basis of project "Mountainous hazard study-landslide and debris flows" supported by Chinese Academy of Sciences and the former study foundation, this paper carries out model research, application, verification and model result analysis. The occurrence of landslide has its triggering factors. Landslide has its special landform and topographical feature which can be identify from field work and remote sensing image (aerial photo). Historical record of landslide is the key to predict the future behaviors of landslide. These are bases for landslide spatial data base construction. Based on the plenty of literatures reviews, the concept framework of model integration and unit combinations is formed. Two types of model, CF multiple regression model and landslide stability and hydrological distribution coupled model are bought forward. CF multiple regression model comes form statistics and possibility theory based on data. Data itself contains the uncertainty and random nature of landslide hazard, so it can be seen as a good method to study and understand landslide's complex feature and mechanics. CF multiple regression model integrates CF (landslide Certainty Factor) and multiple regression prediction model. CF can easily treat with the problems of data quantifying and combination of heteroecious data types. The combination of CF can assist to determine key landslide triggering factors which are then inputted into multiple regression model. CF regression model can provide better prediction results than traditional model. The process of landslide can be described and modeled by suitable physical and mechanical model. Landslide stability and hydrological distribution coupled model is such a physical deterministic model that can be easily used for landslide hazard analysis and prediction. It couples the general limit equilibrium method and hydrological distribution model based on DEM, and can be used as a effective approach to predict the occurrence of landslide under different precipitation conditions as well as landslide mechanics research. It can not only explain pre-existed landslides, but also predict the potential hazard region with environmental conditions changes. Finally, this paper carries out landslide hazard analysis and prediction in Yunnan Xiaojiang watershed, including landslide hazard sensitivity analysis and regression prediction model based on selected key factors, determining the relationship between landslide occurrence possibility and triggering factors. The result of landslide hazard analysis and prediction by coupled model is discussed in details. On the basis of model verification and validation, the modeling results are showing high accuracy and good applying potential in landslide research.

The 1990 AI Fair

This year, as the finale to the Artificial Intelligence Laboratory's annual Winter Olympics, the Lab staged an AI Fair ??night devoted to displaying the wide variety of talents and interests within the laboratory. The Fair provided an outlet for creativity and fun in a carnival-like atmosphere. Students organized events from robot boat races to face-recognition vision contests. Research groups came together to make posters and booths explaining their work. The robots rolled down out of the labs, networks were turned over to aerial combat computer games and walls were decorated with posters of zany ideas for the future. Everyone pitched in, and this photograph album is a pictorial account of the fun that night at the AI Fair.

Parte aérea da mandioca na alimentação animal. II. O farelo da parte aérea na silagem do capim-elefante.

A inviabilidade economica da ensilagem de milho na regiao dos cerrados, devido aos custos muito elevados de insumos necessarios para a sua producao, leva os pecuaristas a ensilar outras forragens. Durante as forragens mais empregadas para ensilagem na regiao, destaca-se o capim-elefante (Pennisetum pupureum Shum) por ser uma graminea de porte grande, de boa producao de massa verde por hectare e bem difundida no meio rural.

Parte aérea da mandioca na alimentação animal. II. O farelo da parte aérea na silagem do capim-elefante.

1984

Próba zastosowania lotniczych termowizyjnych obrazów wideo do wykrywania miejsc nielegalnego składowania odpadów zwierzęcych

Access to the remote sensing data was increasing in Poland since 1989. This procccess had stimulating impact on scientific research in the scope of changes in the environment. Special attention should be given to the thermal imagery methods because of its information potential. Presented paper discusses the possibilities of using information from thermal images for detecting of places of illegal dumping of animal waste in the ground. On the basis of earlier survey and gathered data draft fl ight plan was created, covering the sorroundings of Śmiłowo (around 30 sq km). Theoretical thesis for the subject was an assumption that all disturbances of the ground and soil structure should give visible representation in both thermal and visible images. Moreover the process of decay of animal tissues should be the source of heat, which can be observed through thermal sensor. Several places of potential dumping of animal waste were selected. For detailed ground verifi cation eight of them were chosen. In these location geological drillings were performed and than analysis of the samples. Thermovision is a method with great potential for the monitoing of the environment, but its effectiveness depends on the access to another sources of geoinformation.

Two Distinct Moral Mechanisms for Ascribing and Denying Intentionality.

Philosophers and legal scholars have long theorized about how intentionality serves as a critical input for morality and culpability, but the emerging field of experimental philosophy has revealed a puzzling asymmetry. People judge actions leading to negative consequences as being more intentional than those leading to positive ones. The implications of this asymmetry remain unclear because there is no consensus regarding the underlying mechanism. Based on converging behavioral and neural evidence, we demonstrate that there is no single underlying mechanism. Instead, two distinct mechanisms together generate the asymmetry. Emotion drives ascriptions of intentionality for negative consequences, while the consideration of statistical norms leads to the denial of intentionality for positive consequences. We employ this novel two-mechanism model to illustrate that morality can paradoxically shape judgments of intentionality. This is consequential for mens rea in legal practice and arguments in moral philosophy pertaining to terror bombing, abortion, and euthanasia among others.

Phenolic compounds, antioxidant and antibacterial activities of three Ericaceae from Algeria

Herbs of the Ericaceae family are commonly found in Algeria and used in traditional medicine as anti- septic, diuretic, astringent, depurative, and to treat scalds and wounds. The methanolic extracts of three species, Arbutus unedo L. (A. unedo, leaves), Erica arborea L. (E. arborea, flowered aerial parts), and Erica multiflora L. (E. multiflora, flowered aerial parts), were compared regarding their content in pheno- lic compounds, their antioxidant, and antibacterial activities. A. unedo harbors the highest content in total phenolics and flavonoids, followed by E. arborea E. multiflora. The contents in total phenolics and flavonoids showed a correlation with the measured antioxidant (hydrogen-donating) activities; this was particularly the case for flavonoids content. The A. unedo extract showed antibacterial activity against all the tested strains (Staphylococcus aureus ATCC 6538, S. aureus C100459, Escherichia coli ATCC 25922, and Pseudomonas aeruginosa ATCC 9027); however, the E. arborea and E. multiflora extracts showed antibacterial activity only against Gram positive bacteria. Some polyphenols were identified in the three herbs by thin-layer chromatography and high-performance liquid chromatography coupled with diode array and mass spectrometry detection; from these, caffeic acid, p-coumaric acid, naringin, quercetin and kaempferol are reported for the first time in E. multiflora.

Agricultura de precisión para la corrección de ambientes con elevado valor de sodio intercambiable

En los últimos años la suba de los precios de los principales granos, y sobre todo de la soja, junto con el aumento del valor del capital tierra, ha despertado en los productores del mundo y del Uruguay la necesidad de producir cada vez más eficientemente, y obtener la mayor producción posible por superficie. Al mismo tiempo, tanto la preocupación por la sustentabilidad de los sistemas productivos, como por la contaminación ambiental impulsa a los empresarios rurales a buscar tecnologías, que maximicen la eficiencia de uso de los insumos en general, preservando el medio ambiente La agricultura por ambientes o de precisión parece ofrecer soluciones a esta problemática. El manejo de cultivos diferenciando por las características del ambiente de producción, tiene como objetivos reducir costos, aumentar la productividad y hacer un uso más eficiente de los insumos (Bongiovanni, 2004). Mediante el conocimiento de la forma en que varían los rendimientos y el modo en que se relacionan con características intra-chacra, sería posible modificar el actual manejo uniforme de los cultivos hacia uno que considere los requerimientos específicos de cada sitio del campo. Así se realizaría lo necesario en el lugar y momento correctos, en la forma adecuada, lográndose mejorar los beneficios económicos y/o reducir el impacto en el ambiente (Plant, 2001). En este marco el manejo de nutrientes y limitantes químicas de suelo toma un papel prioritario al ser los fertilizantes y enmiendas los principales costos de producción agrícolas, y por los potenciales riesgos de contaminación asociados a ellos. Una de las limitantes de la producción de cultivos es la presencia de sodio (Na) en cantidades relativamente altas. Excepto en el cultivo de arroz, el Na es considerado un nutriente beneficioso para los cultivos, dentro de ciertos rangos. Hay especies adaptadas a la presencia de Na. Sin embargo, la mayoría de los cultivos de secano presentan cierto grado de susceptibilidad a este elemento. Muchos trabajos muestran la efectividad de la aplicación de yeso para disminuir los efectos del problema de Na en el complejo de intercambio de cationes de los suelos Costa y Godz (1999). En Uruguay existen escasos estudios que relacionen el nivel del sodio en el suelo con el rendimiento de los cultivos. Dada la superficie ocupada por este elemento en algunos de los suelos predominantes en la zona agrícola de Uruguay se planteó este trabajo, con el objetivo de realizar una caracterización y diferenciación de ambientes, y evaluar el impacto de la aplicación sitio-especifica de yeso agrícola en los ambientes afectados por sodicidad. Las hipótesis planteadas en este trabajo experimental fueron: Hipótesis 1: la utilización de herramientas de agricultura de precisión (ejemplo, análisis de imágenes satelitales; monitores de rendimiento; relevamiento plani-altimétrico; sensores remotos montados en aviones no tripulados (Unmanned Aerial Vehicle o UAV), entre otros permite diferenciar ambientes en base a su potencial de productividad. Hipótesis 2: la aplicación de yeso agrícola en ambientes de bajo potencial, donde existen suelos con elevados niveles de Na intercambiable, pueden ser mejorados en su condición química (reducción del PSI). El objetivo de este trabajo fue reducir los niveles de Na intercambiable en el suelo mediante la aplicación de yeso.

Physiological And Biochemical Responses Of Bivalve Mollusks To Exposure To Air

1. Aerial rate of oxygen consumption by Mytilus edulis and M. galloprovincialis is 4–17% of the aquatic rate. 2. For Cardium edule and Modiolus demissus the aerial rate of oxygen uptake is between 28 and 78% of the aquatic rate. 3. These species differences are related to the degree of shell gape during air exposure. 4. All species show an apparent oxygen debt after exposure to air, the extent of which is not simply related to either the level of aerobic respiration or the degree of anaerobiosis during exposure. 5. Anaerobic end-products accumulate in the tissues of Mytilus during aerial exposure, but not in Cardium. 6. The relative energy yields by aerobic and anaerobic means in M. edulis are discussed.

Limpet grazing and loss of Ascophyllum nodosum canopies on decadal time scales

The role of limpet grazing in preventing the development of algal canopies is a recurrent theme in intertidal ecology. Less is known about interactions of limpets with the long-term dynamics of established canopies. Aerial photographs indicate that intertidal canopy cover has declined over the past 44 yr in Strangford Lough, Northern Ireland. There has been a loss of the previously continuous cover of Ascophyllum nodosum (L.) Le Jolis in the mid-shore. A barnacles dominated assemblage now fills gaps in the A. nodosum canopy. The rates at which barnacle patches become established and grow have increased since 1990. Changes in canopy cover have been accompanied by increases in limpet densities since the 1980s. Measurements between 2003 and 2004 showed no increase in length of A. nodosum fronds when limpets Patella vulgata had access to the algal holdfasts. In contrast, when limpets were experimentally excluded from the holdfasts, there was net frond growth. In the Isle of Man, which is climatically similar to Strangford Lough but has fewer limpets, growth occurred regardless of limpet grazing. The breaking force for A. nodosum declined with increasing local densities of limpets. A. nodosum is a sheltered shore species, potentially vulnerable to changes in wave exposure. There is no evidence, however, that Strangford Lough has become windier over the past 3 decades. Variation in wave exposure among locations within the lough was not related to rates of barnacle patch creation or expansion, Limpet population density has increased following a series of mild winters. Climate change may have a role in causing canopy loss, not by direct effects on the limpet populations.

"Cómo pintar el aire". Fundamentos científicos de la perspectiva atmosférica

La perspectiva aérea o atmosférica es juzgada por los pintores como parte esencial de la pintura, una vez establecidos los presupuestos geométricos de la representación naturalista mediante la perspectiva lineal. Leonardo da Vinci fue el primer autor en definir la perspectiva aérea o atmosférica, conocidos ya a través de L. B. Alberti los fundamentos geométricos de la perspectiva lineal en el tratado De Pictura (1435). Doscientos años después, tras la influyente publicación del Optics de Newton, contextualizadas bajo el espíritu racionalista del siglo XVIII, el artículo estudia las recomendaciones que desde la ciencia y los científicos (específicamente a través de tres figuras relevantes: Brook Taylor, J. H. Lambert y Gaspard Monge) se dan a los pintores con la pretensión de arbitrar una medición exacta del color, en confrontación con el tradicional empirismo del mundo artístico. Este tema puede considerarse un capítulo de gran interés en la larga historia de la pintura y la representación de los fenómenos atmosféricos, cuyos antecedentes teóricos tienen su inicio en el Débat sur le Coloris de la Académie Française del siglo XVII y sus resultados, conducirán hacia el nacimiento de la moderna Teoría del color, en respuesta a una cuestión tan compleja sobre cómo pintar el aire.