蛇形机器人的翻滚运动及其越障研究

提出了一种新型蛇形机器人机构。该机构既可以实现平面运动又可以实现空间运动。建立了其空间运动学模型并实现了空间翻滚运动。实验结果表明 :翻滚运动不需依靠模块与地面之间动摩擦力方向差来实现驱动 ,而是通过模块与地面之间静摩擦力和互相垂直的两个运动平面内异相波的相互作用产生驱动力。翻滚的方向和姿态由两个波形曲线的相差和传播方向决定。利用翻滚运动 ,实现了少模块数蛇形机器人的越障运动

塔里木地块奥陶纪古地磁新结果及其构造意义

The Tarim Block is located between the Tianshan Mountains in the north and the Qinghai-Tibet Plateau in the south and is one of three major Precambrian cratonic blocks of China. Obviously, the Paleozoic paleogeographic position and tectonic evolution for the Tarim Block are very important not only for the study of the formation and evolution of the Altaids, but also for the investigation of the distributions of Paleozoic marine oil and gas in the Tarim Basin. According to the distributions of Paleozoic strata and suface outcrops in the Tarim Block, the Aksu-Keping-Bachu area in the northwestern part of the Tarim Block were selected for Ordovician paleomagnetic studies. A total of 432 drill-core samples form 44 sampling sites were collected and the samples comprise mainly limestones, argillaceous limestones and argillaceous sandstones Based on systematic study of rock magnetism and paleomagnetism, all the samples could be divided into two types: the predominant magnetic minerals of the first type are hematite and subordinate magnetite. For the specimens from this type, characteristic remanent magnetization (ChRM) could generally be isolated by demagnetization temperatures larger than 600℃; we assigned this ChRM as component A; whilst magnetite is the predominant magnetic mineral of the second type; progressive demagnetization yielded another ChRM (component B) with unblocking temperatures of 550-570℃. The component A obtained from the majority of Ordovician specimens has dual polarity and a negative fold test result; we interpreted it as a remagnetization component acquired during the Cenozoic period. The component B can only be isolated from some Middle-Late Ordovician specimens with unique normal polarity, and has a positive fold test result at 95% confidence. The corresponding paleomagnetic pole of this characteristic component is at 40.7°S, 183.3°E with dp/dm = 4.8°/6.9° and is in great difference with the available post-Late Paleozoic paleopoles for the Tarim Block, indicating that the characteristic component B could be primary magnetization acquired in the formation of the rocks. The new Ordovician paleomagnetic result shows that the Tarim Block was located in the low- to intermediate- latitude regions of the Southern Hemisphere during the Middle-Late Ordovician period, and is very likely to situate, together with the South China Block, in the western margin of the Australian-Antarctic continents of East Gondwana. However, it may have experienced a large northward drift and clockwise rotation after the Middle-Late Ordovician period, which resulted in the separation of the Tarim Block from the East Gondwanaland and subsequent crossing of the paleo-equator; by the Late Carboniferous period the Tarim Block may have accreted to the southern margin of the Altaids.

龙游石窟洞室群稳定性分析及最佳旅游路线选择

The large ancient underground rock caverns in Longyou is an important component of grotto cultural. Current task facing the long-term preservation of these unmovable cultural relics is arduous and challenging. The deformation failure of the caverns' surrounding rock is deteriorating. The weathering velocity of these caverns is accelerating. With the strength of caverns' surrounding rock worsening, critical rocks were generated in local regions of the caverns' vault and posing a threat to the security of people passing by. Selection of a maximum-security route and construction a aisle in the caverns might be an efficient way to ensure the security of tourists and reach the target of long-term preservation. The deformation and destruction of the ancient underground caverns is primarily dominated by geological conditions and the special structure of caverns. Based on field investigation, several fundamental conditions for deformation and failure are recognized, and nine deformation and fracture patterns of the Longyou grotto are proposed. In order to judge the stability of caverns’ surrounding rock, the element safety coefficient method is presented. An explicit explanation for the meaning of the method is deduced using Mohr-Coulomb strength criterion. Numerical analyses are carried out in the dissertation through FLAC3D code. Through numerical analysis, the stress distribution regularities of the caverns’ roofs, piles and public side wall are analysed, and the stability properties of caverns’ surrounding rock are also assessed. At the same time, the element safety coefficient method is introduced to contrast the stability degree of different regions in caverns. The above analyses are bases for choosing the optimal tourism routes in the caverns of Longyou grotto. The impact of surface load on the stability of shallow buried cavities in Longyou grotto is evaluated, the results show that building load has significant influence on the stability of the No.1 cavern’s roof, pile and public side wall between the No.1 cavern and the No.2 cavern, pedestrian load has less impact on the stability of surrounding rock than building load. The principles for choosing the optimal tourism routes in the caverns are discussed. With these principles, the dissertation makes a systematic research on the geological analytic method, numerical analytic method and meeting tourism requirements method, which are used in selecting the optimal tourism routes in the caverns. In order to achieve the best effect in the process of tourism routes selection, the above three method are integrated through Theory of Engineering Geomechanics Meta-system(EGMS). According to field investigations, numerical analyses, tourism requirements and expert experiences, the optimal tourism routes through No.1 to No.5 cavern are determined preliminarily. The obtained results from the research work are useful for the security aisle's construction, they also have reference value to other projects in practice.

东营凹陷辛镇复杂断块油藏形成机制和剩余油分布规律研究

In this paper, the complex faulted-block oil reservoir of Xinzhen area in Dongying depression is systematically studied from basic conditions forming faulted-block oil and gas reservoir integrating geology, seismic, logging and reservoir engineering information and computer; guided by petroleum geology, geomechanics, structural geology and geophysics and other theories. Based on analysis of background condition such as regional strata, structure and petroleum geology, structural research on geometry, kinemaitcs and dynamics, oil-controlling fault research on the seal features, sealing mechanism and sealing pattern, and research on enrichment rules and controlling factors of complex faulted-block oil reservoir are carried out to give out the formation mechanics of oil reservoir of Xinzhen complex faulted-block oil reservoir. As a result, the reservoir formation pattern is established. At the same time, through dissecting the characteristics and hydrocarbon enrichment law of complex faulted-block oil reservoir, and studying its distribution law of remaining oil after entering extra high water-cut period, a set of technologies are formed to predict complex faulted-block oil reservoir and its remaining oil distribution and to enhance oil recovery (EOR). Based on the time relationship between migration of hydrocarbon and trap formation, accumulating period of Xinzhen oil reservoir is determined. The formation of Xinzhen anticlinal trap was prior to the primary migration. This is favorable to formation of Xinzhen anticlinal hydrocarbon reservoir. Meanwhile, because anticline top caving isn't at the sane time as that of moving or faulted-trap forming inner anticline, oil and gas migrated many times and Xinzhen complex faulted-block oil reservoir formed from ES_3~(upper) to EG. Accumulating law and controlling factors of complex faulted-block reservoir are analyzed from many aspects such as regional structure background controlling hydrocarbon accumulating, plastic arch-open structure controlling oil-bearing series and reservoir types, sealing-opening of fault controlling hydrocarbon distribution and structure pattern controlling enriched trap types. Also, we established the structure pattern in Xinzhen a'ea: the arch-open of underlying strata cause expanding fracture. The main block groups developed here are shovel-like normal fault block group in the north area of Xinzhen and its associated graben block group. Block groups dominate the formation and distribution of reservoirs. We studied qualitatively and quantitatively the sealing characteristics, sealing history and sealing mechanism of faults, too. And, the sealing characteristics are evaluated and the distribution pattern of hydrocarbon controlled by faults is researched. Due to movement intensity of big faults, deep falling of downthrown block, high degree of repture and development of fracture, shallow layers close to the downthrown block of secondary faults are unfavorable to hydrocarbon accumulation. This is confirmed by the exploration practice in Xinzhen anticline. In terms of the downthrown blocks of sencondary contemporaneous faults lied in the south and north area of Xinzhen, hydrocarbon is poor close to fracture belt, while it is relatively abundant in tertiary companion faults. Because of long-term movement of faults that control hydrocarbon, fi'om ES3 to EG, six set of oil-bearing series formed. And their opening causes the inhomogeneity in hydrocarbon abundance among each block--in two flanks of anticline reservoirs are abundant while in the axial area, oil and gas are sporadic. There the sealing characteristics control oil-bearing area of oil/gas accumulation and the height of oil reservoir. Longitudinally, oil and gas are enriched in dip-flat areas in mid-plane of faults. It is established that there are four types of accumulating patterns in complex faulted-block oil reservoirs in Xinzhen. The first is accumulating pattern of lithologic oil reservoirs in E~S_3~(mid-lowwer), that is, self-generating-self-reserving-self-covering lithologic trap pattern. The second is drag-anticline accumulating pattern in Xinzhen. The structure traps are drag anticlines formed by the contemporaneous faults of the second basement in the north of Xinzhen, and the multiple source rocks involve Ek_2, Es_4, Es_3 and Es_1 members. The reservoirs are fluvial-delta sandstones of the upper member of Shahejie formation and Guantao formation, covered by regional thick mudstone of the upper member of Guantao formation and MingHuazhen formation. The third is the accumulating pattern of reverse listric fault, the third-degree fault of Xinzhen anticline limb and the reservoirs form reservoir screened by reverse listric faults. The forth is accumulating pattern of crossing faults which form closing or semi-closing faulted-blocks that accumulate hydrocarbon. The technologies of predicting remaining oil in complex faulted-block reservoir during the mid and late development stage is formed. Remaining oil in simple large faulted-blocks enriches in structural high, structural middle, structural low of thick bottom water reservoirs, points near bent edge-fault oftertiary faults and part the fourth ones with big falling displacement, microstructure high place of oil-sandbodies and areas where local well pattern isn't perfect. While that in small complex faulted-blocks enriches near small nose, small high point, angle of small faults, small oil-bearing faulted-blocks without well and areas with non-perfect well pattern. The technologies of enhancing recovery factor in complex faulted-block reservoir during the mid and late development stage is formed as follows: fine reservoir description, drilling adjust wells, designing directional wells, sub-dividing layer series of development, improving flooding pattern, changing water-injection direction and enhancing swept volume, cyclic waterflooding and gas-injection, etc. Here, directional wells include directional deflecting wells, lateral-drilling wells, lateral-drilling horizontal wells and horizontal wells. The results of this paper have been used in exploration and development of Shengli oilfield, and have achieved great social and economic profit, especially in predicting distribution of complex faulted-block reservoir, remaining oil distribution during middle and late stage of development, and in EOR. Applying the achievement of fault-closure research, new hydrocarbon-bearing blocks are discovered in flanks of Dongying central uplift and in complex blocks with proved reserves 15 million tons. With the study of remaining oil distribution law in complex faulted-block reservoirs, recovery factors are increased greatly in Dongxin, Xianhe and Linpan complex faulted-block reservoirs and accumulated oil production increment is 3 million tons.

我国北方沙质沉积物气候代用指标对比研究

In this study we examined samples of sandy sediments along the north-south transects crossing the Taklimakan Desert, the Badain Jaran Desert and the Hunshandake Sandy Land respectively. The grain size was measured via dry sieving, and the carbonate content by means of an Eijkelkamp instrument. The analyses of grain size and carbonate contents show: (1) The sand grains of the Badain Jaran Desert are coarsest and best sorted, this should be associated with the strongest usual wind among these three regions. (2) The different desert have its special wind condition in their own regions. The Badain Jaran Desert and the Taklimakan Desert both show that the wind is getting weaker from north towards south, but the Hunshandake Sandy Land have the similar wind stress from north towards south. (3) The frequency curves of the sandy sediments from the Badain Jaran Desert show a kind of distinct double peaks, presumably associated with the alternative transportations of summer and winter monsoons in the north boundaries of the summer monsoon. (4) There are great differences of the carbonate contents among these three regions, this maybe associated with the humidity, the humidity of Hunshandake Sandy Land is the best, and the one of the Taklimakan Desert would be the worst among them. Analyses of The three profiles about grain size and carbonate contents show: (1) From 8ka BP, the winter-monsoon was getting weaker, and the summer-monsoon accordingly became stronger, and about 1 ka later, the winter-monsoon was getting stronger again. (2) In the stage of the profiles, there maybe show two circles of dry and wet climate, and the climate changes in those three regions show the similar trend.

工程地质三维可视化技术及其工程应用研究

Study of 3D visualization technology of engineering geology and its application to engineering is a cross subject which includes geosciences, computer, software and information technology. Being an important part of the secondary theme of National Basic Research Program of China (973 Program) whose name is Study of Multi-Scale Structure and Occurrence Environment of Complicated Geological Engineering Mass(No.2002CB412701), the dissertation involves the studies of key problems of 3D geological modeling, integrated applications of multi-format geological data, effective modeling methods of complex approximately layered geological mass as well as applications of 3D virtual reality information management technology.The main research findings are listed below:Integrated application method of multi-format geological data is proposed,which has solved the integrated application of drill holes, engineering geology plandrawings, sectional drawings and cutting drawings as well as exploratory trenchsketch. Its application can provide as more as possible fundamental data for 3Dgeological modeling.A 3D surface construction method combined Laplace interpolation points withoriginal points is proposed, so the deformation of 3D model and the crossing error ofupper and lower surface of model resulted from lack of data when constructing alaminated stratum can be eliminated.3D modeling method of approximately layered geological mass is proposed,which has solved the problems of general modeling method based on the sections or points and faces when constructing terrain and concordant strata.The 3D geological model of VII dam site of Xiangjiaba hydropower stationhas been constructed. The applications of 3D geological model to the auto-plotting ofsectional drawing and the converting of numerical analysis model are also discussed.3D virtual reality information integrated platform is developed, whose mostimportant character is that it is a software platform having the functions of 3D virtualreality flying and multi-format data management simultaneously. Therefore, theplatform can load different 3D model so as to satisfy the different engineeringdemands.The relics of Aigong Cave of Longyou Stone Caves are recovered. Thereinforcement plans of 1# and 2# cave in phoenix hill also be expressed. The intuitiveexpression provided decision makers and designers a very good environment.The basic framework and specific functions of 3D geological informationsystem are proposed.The main research findings in the dissertation have been successfully applied to some important engineering such as Xiangjiaba hydropower station, a military airport and Longyou Stone Caves etc.

Inferring 3D Structure with a Statistical Image-Based Shape Model

We present an image-based approach to infer 3D structure parameters using a probabilistic "shape+structure'' model. The 3D shape of a class of objects may be represented by sets of contours from silhouette views simultaneously observed from multiple calibrated cameras. Bayesian reconstructions of new shapes can then be estimated using a prior density constructed with a mixture model and probabilistic principal components analysis. We augment the shape model to incorporate structural features of interest; novel examples with missing structure parameters may then be reconstructed to obtain estimates of these parameters. Model matching and parameter inference are done entirely in the image domain and require no explicit 3D construction. Our shape model enables accurate estimation of structure despite segmentation errors or missing views in the input silhouettes, and works even with only a single input view. Using a dataset of thousands of pedestrian images generated from a synthetic model, we can perform accurate inference of the 3D locations of 19 joints on the body based on observed silhouette contours from real images.

Theory of Handwriting

Handwriting production is viewed as a constrained modulation of an underlying oscillatory process. Coupled oscillations in horizontal and vertical directions produce letter forms, and when superimposed on a rightward constant velocity horizontal sweep result in spatially separated letters. Modulation of the vertical oscillation is responsible for control of letter height, either through altering the frequency or altering the acceleration amplitude. Modulation of the horizontal oscillation is responsible for control of corner shape through altering phase or amplitude. The vertical velocity zero crossing in the velocity space diagram is important from the standpoint of control. Changing the horizontal velocity value at this zero crossing controls corner shape, and such changes can be effected through modifying the horizontal oscillation amplitude and phase. Changing the slope at this zero crossing controls writing slant; this slope depends on the horizontal and vertical velocity zero amplitudes and on the relative phase difference. Letter height modulation is also best applied at the vertical velocity zero crossing to preserve an even baseline. The corner shape and slant constraints completely determine the amplitude and phase relations between the two oscillations. Under these constraints interletter separation is not an independent parameter. This theory applies generally to a number of acceleration oscillation patterns such as sinusoidal, rectangular and trapezoidal oscillations. The oscillation theory also provides an explanation for how handwriting might degenerate with speed. An implementation of the theory in the context of the spring muscle model is developed. Here sinusoidal oscillations arise from a purely mechanical sources; orthogonal antagonistic spring pairs generate particular cycloids depending on the initial conditions. Modulating between cycloids can be achieved by changing the spring zero settings at the appropriate times. Frequency can be modulated either by shifting between coactivation and alternating activation of the antagonistic springs or by presuming variable spring constant springs. An acceleration and position measuring apparatus was developed for measurements of human handwriting. Measurements of human writing are consistent with the oscillation theory. It is shown that the minimum energy movement for the spring muscle is bang-coast-bang. For certain parameter values a singular arc solution can be shown to be minimizing. Experimental measurements however indicate that handwriting is not a minimum energy movement.

An Autonomous Sailing Robot for Ocean Observation

Sauze, C. and Neal, M. 'An Autonomous Sailing Robot for Ocean Observation', in proceedings of TAROS 2006, Guildford, UK, Sept 4-6th 2006, pages 190-197.

Political Leadership and Public Support In Belarus: Forward to the Past?

Korosteleva-Polglase Elena, White, S., 'Political Leadership and Public Support In Belarus: Forward to the Past?', In: 'The EU and Belarus: Between Moscow and Brussels', (London: Kogan Page), pp.51-71, 2001 RAE2008

Prawda - istina w horyzoncie anthropos w myśli rosyjskiego renesansu religijno-filozoficznego

Wydział Nauk Społecznych: Instytut Filozofii

Influencia del sexo en la transmisión vertical del nucleopoliedrovirus de Spodoptera exigua (SeMNPV-Al1)

El ciclo ecológico de los baculovirus comprende dos vías de transmisión: la horizontal que se produce entre congéneres y la vertical, que implica el paso de genomas virales de los parentales a la progenie. Recientemente se ha estudiado la efectiva transmisión vertical del Nucleopoliedrovirus de Spodoptera exigua (SeMNPV-Al1) en una población de su húesped de los invernaderos de Almería (España). La detección de progenie infectada de hembras sanas, sugiere la necesidad de determinar el papel que juegan ambos sexos en la transmisión del virus. En el presente trabajo se establecieron infecciones subletales para obtener adultos con infecciones encubiertas y utilizando un esquema de apareamientos entre adultos sanos e infectados se verificó que la transmisión del virus es posible vía paterna o materna. La vía materna parece más constante en su respuesta de acuerdo a la medición de la carga viral obtenida en la descendencia (qPCR). El tratamiento de desinfección de la puesta no afectó a la detección de ADN viral en la descendencia, lo que sugiere una transmisión transovo. La carga viral por insecto fue similar independientemente del sexo de los parentales y la descendencia masculina y femenina se vio afectada de igual manera por la infección.

The aesthetics of he eyes and mouth position in a three-point face schema

Oculographical research of people watching a human face indicates than beholder's eyes stop most often and for the longest period of time on the eyes and the mouth of the face looked at and that they move among these three points most frequently. The position of the eyes and mouth in relation to one another can be described with a single number being a measure of an angle with the vertex in the middle of the mouth and with arms crossing the centers of the eye pupils. The angles were measured from photographs of people from all over the world, as well as of residents of Lublin. Subsequently, the subjects from Lublin were asked to make face schemas by positioning the eyes and the mouth in the way they considered most attractive. The eye-mouth-eye angle of these schemas was measured. Additionally, measurements of the same angle were taken from the faces depicted in icons. The schemas of the most attractive - according to the subjects - faces were characterized by angles approximating the mean angle from the photographs, and significantly greater than the mean angle from the icons.

Identyfikacja domen WG/GW zaangażowanych w wiązanie białek Argonaute oraz analiza mechanizmów molekularnych odpowiedzialnych za ich zmienność

Wydział Biologii: Instytut Biologii Molekularnej i Biotechnologii

Antropologia e psicoterapia

Tese apresentada à Universidade Fernando Pessoa como parte dos requisitos para obtenção do grau de Doutor em Ciências Sociais, especialidade em Antropologia