Trichodinid ectoparasites (Ciliophora, Peritrichia) from the tiger puffer Takifugu rubripes in the Yellow Sea, with revision of Trichodina jadranica Raabe,1958

Two ectoparasitic ciliates, Trichodina fugu Imai et al., 1997 and T. jadranica Raabe, 1958, found on the gills and skin of the maricultured tiger puffer Takifugu rubripes on the China coast of the Yellow Sea, were studied using the dry silver nitrate method. Trichodina fugu is distinguished by its almost rod-shaped denticle blades. Trichodina jadranica is usually described as a small trichodinid with a clear central circle in the adhesive disc and with a low number of denticles. However, the data available suggest that the species is highly variable in morphometry and the Chinese population represents the largest in body size and denticle dimensions found to date. Based on the revision of T. jadranica, two major morphotypes, each represented by several populations are classified, differing in the shape of the blades, viz., distinctly curved and sickle-shaped with pointed distal ends (as in the classical T. jadranica) vs. less curved and more or less rectangle-like with rounded distal ends (as in T. domerguei gobii). Trichodina domerguei gobii Raabe,.1959, which was synonymised with T. jadranica, is thus elevated to species rank. Furthermore, Trichodina jadranica noblei Lom, 1970 has straight and stout blades with broadly rounded distal ends and is raised to species rank: T noblei Lom, 1970. Trichodina jadranica sensu Xu et al., 1995 shows high similarities in denticle shape and dimensions as well as the central granule pattern with T chlamydis Xu et al., 1999. Thus, it is synonymised with the latter species.

动态有序变化的阈值曲面方法

对于背景灰度不一致的图像的二值化问题,可采用在图像的不同区域选取不同阈值的动态阈值曲面方法解决。本文提出一种有序变化的动态阈值曲面方法,通过选取三个动态变化调节系数,使曲面动态地逼近阈值分割的最佳值,同时又降低曲面的误分割,能较好地提取二值图像。

柴达木盆地地震勘探关键技术研究

The rugged surface topography determined the seismic data acquisition construction conditions and the seismic wave explosive and receiver quality in Qaidam Basin. This dissertation systematically researched the seismic acquisition, imaging process and the attribute analysis techniques of complicated oil and gas reservoir. The main research achievements and cognitions are as follows: 1. Through the stimulation effects research and analysis from the aspect of lithologic water-containing differences, it’s specific that stable hydrous sand layer can effectively enhance the stimulation effects combined with the corresponding field tests. The seismic data S/N ratio has been improved due to the combination explosive stimulation. Through the fold number and maximum offset analyses of target horizon, the complicated geometry has been optimized and the S/N ratio of seismic data has been improved, which made an important basis for improvement of 3D seismic data. 2. It has been proved that the first arrival refraction static correction method under the model constraint of fine surface survey is suitable to the Qaidam Basin of western areas by the real seismic data processing. Although the refraction horizon of near surface has some changes in a certain extent, it’s steady basically. The refraction horizon can be continuously traced in sections, so it’s qualified for the refraction static correction method on the whole. 3. The research is based on the curved-ray pre-stack time migration techniques of rough topography, and improved the imaging precision of complex areas. This techniques adopted the constant and variable velocity scanning mode and enhanced the velocity analysis precision. The 3D pre-stack time migration techniques reasonably solved the imaging and velocity multiple solutions problems of steep-dip faults and the intersections of horizontal layers. What’s more, fine velocity analysis and mute are very important to enhance the imaging precision of the seismic data in complicated Wunan areas. 4. The 3D seismic data edge-preserving processing methods have been realized due to the image process techniques. Because this method uses the large range filter, it can attenuate the noise maximally. The faults, break points, lithologic pinchout points and lithologic body of small scale such as river will not be influenced by blur because of the edge-preserving characterization of the method which is really an effective assistant technique of low S/N ratio seismic data attribute analysis. 5. The use of spectral decomposition technique can effectively identify the reservoirs. The special geology body which will not be identified (or without obvious characters) in the seismic profile may be found through the details changes of different frequencies in the amplitude profiles.

东北亚构造-盆地演化及油气资源控制作用

The oil and gas potential of Northeast Asia is enormous, but the degree of exploration is very low in Northeast Asia (the degree is below 3%-10%).The reasons are as follows: First, it is relatively difficult to study the oil and gas bearing basins(OGB), which are of multiple types, in different tectonic settings, with complex geologic frameworks and with long-term geologic evolution. Secondly, because of the non-equilibrium in development of economy and regional market, application of theories and techniques and the research levels in different countries, the conclusions are not conformable, and even contradictory. Thirdly, most of the former researches were limited to one territory or one basin, and lack of systematical and in-depth study on geotectonic evolution, classification of basins, and the evaluation of hydrocarbon resources. In this thesis, integrated study of the regional tectonic feature and basin features of Northeast Asia was done, to understand the basin evolution history and the controlling action on oil and gas. Then, new conclusions are and exploration proposals are as following: 1. Geotectonic evolution in Northeast Asia: The main structural motion system in Paleozoic Era was longitudinal, and in Meso-cenozoic was latitudinal with the Pacific Ocean. The whole evolution history was just the one of pulling-apart, cutting-out, underthrusting and collision of the Central Asia- Mongolia Ocean and the Pacific Ocean. 2. The evolution characteristics of basins in Northeast Asia: mainly developed from longitudinal paste-up, collision and relaxation rifting motion in Paleozoic-Early Mesozoic Era and from underthrust, accretion, and receding of subducted zone of the Pacific Ocean in Late Mesozoic Era-Cenozoic Era. 3. The research in basin classification of Northeast Asia: According to geotectonic system, the basins can be classified into three types: intracratonic, pericratonic and active zone basin. And they can be further classified into 18 different types according to genetic mechanism and dynamic features. 4. The master control factors of oil and gas accumulation in Northeast Asia: high quality cap-rock for craton and pericrationic basin, the effective source rock and high quality cap-rock for Mesozoic rifted basins, intra-arc, fore-arc and back-arc basins. Graded exploration potential of oil and gas for basin in Northeast Asia according to 7 factor, hereby, divided the oil and gas potential of basins into 5 levels. 5. Evaluation of hydrocarbon resources: The difference of resource potential among these basins is huge in Northeast Asia. The evaluation of Mesozoic rifted basin and Pacific Ocean basin showed that the large scale rifted basin and retroarc basin(including backarc marginal sea basin) have great resource potential. 6. The writer believes that the next step should pay more attention to the evaluation of petroleum resource in Far East part of Russia and trace them. On the other hand, according to integrated analysis of oil/gas resource potential and the operation difficulty in this area, suggests that East-Siberia basin, East-Gobi-Tamchag basin, Sakhalin basin, North-Okhotck basin, West-Kamchatka basin could be as cooperation priority basins in future.

地震波模拟：非规则网格离散的数值解法、吸收边界及其实际应用

This dissertation presents a series of irregular-grid based numerical technique for modeling seismic wave propagation in heterogeneous media. The study involves the generation of the irregular numerical mesh corresponding to the irregular grid scheme, the discretized version of motion equations under the unstructured mesh, and irregular-grid absorbing boundary conditions. The resulting numerical technique has been used in generating the synthetic data sets on the realistic complex geologic models that can examine the migration schemes. The motion equation discretization and modeling are based on Grid Method. The key idea is to use the integral equilibrium principle to replace the operator at each grid in Finite Difference scheme and variational formulation in Finite Element Method. The irregular grids of complex geologic model is generated by the Paving Method, which allow varying grid spacing according to meshing constraints. The grids have great quality at domain boundaries and contain equal quantities of nodes at interfaces, which avoids the interpolation of parameters and variables. The irregular grid absorbing boundary conditions is developed by extending the Perfectly Matched Layer method to the rotated local coordinates. The splitted PML equations of the first-order system is derived by using integral equilibrium principle. The proposed scheme can build PML boundary of arbitrary geometry in the computational domain, avoiding the special treatment at corners in a standard PML method and saving considerable memory and computation cost. The numerical implementation demonstrates the desired qualities of irregular grid based modeling technique. In particular, (1) smaller memory requirements and computational time are needed by changing the grid spacing according to local velocity; (2) Arbitrary surfaces and interface topographies are described accurately, thus removing the artificial reflection resulting from the stair approximation of the curved or dipping interfaces; (3) computational domain is significantly reduced by flexibly building the curved artificial boundaries using the irregular-grid absorbing boundary conditions. The proposed irregular grid approach is apply to reverse time migration as the extrapolation algorithm. It can discretize the smoothed velocity model by irregular grid of variable scale, which contributes to reduce the computation cost. The topography. It can also handle data set of arbitrary topography and no field correction is needed.

松辽盆地南部大情字井地区CO2埋存体地质格架及储层建模

Increasing attentions have been paid to the subsurface geological storage for CO2 in view of the huge storage capacity of subsurface reservoirs. The basic requirement for subsurface CO2 storage is that the CO2 should be sequestrated as supercritical fluids (physical trapping), which may also interact with ambient reservoir rocks and formation waters, forming new minerals (chemical trapping). In order to the effective, durable and safe storage for CO2, enough storage space and stable sealing caprock with strong sealing capacity are necessitated, in an appropriate geological framework. Up till now, hydrocarbon reservoirs are to the most valid and appropriate CO2 storage container, which is well proven as the favorable compartment with huge storage capacity and sealing condition. The thesis focuses on two principal issues related to the storage and sealing capacity of storage compartment for the Qingshankou and Yaojia formations in the Daqingzijing block, Southern Songliao Basin, which was selected as the pilot well site for CO2-EOR storage. In the operation area, three facies, including deltaic plain, deltaic front and subdeep-deep lake facies associations, are recognized, in which 11 subfacies such as subaqueous distributary channel, river- mouth bar, interdistributary bay, sheet sandbody, crevasse splay and overflooding plain are further identified. These subfacies are the basic genetic units in the reservoir and sealing rocks. These facies further comprise the retrogradational and progradational depositional cycles, which were formed base- level rise and fall, respectively. During the regressive or lake lowstand stage, various sands including some turbidites and fans occurred mostly at the bottom of the hinged slope. During the progradation stage, these sands became smaller in size and episodically stepped backwards upon the slope, with greatly expanded and deeped lake. However, most of Cretaceous strata in the study area, localized in the basin centre under this stage, are mainly composed of grey or grizzly siltstones and grey or dark grey mudstones intercalated with minor fine sandstones and purple mudstones. On the base of borehole and core data, these siltstones are widespread, thin from 10 to 50 m thick, good grain sorting, and have relative mature sedimentary structures with graded bedding and cross- lamination or crossbeds such as ripples, which reflect strong hydrodynamic causes. Due to late diagenesis, pores are not widespread in the reservoirs, especially the first member of Qingshankou formation. There are two types of pores: primary pore and secondary cores. The primary pores include intergranular pores and micropores, and the secondary pores include emposieus and fracture pores. Throat channels related to pores is also small and the radius of throat in the first, second and third member of Qingshankou formation is only 0.757 μm, 0.802 μm and 0.631 μm respectively. In addition, based on analyzing the probability plot according to frequency of occurrence of porosity and permeability, they appear single- peaked distribution, which reflects strong hetero- geneity. All these facts indicate that the conditions of physical property of reservoirs are not better. One reason may be provided to interpret this question is that physical property of reservoirs in the study area is strong controlled by the depositional microfacies. From the statistics, the average porosity and permeability of microfacies such as subaqueous distributary channel, channel mouth bar, turbidites, is more than 9 percent and 1md respectively. On the contrary, the average porosity and permeability of microfacies including sand sheet, flagstone and crevasse splay are less than 9 percent and 0.2md respectively. Basically, different hydrodynamic environment under different microfacies can decide different physical property. According to the reservoir models of the first member of Qingshankou formation in the No. well Hei47 block, the character of sedimentary according to the facies models is accord to regional disposition evolution. Meantime, the parameter models of physical property of reservoir indicate that low porosity and low permeability reservoirs widespread widely in the study area, but the sand reservoirs located in the channels are better than other places and they are the main sand reservoirs. The distribution and sealing ability of fault- fractures and caprock are the key aspects to evaluate the stable conditions of compartments to store CO2 in the study area. Based on the core observation, the fractures widespread in the study area, especially around the wells, and most of them are located in the first and second member of Qingshankou formation, almost very few in the third member of Qingshankou formation and Yaojia formation instead. In addition, analyzing the sealing ability of eleven faults in the three-dimensional area in the study area demonstrates that most of faults have strong sealing ability, especially in the No. well Hei56 and Qing90-27. To some extent, the sealing ability of faults in the No. well Hei49, Qing4-6 and Qing84-29 are worse than others. Besides, the deposition environment of most of formations in the study area belongs to moderately deep and deep lake facies, which undoubtedly take advantage to caprocks composed of mudstones widespread and large scale under this deposition environment. In the study area, these mudstones distribute widely in the third member of Qingshankou formation, Yaojia and Nenjiang formation. The effective thickness of mudstone is nearly ~550m on an average with few or simple faults and fractures. In addition, there are many reservoir beds with widely- developed insulated interbeds consist of mudstones or silty mudstone, which can be the valid barrier to CO2 upper movement or leakage through diffusion, dispersion and convection. Above all, the closed thick mud caprock with underdeveloped fractures and reservoir beds can be taken regard as the favorable caprocks to provide stable conditions to avoid CO2 leakage.

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.

保重心脉冲压缩滤波及其在速度自动拾取中的应用

To pick velocity automatically is not only helpful to improve the efficiency of seismic data process, but also to provide quickly the initial velocity for prestack depth migration. In this thesis, we use the Viterbi algorithm to do automatic picking, but the velocity picked usually is immoderate. By thorough study and analysis, we think that the Viterbi algorithm has the function to do quickly and effectually automatic picking, but the data provided for picking maybe not continuous on derivative of its curved surface, viz., the curved face on velocity spectrum is not slick. Therefore, the velocity picked may include irrational velocity information. To solve the problem above, we develop a new method to filter signal by performing nonlinear transformation of coordinate and filter of function. Here, we call it as Gravity Center Preserved Pulse Compressed Filter (GCPPCF). The main idea to perform the GCPPCF as follows: separating a curve, such as a pulse, to several subsection, calculating the gravity center (coordinate displacement), and then assign the value (density) on the subsection to gravity center. When gravity center departure away from center of its subsection, the value assigned to gravity center is smaller than the actual one, but non other than gravity center anastomoses fully with its subsection center, the assigned value equal to the actual one. By doing so, the curve shape under new coordinate breadthwise narrows down compare to its original one. It is a process of nonlinear transformation of coordinate, due to gravity center changing with the shape of subsection. Furthermore, the gravity function is filter one, because it is a cause of filtering that the value assigned from subsection center to gravity center is obtained by calculating its weight mean of subsetion function. In addition, the filter has the properties of the adaptive time delay changed filter, owing to the weight coefficient used for weight mean also changes with the shape of subsection. In this thesis, the Viterbi algorithm inducted, being applied to auto pick the stack velocity, makes the rule to integral the max velocity spectrum ("energy group") forward and to get the optimal solution in recursion backward. It is a convenient tool to pick automatically velocity. The GCPPCF above not only can be used to preserve the position of peak value and compress the velocity spectrum, but also can be used as adaptive time delay changed filter to smooth object curved line or curved face. We apply it to smooth variable of sequence observed to get a favourable source data ta provide for achieving the final exact resolution. If there is no the adaptive time delay-changed filter to perform optimization, we can't get a finer source data and also can't valid velocity information, moreover, if there is no the Viterbi algorithm to do shortcut searching, we can't pick velocity automatically. Accordingly, combination of both of algorithm is to make an effective method to do automatic picking. We apply the method of automatic picking velocity to do velocity analysis of the wavefield extrapolated. The results calculated show that the imaging effect of deep layer with the wavefield extrapolated was improved dominantly. The GCPPCF above has achieved a good effect in application. It not only can be used to optimize and smooth velocity spectrum, but also can be used to perform a correlated process for other type of signal. The method of automatic picking velocity developed in this thesis has obtained favorable result by applying it to calculate single model, complicated model (Marmousi model) and also the practical data. The results show that it not only has feasibility, but also practicability.

三峡库区滑坡的时空分布、成因及其预报模式

Landslides are widely distributed along the main stream banks of the Three Gorges Reservoir area. Especially with the acceleration of the human economic activities in the recent 30 years, the occurrence of landslide hazards in the local area trends to be more serious. Because of the special geological, topographic and climatic conditions of the Three Gorges areas, many Paleo-landslides are found along the gentle slope terrain of the population relocation sites. Under the natural condition, the Paleo-landslides usually keep stable. The Paleo-landslides might revive while they are influenced under the strong rainfall, water storage and migration engineering disturbance. Therefore, the prediction and prevention of landslide hazards have become the important problem involving with the safety of migration engineering of the Three Gorges Reservoir area.The past research on the landslides of the Three Gorges area is mainly concentrated on the stability analysis of individual landslide, and importance was little attached to the knowledge on the geological environment background of the formation of regional landslides. So, the relationship between distribution and evolution of landslides and globe dynamic processes was very scarce in the past research. With further study, it becomes difficult to explain the reasons for the magnitude and frequency of major geological hazards in terms of single endogenic or exogenic processes. It is possible to resolve the causes of major landslides in the Three Gorges area through the systematic research of regional tectonics and river evolution history.In present paper, based on the view of coupling of earth's endogenic and exogenic processes, the author researches the temporal and spacial distribution and formation evolution of major landslides(Volume^lOOX 104m3) in the Three Gorges Reservoir area through integration of first-hand sources statistics, .geological evolution history, isotope dating and numerical simulation method etc. And considering the main formation factors of landslides (topography, geology and rainfall condition), the author discusses the occurrence probability and prediction model of rainfall induced landslides.The distribution and magnitude of Paleo-landslides in the Three Gorges area is mainly controlled by lithology, geological structure, bank slope shape and geostress field etc. The major Paleo-landslides are concentrated on the periods 2.7-15.0 X 104aB.R, which conrresponds to the warm and wettest Paleoclimate stages. In the same time, the Three Gorges area experiences with the quickest crust uplift phase since 15.0X 104aB.P. It is indicated that the dynamic factor of polyphase major Paleo-landslides is the coupling processes of neotectonic movement and Quaternary climate changes. Based on the numerical simulation results of the formation evolution of Baota landslide, the quick crust uplift makes the deep river incision and the geostress relief causes the rock body of banks flexible. Under the strong rainfall condition, the pore-water pressure resulted from rain penetration and high flood level can have the shear strength of weak structural plane decrease to a great degree. Therefore, the bank slope is easy to slide at the slope bottom where shear stress concentrates. Finally, it forms the composite draught-traction type landslide of dip stratified rocks.The susceptibility idea for the rainfall induced landslide is put forward in this paper and the degree of susceptibility is graded in terms of the topography and geological conditions of landslides. Base on the integration with geological environment factors and rainfall condition, the author gives a new probabilistic prediction model for rainfall induced landslides. As an example from Chongqing City of the Three Gorges area, selecting the 5 factors of topography, lithology combination, slope shape, rock structure and hydrogeology and 21 kinds of status as prediction variables, the susceptibility zonation is carried out by information methods. The prediction criterion of landslides is established by two factors: the maximum 24 hour rainfall and the antecedent effective precipitation of 15 days. The new prediction model is possible to actualize the real-time regional landslide prediction and improve accuracy of landslide forecast.

焦虑的因素结构及其在中学生中的验证

Since anxiety exists as a certain kind of relation between the subject and his stimuli, present study proposed the criterion that every one of the anxiety’s structural components had to manifest the properties of the relation, not the subject’s properties, and not the stimuli’s properties, too; and that every component must be a bridge from the subject to the object. Several structural models on anxiety were judged by the criterion, and three suited factors were drawn out, which were controllability, importance and urgency. Then through various methods of interview, questionnaire, laboratorial experiment, events graded, the research examined the relations between the three factors and normal anxiety, and explored the interaction of controllability, importance and urgency when they worked together. The results were as the following: 1. The hypothesis that controllability, importance and urgency were the structural components of normal anxiety sounds reasonable, which was supported in different degrees by the results of several secondary research with various methods. 2. With a totally different method of constructing items from the prevalent integrative anxiety inventory, an effective normal anxiety inventory of middle school students was developed based on this theoretical consideration. Reliability and validity research showed that the coefficient of homogeneity and test-retest reliability were high. The construct validity and criterion validity were good enough. The inventory was a useful scale to measure the normal anxiety for middle school students. 3. It’s through their interaction that controllability and importance effect on the level of anxiety which was produced by the relevant event. 4. Anxiety arises with the increasing of importance or urgency. Though there’s a very close connection between controllability and anxiety, the concrete situation is very complicated. Not only is the level of anxiety affected by the interaction of controllability and importance, but when controllability tends to be extremely high or extremely low, importance may also begin to vary with controllability. What’s more, dispositional optimism and self-efficacy still exert influences that cannot be ignored on the relationship between controllability and anxiety. All the results indicated that it was reasonable to regard and study anxiety as a kind of relation between the subject and his environment, and to some extent it’s even necessary if the intention was to clarify the structure of anxiety. Since all the other emotion also exists as a kind of relation between the subject and his stimuli, the wholeness principle which was first proposed and recommended in this study will be of great value to the related researchers. And the interaction between controllability and importance may suggest a valid coping strategy of anxiety.

Swimming in Space-Time

Cyclic changes in the shape of a quasi-rigid body on a curved manifold can lead to net translation and/or rotation of the body in the manifold. Presuming space-time is a curved manifold as portrayed by general relativity, translation in space can be accomplished simply by cyclic changes in the shape of a body, without any thrust or external forces.

Mid-Level Vision and Recognition of Non-Rigid Objects

We address mid-level vision for the recognition of non-rigid objects. We align model and image using frame curves - which are object or "figure/ground" skeletons. Frame curves are computed, without discontinuities, using Curved Inertia Frames, a provably global scheme implemented on the Connection Machine, based on: non-cartisean networks; a definition of curved axis of inertia; and a ridge detector. I present evidence against frame alignment in human perception. This suggests: frame curves have a role in figure/ground segregation and in fuzzy boundaries; their outside/near/top/ incoming regions are more salient; and that perception begins by setting a reference frame (prior to early vision), and proceeds by processing convex structures.

The Synthesis of Stable Force-Closure Grasps

This thesis addresses the problem of synthesizing grasps that are force-closure and stable. The synthesis of force-closure grasps constructs independent regions of contact for the fingertips, such that the motion of the grasped object is totally constrained. The synthesis of stable grasps constructs virtual springs at the contacts, such that the grasped object is stable, and has a desired stiffness matrix about its stable equilibrium. A grasp on an object is force-closure if and only if we can exert, through the set of contacts, arbitrary forces and moments on the object. So force-closure implies equilibrium exists because zero forces and moment is spanned. In the reverse direction, we prove that a non-marginal equilibrium grasp is also a force-closure grasp, if it has at least two point contacts with friction in 2D, or two soft-finger contacts or three hard-finger contacts in 3D. Next, we prove that all force-closure grasps can be made stable, by using either active or passive springs at the contacts. The thesis develops a simple relation between the stability and stiffness of the grasp and the spatial configuration of the virtual springs at the contacts. The stiffness of the grasp depends also on whether the points of contact stick, or slide without friction on straight or curved surfaces of the object. The thesis presents fast and simple algorithms for directly constructing stable fore-closure grasps based on the shape of the grasped object. The formal framework of force-closure and stable grasps provides a partial explanation to why we stably grasp objects to easily, and to why our fingers are better soft than hard.

Shape from Contour

The problem of using image contours to infer the shapes and orientations of surfaces is treated as a problem of statistical estimation. The basis for solving this problem lies in an understanding of the geometry of contour formation, coupled with simple statistical models of the contour generating process. This approach is first applied to the special case of surfaces known to be planar. The distortion of contour shape imposed by projection is treated as a signal to be estimated, and variations of non-projective origin are treated as noise. The resulting method is then extended to the estimation of curved surfaces, and applied successfully to natural images. Next, the geometric treatment is further extended by relating countour curvature to surface curvature, using cast shadows as a model for contour generation. This geometric relation, combined with a statistical model, provides a measure of goodness-of-fit between a surface and an image contour. The goodness-of-fit measure is applied to the problem of establishing registration between an image and a surface model. Finally, the statistical estimation strategy is experimentally compared to human perception of orientation: human observers' judgements of tilt correspond closely to the estimates produced by the planar strategy.

Computer Recognition of Three-Dimensional Objects in a Visual Scene

Methods are presented (1) to partition or decompose a visual scene into the bodies forming it; (2) to position these bodies in three-dimensional space, by combining two scenes that make a stereoscopic pair; (3) to find the regions or zones of a visual scene that belong to its background; (4) to carry out the isolation of objects in (1) when the input has inaccuracies. Running computer programs implement the methods, and many examples illustrate their behavior. The input is a two-dimensional line-drawing of the scene, assumed to contain three-dimensional bodies possessing flat faces (polyhedra); some of them may be partially occluded. Suggestions are made for extending the work to curved objects. Some comparisons are made with human visual perception. The main conclusion is that it is possible to separate a picture or scene into the constituent objects exclusively on the basis of monocular geometric properties (on the basis of pure form); in fact, successful methods are shown.