像平面与空间平面的变换及其在移动机器人中的应用

说明了像平面与空间平面的变换以及摄像机在固定，旋转和平移时变换矩阵的求解方法．还讨论了该变换在移动机器人定位，障碍物检测，运动参数分析和三维坐标计算上的应用。

机械臂惯性矩阵的并行计算

本文在给出一种非递推形式的逆动力学计算公式的基础上，针对机械臂惯性矩阵的计算提出了一种面向Ｏ（ｎ）个处理器的并行算法，并以ＰＵＭＡ５６０机器人的前３个臂为例进行了计算效率分析

计算机辅助机械绘图语言与系统设计

本文针对我国计算机绘制机械图领域内的现状,提出了一种易于掌握的机械图描述语言,以及一个相应的功能较强的绘图系统。该系统便于图形输入,并具有图形的平移、旋转、映射等功能,和较强的剖面域的处理能力。系统带有一个标注专用的笔写式字符库(包括汉字和专用符号)。该系统用 FORTRAN 语言写成,便于向大、中型计算机和存储容量较大的微型机移植。

空间对接缓冲试验台对接环重力平衡技术

在空间对接机构地面缓冲实验平台上,为了模拟空间失重状态,研制了一种高精度、高响应速度的主动对接环重力平衡装置。介绍了对接环重力平衡装置的机构原理。对对接过程随动装置的随动性对系统的干扰进行了详细分析。进行了重力平衡器相关实验,从实验数据和理论分析可以得出:所设计的重力平衡装置完全满足对摩擦阻力和惯性阻力设计指标的要求,重力平衡达到1.1%的精度。

大型反倾岩体变形破坏机制及稳定性分析———以金沙江宽谷坝址龙蟠边坡为例

A large number of catastrophic accidents were aroused by the instability and destruction of anti-dip rock masses in the worldwide engineering projects, such as hydropower station, mine, railways and so on. Problems in relation to deformation and failure about anti-dip rock slopes are significant for engineering geology research. This dissertation takes the Longpan slope in the Jinsha River as a case to study the deformation mechanism of large-scale anti-dip rock masses and the slope stability analysis method. The primary conclusions are as follows. The Dale Reach of Jinsha River, from Longpan to the debouchment of Chongjiang tributary, is located in the southeastern margin of the Qinghai-Tibet Plateau. Longpan slope is the right embankment of Dale dam, it is only 26 km to the Shigu and 18 km to Tiger Leaping Gorge. The areal geology tectonic structures here area are complicated and blurry. Base on the information of geophysical exploration (CSAMT and seismology) and engineering geological investigation, the perdue tectonic pattern of Dale Reach is put forward for the first time in this paper. Due to the reverse slip of Longpan fault and normal left-rotation of Baihanchang fault, the old faulted valley came into being. The thick riverbed sediments have layered characters of different components and corresponding causes, which attribute to the sedimentary environments according with the new tectonic movements such as periodic mountain uplifting in middle Pleistocene. Longpan slope consists of anti-dip alternate sandstone and slate stratums, and the deformable volume is 6.5×107m3 approximately. It was taken for an ancient landslide or toppling failure in the past so that Dale dam became a vexed question. Through the latest field surveying, displacement monitoring and rock masses deforming characters analyses, the geological mechanism is actually a deep-seated gravitational bending deformation. And then the discrete element method is used to simulate the deforming evolution process, the conclusion accords very well with the geo-mechanical patterns analyses. In addition strength reduction method based on DEM is introduced to evaluate the factor of safety of anti-dip rock slope, and in accordance with the expansion way of the shear yielding zones, the progressive shear failure mechanism of large-scale anti-dip rock masses is proposed for the first time. As an embankment or a close reservoir bank to the lower dam, the stability of Longpan slope especially whether or not resulting in sliding with high velocity and activating water waves is a key question for engineering design. In fact it is difficult to decide the unified slip surface of anti-dip rock slope for traditional methods. The author takes the shear yielding zones acquired form the discrete element strength reduction calculation as the potential sliding surface and then evaluates the change of excess pore pressure and factor of stability of the slope generated by rapid drawdown of ponded water. At the same time the dynamic response of the slope under seismic loading is simulated through DEM numerical modeling, the following results are obtained. Firstly the effective effect of seismic inertia force is resulting in accumulation of shear stresses. Secondly the discontinuous structures are crucial to wave transmission. Thirdly the ultimate dynamic response of slope system takes place at the initial period of seismic loading. Lastly but essentially the effect of earthquake load to bringing on deformation and failure of rock slope is the coupling effect of shear stresses and excess pore water pressure accumulation. In view of limitations in searching the critical slip surface of rock slope of the existing domestic and international software for limit equilibrium slope stability analyses, this article proposes a new method named GA-Sarma Algorithm for rock slope stability analyses. Just as its name implies, GA-Sarma Algorithm bases on Genetic Algorithm and Sarma method. GA-Sarma Algorithm assumes the morphology of slip surface to be a broken line with traceability to extend along the discontinuous surface structures, and the slice boundaries is consistent with rock mass discontinuities such as rock layers, faults, cracks, and so on. GA-Sarma Algorithm is revolutionary method that is suitable for global optimization of the critical slip surface for rock slopes. The topics and contents including in this dissertation are closely related to the difficulties in practice, the main conclusions have been authorized by the engineering design institute. The research work is very meaningful and useful for the engineering construction of Longpan hydropower station.

旋转轴对称弱各向异性介质模型的射线追踪方法

Ray tracing is a rapid and effective method for wave field calculation. Not only in the field of seismic-wave theory, but also in the field of seismic inversion and migration imaging,the seismic ray tracing method has become one of the most important methods. In anisotropic media, group velocity and phase velocity have different propagation directions. The seismic wave propagates along the direction of group velocity , it does not depend on the direction of phase velocity. Ray angle is a complex function with respect to phase angle, it is difficult to measure and calculate. But most rocks are weak anisotropic, so the expression of phase velocity can be simplified greatly. Based on the approximate expression of phase velocity this thesis for rotating axisymmetric weak anisotropic media deduces an expression of the partial derivative of phase velocity and an expression of group velocity with the method of linear approximation. This paper uses the fourth order Runge-Kutta method together with the two-dimensional interpolation and linear interpolation to obtain the parameters of the physical locations. At last the paths of seismic wave in rotating axisymmetric weak anisotropic media are computed. According to the analysis of the computational results, it indicates that the method developed in this paper has strong adaptability, high computational efficiency and high accuracy for rotating axisymmetric weak anisotropic media.

边坡动力响应分析及应用研究

As a marginal subject, dynamic responses of slopes is not only an important problem of engineering geology (Geotechnical problem), but also of other subjects such as seismology, geophysics, seismic engineering and engineering seismic and so on. Owning to the gulf between different subjects, it is arduous to study dynamic responses of slopes and the study is far from ripeness. Studying on the dynamic responses of slopes is very important in theories as well as practices. Supported by hundreds of bibliographies, this paper systemically details the development process of this subject, introduces main means to analyze this subject, and then gives brief remarks to each means respectively. Engineering geology qualitative analysis is the base of slopes dynamic responses study. Because of complexity of geological conditions, engineering geology qualitative analysis is very important in slopes stability study, especially to rock slopes with complex engineering geology conditions. Based on research fruits of forerunners, this paper summarizes factors influencing slopes dynamic stability into five aspects as geology background, stratums, rock mass structure, and topography as well as hydrogeology condition. Based on rock mass structure controlling theory, engineering geology model of the slope is grouped into two typical classes, one is model with obvious controlling discontinuities, which includes horizontal bedded slope, bedding slope, anti-dip slope, slide as well as slope with base rock and weathered crust; the other is model without obvious controlling discontinuities, which includes homogeneous soil slope, joint rock mass slope. Study on slope failure mechanism under dynamic force, the paper concludes that there are two effects will appear in slope during strong earthquake, one is earthquake inertia force, the other is ultra pore pressure buildup. The two effects lead to failure of the slope. To different types of slope failure, the intensity of two effects acting on the slope is different too. To plastic flow failure, pore pressure buildup is dominant; to falling rock failure and toppling failure, earthquake inertia force is dominant in general. This paper briefly introduces the principle of Lagrangian element method. Through a lot of numerical simulations with FLAC3D, the paper comprehensively studies dynamic responses of slopes, and finds that: if the slope is low, displacement, velocity and acceleration are linear enlarging with elevation increasing in vertical direction; if the slope is high enough, displacement, velocity and acceleration are not linear with elevation any more, on the other hand, they fluctuate with certain rhythm. At the same time, the rhythm appears in the horizontal direction in the certain area near surface of the slope. The distribution form of isoline of displacement, velocity and acceleration in the section of the slope is remarkably affected by the slope angle. In the certain area near the slope surface, isoline of displacement, velocity and acceleration is parallel to the surface of the slope, in the mean time, the strike direction of the extreraum area is parallel to the surface of the slope too. Beyond this area, the isoline direction and the strike direction of the extremum area turn to horizontal with invariable distance. But the rhythm appearing or not has nothing to with the slope angle. The paper defines the high slope effect and the low slope effect of slopes dynamic responses, discusses the threshold height H^t of the dynamic high slope effect, and finds that AW is proportional to square root of the dynamic elastic moduli El P , at the same time, it is proportional to period Tof the dynamic input. Thus, the discriminant of H^t is achieved. The discriminant can tell us that to a slope, if its height is larger than one fifth of the wavelength, its response regular will be the dynamic high slope effect; on the other hand, its response regular will be the dynamic low slope effect. Based on these, the discriminant of different slopes taking on same response under the same dynamic input is put forward in this paper. At the same time, the paper studies distribution law of the rhythm extremum point of displacement, velocity and acceleration, and finds that there exists relationship of N = int among the slope height H, the number of the rhythm extremum VHlhro) point N and ffthre- Furthermore, the paper points out that if N^l, the response of the slope will be dynamic high slope effect; \fN

5-13岁儿童对惯性运动的认知发展

Research on naïve physics investigates children’s intuitive understanding of physical objects, phenomena and processes. Children, and also many adults, were found to have a misconception of inertia, called impetus theory. In order to investigate the development of this naïve concept and the mechanism underlying it, four age groups (5-year-olds, 2nd graders, 5th graders, and 8th graders) were included in this research. Modified experimental tasks were used to explore the effects of daily experience, perceptual cues and general information-processing ability on children’s understanding of inertia. The results of this research are: 1) Five- to thirteen-year-olds’ understanding of inertia problems which were constituted by two ogjects moving at the same spped undergoes an L-shaped developmental trend; Children’s performance became worse as they got older, and their performance in the experiment did not necessarily ascend with the improvement of their cognitive abilities. 2) The L-shaped developmental curve suggests that children in different ages used different strategies to solve inertia problems: Five- to eight-year-olds only used heuristic strategy, while eleven- to thirteen-year-olds solved problems by analyzing the details of inertia motion. 3) The different performance between familiar and unfamiliar problems showed that older children were not able to spontaneously transfer their knowledge and experience from daily action and observation of inertia to unfamiliar, abstract inertia problems. 4) Five- to eight-year-olds showed straight and fragmented pattern, while more eleven- to thirteen-year-olds showed standard impetus theory and revised impetus theory pattern, which showed that younger children were influenced by perceptual cues and their understanding of inertia was fragmented, while older children had coherent impetus theory. 5) When the perceptual cues were controlled, even 40 percent 5 years olds showed the information-processing ability to analyze the distance, speed and time of two objects traveling in two different directions at the same time, demonstrating that they have achieved a necessary level to theorize their naïve concept of inertia.

运动与重定向时物-我、物-物空间表征的使用

Eight experiments tested how object array structure and learning location influenced the establishing and utilization of self-to-object and object-to-object spatial representations in locomotion and reorientation. In Experiment 1 to 4, participants learned either at the periphery of or amidst regular or irregular object array, and then pointed to objects while blindfolded in three conditions: before turning (baseline), after rotating 240 degrees (updating), and after disorientation (disorientation). In Experiment 5 to 8, participants received instruction to keep track of self-to-object or object-to-object spatial representations before rotation. In each condition, the configuration error, which means the standard deviation of the means per target object of the signed pointing errors, was calculated as the index of the fidelity of representation used in each condition. Results indicate that participants form both self-to-object and object-to-object spatial representations after learning an object-array. Object-array structure influences the selection of representation during updating. By default, object-to-object spatial representation is updated when people learned the regular object-array structure, and self-to-object spatial representation is updated when people learned the irregular object array. But people could also update the other representation when they are required to do so. The fidelity of representations will confine this kind of “switch”. People could only “switch” from a low fidelity representation to a high fidelity representation or between two representations of similar fidelity. They couldn’t “switch” from a high fidelity representation to a low fidelity representation. Leaning location might influence the fidelity of representations. When people learned at the periphery of object array, they could acquire both self-to-object and object-to-object spatial representations of high fidelity. But when people learned amidst the object array, they could only acquire self-to-object spatial representation of high fidelity, and the fidelity of object-to-object spatial representation was low.

Face Recognition from One Example View

If we are provided a face database with only one example view per person, is it possible to recognize new views of them under a variety of different poses, especially views rotated in depth from the original example view? We investigate using prior knowledge about faces plus each single example view to generate virtual views of each person, or views of the face as seen from different poses. Prior knowledge of faces is represented in an example-based way, using 2D views of a prototype face seen rotating in depth. The synthesized virtual views are evaluated as example views in a view-based approach to pose-invariant face recognition. They are shown to improve the recognition rate over the scenario where only the single real view is used.

SketchIT: A Sketch Interpretation Tool for Conceptual Mechanical Design

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

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.

High resolution time-of-flight spectrometer for crossed molecular beam study of elementary chemical reactions

In this article, we describe an apparatus in our laboratory for investigating elementary chemical reactions using the high resolution time-of-flight Rydberg tagging method. In this apparatus, we have adopted a rotating source design so that collision energy can be changed for crossed beam studies of chemical reactions. Preliminary results on the HI photodissociation and the F atom reaction with H-2 are reported here. These results suggest that the experimental apparatus is potentially a powerful tool for investigating state-to-state dynamics of elementary chemical reactions. (c) 2005 American Institute of Physics.

Benzene electro-oxidation in a PEMFC for phenol and electricity cogeneration

In the present investigation, the electrochemically-assisted oxidation of benzene in a H-2-O-2 proton exchange membrane fuel cell (PEMFC) for electricity and phenol cogeneration is studied. Experiments were carried out in a PEMFC electrochemical reactor using Pd black as cathode electrocatalyst at 60 and 80 degrees C, respectively and 1 atm back pressure. Indeed, it was found that the only product detected under the examined experimental conditions was phenol. The online GC product analysis revealed that it is impossible to produce phenol when the fuel cell circuit is open (I = 0) under all the examined experimental conditions. When the fuel cell circuit was closed, however, the phenol yield was found to follow a volcano-type dependence on the cur-rent of the external circuit. It was found that the maximum phenol yield was 0.35% at 100 mA/cm(2) at 80 degrees C. At the same time, the PEMFC performance was also investigated during the phenol generation process. Furthermore, experiments with the rotating ring disc electrode (RRDE) technique showed that the intermediate oxidation product, i.e. H2O2 existed during the oxygen electro-reduction process. The cyclic voltammograms showed that benzene was strongly adsorbed on the Pd surface, leading to a degradation of the PEMFC performance. (c) 2005 Elsevier B.V. All rights reserved.

The Oscillatory Squeeze flow rheometer: Comprehensive theory and a new experimental facility

Binding, David; Bell, D.; Walters, K., (2006) 'The Oscillatory Squeeze flow rheometer: Comprehensive theory and a new experimental facility', Rheologica Acta 46 pp.111-121 RAE2008