Robot learning through task identification

The operation of an autonomous mobile robot in a semi-structured environment is a complex, usually non-linear and partly unpredictable process. Lacking a theory of robot–environment interaction that allows the design of robot control code based on theoretical analysis, roboticists still have to resort to trial-and-error methods in mobile robotics.The RobotMODIC project aims to develop a theoretical understanding of a robot’s interaction with its environment, and uses system identification techniques to identify the system robot–task–environment. In this paper, we present two practical examples of the RobotMODIC process: mobile robot self-localisation and mobile robot training to achieve door traversal.In both examples, a transparent mathematical function is obtained that maps inputs–sensory perception in both cases–to output — location and steering velocity respectively. Analysis of the obtained models reveals further information about the way in which a task is achieved, the relevance of individual sensors, possible ways of obtaining more parsimonious models, etc.     

等偏移距自动初至静校正

茅金根 ,梁秀文 ,杨午阳 ,冯有奎 .等偏移距自动初至静校正 .石油地球物理勘探 ,2 0 0 2 ,37(5 ) :4 6 9～ 4 72　　本文提出一种自动计算静校正量的新方法。它首先在等偏移距道集内对相邻道的初至波采用高精度相关构建一个关于炮、检时差的超大矩阵方程 ,然后采用优化统计迭代算法求解炮点和检波点的静校正量 ,并用概率分布函数确定精确的炮、检静校正量 ,最后用误差校正函数消除炮、检静校正误差。实际资料处理结果表明 ,本方法自动、省时、精度高。     

射频识别模块SMC51489在门禁系统中的应用

射频识别系统一般由三部分组成:电子标签(射频卡)、读取器和天线.正确快速的识别电子标签的标签号码,是门禁系统发挥其功能的先决条件.以无源低频射频卡识别模块SMC51489为例,介绍了对射频卡信息读取的原理和方法,并给出了相应的软件编程.实验证明该模块不仅具有较大的读卡距离,而且工作可靠.     

面对油气勘探的新领域，加快石油地球物理勘探技术进步——2006年《石油地球物理勘探》评述

 《石油地球物理勘探》报道了我国石油地球物理勘探领域方法和技术的最新进展及所取得的成就，反映了我国石油地球物理勘探的科研水平和实际应用能力。面对我国新领域油气勘探的不断深入，石油地球物理勘探技术也不断地取得进步。2006年该刊共发表各类论文134篇,主要内容涉及7个方面:①野外地震采集技术;②地震资料处理方法和技术;③地震综合解释及油气预测方法和技术;④重磁电综合物探方法和技术;⑤测井技术应用;⑥地质研究;⑦专家综述和评述。     

Scattering of plane SH-waves by a cylindrical canyon of arbitrary shape in anisotropic media

The scattering and diffraction of plane SH-waves, by an arbitrary-shaped cylindrical canyon in anisotropic media is formulated here. Analytical solutions are obtained via the complex function theory, using the orthogonal property of the Hermite functions to solve the resulting set of infinite algebraic equations. Expressions for scattered displacements and scattered stresses are given. Three cross-sectional profile types are used in the numerical simulation of the two-dimensional canyon topography: (a) a semi-circular profile, (b) a semi-elliptical profile and (c) a triangular profile. The results obtained in (a) and (b) are consistent with known solutions computed by Trifunac and his co-workers [1,3] using a different method. As the exact solution for (c) is not known to exist, the result given here is believed to be new and would therefore serve as a useful check for numerical analysts working in this area.     

On the Cutoff Wavelength of Rectangular-Shaped Microshield Line by Edge Element Method

In this paper, the cutoff characteristic of rectangular-shaped microshield transmission line has been analysed by edge element method. Dependence of cutoff wavelengths on the thickness of metallic signal strip, dielectric constant of dielectric substrate and the width of the rectangular-shaped ground conductor are presented in tabular form. Numerical results in this paper have important values in design of rectangular-shaped microshield lines in microwave and millimeter wave integrated circuits.     

昆2井优快钻井及油气层保护技术

昆2井是一口位于柴北缘西段的昆特依凹陷潜伏Ⅰ号圈闭上的风险探井,设计井深为5950m。针对柴北缘深探井存在的主要技术难题,制定了昆2井的技术对策。通过对钻井设备的优选、井身结构的优化、钻头及钻具组合的优选、钻井参数及钻井液性能的优化、油气层保护技术的研究与应用,形成了一套适合于柴北缘的优快钻井技术,使昆2井的完钻井深达到5950m。与邻区的深探井平均水平相比,在井深增加888m、大尺寸井眼段更长的前提下,昆2井的钻井、完井周期分别缩短了98.75d、124.2d,钻机月速度增加了317m/台,平均机械钻速增加了0.82m/h。根据“理想充填新理论”,确定了保护油气层的最优复配暂堵方案,利用该方案所配制的钻井液其渗透率恢复值达到了87.5%以上,流变性能良好,滤失量低,对改善泥饼质量、增强井壁稳定性有明显的效果。     

广电城域网中IP地址的规划

介绍广电城域网IP地址规划、分配的原则和方法以及利用IP地址计算器工具软件协助实现IP地址的计算等。     

一种矿山用钢筋网自动化焊接生产线的设计

设计一条钢筋网自动化焊接生产线，包括经料送料平台、纬料自动分料及上料机构、多点电阻点焊机、接料平台、卸料机械手。从上料到出料依靠电机、汽缸之间的协调工作来实现。并由单片机和PLC实现控制功能，上位机用MCGS组态软件在整个过程监视现场，采集工作状态及参数，起到监控作用。