面向带电作业的手臂末端输出力评估方法

为了解决带电作业时手臂末端输出力的准确控制,提出一种基于表面肌电信号（sEMG信号）和支持向量机回归（SVR）实现对手臂末端施力的评估方法.通过手握机械手臂末端的手柄,做往复推拉运动,记录此时手柄处的力传感器的数据F,同时利用3组肌电信号传感器同步采集手臂的肌电信号.将肌电信号提取特征后,与力F组合成样本集合S,在样本集合中随机抽取50%的样本数据作为训练集,分别训练BP神经网络、GRNN神经网络以及SVR神经网络.最后用训练好的神经网络对整个样本集中的力F进行预测,并用均方根误差和相关系数评估模型的预测效果.结果显示,SVR神经网络的预测效果较好,其均方根误差为3.074 0,相关系数为0.951 7.     

智能肌电控制假手研究进展

智能肌电假手研究作为康复医疗领域中的重要研究内容,始终是国内外研究的热点.随着机器人技术的进步,假手正往仿人型、灵巧性、直觉控制、智能感知方向发展.智能肌电假手应当具有与人手相近的功能,其不仅能通过运动功能重建辅助残疾人进行日常生活,而且还应通过感知反馈功能重建让残疾人产生人机共融的本体感.本文通过对国内外多年的肌电假手研究成果进行分析比较,从质量、灵巧程度、抓取性能、设计原理等多角度分析了假手的机械结构设计要素;另外,本文还较系统地对基于肌电信号的手势识别研究现状进行概述,介绍了目前基于残肢生物信号识别的多种研究思路,并分析了多种基于不同原理的假手信息感知技术,介绍了利用指尖力触觉传感器实现对假手的自适应控制和用户的感知反馈.最后总结了未来假手的研究发展过程中面临的问题与挑战,提出了肌电假手的未来研究方向.     

用双多普勒天气雷达资料研究暴雨三维风场结构

使用双多普勒天气雷达三维风场反演技术对2005年6月11-12日梅州和汕头多普勒天气雷达探测到的华南暴雨资料进行了三维风场反演,对暴雨系统的中尺度三维动力结构进行了详细分析.结果表明:此次暴雨主要是由中低层的中β尺度辐合线、中β尺度切变线和嵌于其中的中γ尺度涡旋共同作用引发的.低层辐合、高层辐散的动力结构,有利于暴雨系统的触发、维持和发展.最后,综合分析结果给出了此次暴雨的三维动力结构模型.     

热带运动的尺度分析

本文对热带大尺度运动的动力学特征作了尺度分析,与Charney不同,在文中首先引进热带经向宽度动力学定义,分析表明,在这种情况下,热带运动的性质将因其纬向尺度与这个经向宽度之比而异。当这个比值的量级为O(1)时,运动是层结三维的,当这个比值的量级甚大于O(1)时,类似于Charney的结果,运动将趋于正压化。     

基于ANOVA和BP神经网络的最优肌电信号测量位置选择

基于肌电信号的手部动作识别中,肌电信号测量位置的选择直接关系到动作识别的准确率.本文以使用最少的肌电传感器和获得较高的动作识别率为目标,提出一种基于ANOVA （方差分析）和BP神经网络的肌电信号测量位置优选方法.使用4个肌电传感器采集受试者做出指定动作时的肌电信号,提取肌电信号的时域特征,并按测量位置组合构成15个不同的样本进行BP神经网络的训练和测试.采用单因素ANOVA分析测量位置对动作识别结果影响的显著性,采用Tukey HSD将测量位置进行归类,并从动作识别率最高的子集中选择测量位置最少但识别准确率最高的测量位置组合作为最优的肌电信号测量位置.实验结果表明,测量位置对动作识别的结果具有显著的影响,随着测量位置数的增加,动作识别准确率呈上升趋势,最优的测量位置组合为P1+P3+P4,其动作识别准确率为94.6%.     

基于动力学模态分解的200 hPa急流模态特征分析

提出基于动力学模态分解（Dynamic Mode Decomposition,DMD）的大气运动数据分析方法,目的是改进对大气运动特征的认识。首先,采用DMD方法对200 hPa急流运动流场进行模态分析,从中得到了急流天气系统运动变化过程中的主要模态和对应频率以及模态随时间衰减/增长等信息。这些模态是对流场演化特征的低维描述,反映了蕴含在流场中的动力学特征,可用于实现高维复杂流场的低维近似表示。其次,建立了200 hPa急流运动流场演化的动力学降阶模型,能够重构和预测急流运动流场的动态发展过程。结果表明：通过对前6阶主要模态所包含的流场信息进行对比分析,DMD方法成功捕捉到了200 hPa急流运动流场不同尺度的流动结构,直观地显示了不同频率流场之间的差别,表明了DMD方法在对复杂大气动力学系统进行模态分解时的优势。通过不同时刻,模态叠加的重构流场与真实流场的直观比较,表明DMD方法只由前面6阶模态就能基本包含原始流场的流动信息,从而实现流场的准确重构。     

基于内力的卫星编队飞行动力学建模

基于内力的卫星编队飞行凭借良好的性能正日益受到重视,但由于该类编队的控制力对卫星间的相对位置和相对姿态均高度敏感,并且控制力和控制力矩之间存在耦合,给动力学建模带来了很大的挑战.首先,建立了六自由度的内力编队姿轨耦合动力学模型,该动力学模型利用了控制力和控制力矩的耦合效应,可以同时针对编队卫星的相对位置和相应姿态设计相应的控制律,从而实现编队的六自由度协同控制.最后,通过采用伪谱法求解编队构型的重构问题,对该动力学模型进行了验证.     

Ekman边界层动力学的理论研究

大气边界层及其与自由大气之间的相互作用具有明显的非线性特征,而这些特征是经典Ekman理论所不能描述的,因此,发展中等复杂程度(介于完全模式与经典Ekman模型之间)的大气边界层动力学模式,简称中间模式,对人们从理论上认识大气边界层动力学过程的非线性特征具有重要意义。本文对目前最具代表性的几个中间边界层模型:地转动量近似边界层模型、Ekman动量近似边界层模型以及弱非线性边界层模型进行了总结和分析,阐述了Ekman层主要动力学特征。通过分析上述各模型的理论框架,揭示了各模型的物理意义及其在描述Ekman边界层基本动力特征上的优点和局限性,并指出尽管在细节定量描述上有差异,但各中间模型对Ekman层动力学特征的定性描述具有很好的一致性。对于这些Ekman边界层近似理论模型的进一步应用问题,主要回顾和总结了利用上述模型探讨地形边界层结构、大气锋生过程、低层锋面结构和环流以及边界层日变化、低空急流形成等动力学问题的研究,并对这些研究所揭示的Ekman层动力学特征及其对自由大气低层运动的影响进行了分析,结果表明,这些Ekman边界层近似模型可以较好地揭示大气边界层动力学特征,在大气边界层动力学及其与自由大气相互作用的研究上具有重要价值。另外,还对目前Ekman边界层理论研究中存在的问题进行了一些分析,提出了有待进一步研究的科学问题。     

北达科他州雷暴计划──高原雷暴的合作研究

北达科他雷暴课题从１９８９年６月１２日到７月２２日在州府俾斯麦实施。该课题为研究对流云的各个方面，包括输送、扩散、夹卷、云内冰晶的形成和演变、雷暴结构、动力学和运动学、大气化学和放电过程而部署了数部多普勒雷达、云物理探测飞机和其它各种仪器。研究重点是通过调查冰核介质的活化、传输和扩散，以及研究基本的输送和夹卷过程在演变的积云内辨别和跟踪观测特定区域的示踪实验。示踪物质为六氟化硫（ＳＦ＿６）、一氧化碳、臭氧、电磁辐射金属箔屑和碘化银。多普勒雷达被用来研究从第一个回波单体到中尺度对流系统的所有尺度的对流云。尤其有趣的是二个分裂雷暴的双多普勒回波研究已有成果。本文不仅描述了各实验的目的和各种专用设备，也给出了该课题的精彩部分和某些主要成果。     

梅雨锋暴雨中尺度对流系统结构模型的双多普勒雷达研究

使用双多普勒雷达三维风场反演技术对2003年6月26-27日合肥和马鞍山多普勒雷达探测到的江淮梅雨锋大暴雨资料进行了三维风场反演,对其中β和中γ尺度三维动力结构进行了研究.结果表明,中β尺度对流系统(MβCS)及其上的中γ尺度对流云团是此次暴雨的主要降水系统.中低层的中β尺度辐合线对此次暴雨的触发、发展、维持具有重要作用,随着辐合带的逐渐减弱,强降水也逐渐减弱.中尺度对流系统低层的正涡度大值区与辐合中心有较好的对应关系,并且对应地面的强降水区.文中还给出了此次暴雨的三维动力结构模型.     

Cross-boundary and cross-level dynamics increase vulnerability to severe winter disasters (dzud) in Mongolia

Dzud is the Mongolian term for a severe winter weather disaster. With global change dzud may increase in frequency and intensity, placing livestock and livelihoods at risk. We conducted in-depth case studies of dzud impacts and responses in two mountain-steppe and two Gobi desert-steppe districts in Mongolia. We used focus groups, key informant interviews, a household survey and photovoice to document individual and community experiences with dzud and identify the factors that make some households and communities more vulnerable to dzud and others less so. We found that dzud is a complex social–ecological phenomenon and vulnerability to dzud is a function of interacting physical, biological, socio-economic and institutional factors. Vulnerability was affected by factors within and interactions between communities as well as cross-level dynamics. Communities that are well prepared for dzud at the household level may suffer disproportionate losses if exposure is increased by in-migrating livestock from other districts. Relief aid that helps prevent loss of life, suffering and impoverishment in the short-term may contribute to long-term dependence syndromes, social disparities, and lack of initiative on the part of both herders and local government. Based on our findings, we recommend that dzud policies and programs promote: (1) increased individual responsibility for disaster preparedness; (2) greater cooperation and communication on disaster planning and response among different actors within communities and across governance levels; (3) sustained and scaled out investment in building local capacity for collective action through formal herder organizations; and (4) effective cross-level institutions to manage pastoral movements and pastures.     

TRAJECTORY ANALYSES OF THE DUSTSTORMS OVER EAST ASIA*

The transports of dust are calculated using 3-dimensional(3-D) trajectory method for three cases of duststorms in the terrain-following coordinate system,and the synoptic processes are also discussed for each case.The case of 17-20 April 1980,a severe duststorm was associated with the rapid development of a cyclone over the Mongolia Plateau.The dust moved from west to east across several deserts,formed a typical dust path in spring.The other two were weaker and the dust was triggered by the strong wind behind the cold front from northwest or north.Because the vertical velocity is considered in 3-D trajectory analysis,trajectories calculated should better reveal the transport rule of the dust particles and the results seem to be more consistent with the synoptic processes.The trajectory analysis on the 2-D isobaric surfaces is simpler but can be used only in the conditions with weak vertical wind shear and weak vertical velocity.The difference of trajectories at lower levels between two methods may be caused by the different treatment of orography.     

The global uranium rush and its Africa frontier. Effects,reactions and social movements in Namibia

Uranium mines are the often forgotten source of nuclear power. This article studies impacts and social movements at a uranium mining frontier looking at the interaction between the global social metabolism, industrial dynamics and local ecologies of resistance. Namibia, the world's fourth largest producer of uranium, stands at the vanguard of the global uranium rush with 66 granted prospecting licenses and two operating mines. We focus on three generic attributes that help to explain the emergence and intensity of resistance by local communities to uranium mining: the ecology and geography of the resource; the degree and type of political and economic marginalisation of the community; and crucially, the connection and integration of local concerns with broader social movements and political demands. We show with the use of empirical material how these factors play out differently in five Namibian communities that have been, or stand to be, affected by uranium mining, and explain how local ecologies of resistance shape, or fail to shape, the global uranium rush. Our work offers an example of an integrative approach for the analysis of the global–local dynamics of environmental change in relation to the extraction and flow of the essential materials that fuel industrial economies.     

模式大气月尺度可预报性的对比研究

首先采用方差分析方法，研究了实际大气500 hPa高度场的月尺度可预报性，并进一步分析了不同空间尺度大气运动的可预报性及其对大气整体运动可预报性的影响；对ECMWF和国家气候中心T63谱模式分别模拟和预报的500 hPa高度场，也用同样的方法进行了研究。结果表明，欧洲中心和我国T63模式大气的可预报性均比实际大气可预报性小，特别是在对整体运动可预报性影响最大的0～3波部分，差异较大，说明改进模式对0～3波部分的预报能力，必将提高模式性能。     

中尺度模式中的三维变量配置

由于中尺度模式中采用不同的三维变量配置,必将产生不同的预报和模拟效果.怎样的三维变量分布,才能产生最佳的模拟效果呢?一直没有人从事这方面的研究.为此,在线性非静力滞弹性方程组的基础上,从频率、水平群速和垂直群速方面将中尺度模式中常见的四种三维网格的计算频散性与解析解的情况进行了对比,主要采用图示比较的方法.结果表明:总的来看三维网格C/CP计算频散性能最好,Z/LZ和Z/LY网格次之,C/L网格最差.因此设计非静力斜压模式时,应尽量采用C/CP网格.但C/CP网格对水平波长较短的波,误差相对要大些.如果模拟的波动水平尺度较小时,为减少误差,水平格距要减小.另外C/CP网格主要用在有限差分模式中;要考虑谱模式中的变量配置时,应把C/CP网格和Z/LZ网格或Z/LY网格结合起来使用.     

Flux agreement above a Scots pine plantation

Summary The surface energy exchange of 12m high Scots pine plantation at Hartheim, Germany, was measured with a variety of methods during a 11-day period of fine weather in mid-May 1992. Net radiation and rate of thermal storage were measured with conventional net radiometers, soil heat flux discs and temperature-based storage models. The turbulent fluxes discussed in this report were obtained with an interchanging Bowen ratio energy budget system (BREB, at 14 m), two one-propeller eddy correlation systems (OPEC systems 1 and 2 at 17m), a 1-dimensional sonic eddy correlation system (SEC system 3) at 15 m, all on one low tower, and a 3-dimensional sonic eddy correlation system (SEC system 22) at 22 m on the high tower that was about 46 m distant. All systems measured sensible and latent heat (H and LE) directly, except for OPEC systems 1 and 2 which estimated LE as a residual term in the surface energy balance. Closure of turbulent fluxes from the two SEC systems was around 80% for daytime and 30% for night, with closure of 1-dimensional SEC system 3 exceeding that of 3-dimensional SEC system 22. The night measurements of turbulent fluxes contained considerable uncertainty, especially with the BREB system where measured gradients often yielded erroneous fluxes due to problems inherent in the method (i.e., computational instability as Bowen's ratio approaches –1). Also, both eddy correlation system designs (OPEC and SEC) appeared to underestimate |H| during stable conditions at night. In addition, both sonic systems (1- and 3-dimensional) underestimated |LE| during stable conditions. The underestimate of |H| at night generated residual estimates of OPEC LE containing a phantom dew error that erroneously decreased daily LE totals by about 10 percent. These special night problems are circumvented here by comparing results for daytime periods only, rather than for full days. To summarize, turbulent fluxes on the low tower from OPEC system 2 and the adjacent SEC system 3 were in reasonable agreement, while the BREB system appeared to overestimate H and underestimate LE; H and LE measured by SEC system 22 on the high tower were lower than from OPEC and SEC3 on the low tower. The turbulent flux measurements tended to converge, but the data exhibit unexplained differences between days, between systems, and between locations.With 7 Figures     

THREE-DIMENSIONAL VARIABLES ALLOCATION IN MESOSCALE MODELS

Forecasts and simulations are varied owing to different allocation of 3-dimensional variables in mesoscale models. No attempts have been made to address the issue of optimizing the simulation with a 3-dimensional variables distribution that should come …     

A model for the horizontal exchange between ice-supersaturated regions and their surrounding area

Summary A simple model is devised to simulate the turbulent exchange of humidity between ice-supersaturated regions in the upper troposphere and their subsaturated environment. The model works as a random version of a 2-dimensional cellular automaton, and does not contain dynamics nor microphysics. In spite of its simplicity the model helps to interpret certain stochastic properties of ice-supersaturated regions, namely the exponential distribution of the degree of supersaturation and the Weibull distribution of path-lengths through these regions. In particular, the exponential distribution of the degree of supersaturation evolves from permanent humidity exchange in spite of a rather peculiar initial distribution of supersaturation, that is, two Dirac delta functions. Such a robust feature is advantageous for future parameterisations of ISSRs for large-scale models. Received October 19, 2000 Revised June 25, 2001     

大气环流模式中云系的超级参数化方案及其特征线方法之研究

就大气环流模式中如何有效处理云系,我们的目标:建立能考虑各种尺度和各种过程之间相互作用的多重尺度云系动力学(下称:云系超级参数化),并应同时考虑如下云的几何学与辐射传输两个问题:1)云的几何学,考虑如何描写云内结构的三维不均匀性和表面特征的几何不光滑性;2)云的辐射,考虑复杂云结构的辐射计算问题,并最终在大气环流模式中具体实现.本研究是理论部分,主要论述云系超级参数化框架和计算方法问题,主要结论如下:1)阐明了从多重尺度角度研究大气模式中云系的超级参数化方案是完全必要的.2)本云系超级参数化方案是3维完全Euler流体方程组,保留了全Coriolis力,Ertel全PV守恒,考虑声波等对云和降水微物理过程的影响.该云系超级参数化方案需要与大气大尺度动力学方程组进行耦合.3)关键问题为确定云系局部解的存在时间长度,不必考虑整体解.因为在实际大气中各物理量的不光滑,甚至不连续和间断,是有充分的物理意义的.大气中的间断除粘性和热传导等不可逆过程外,同时伴随着成云致雨的相变过程.4)在可积性和连续性条件下,证明了特征线的存在性;在Lipshitz条件下,证明了特征线的存在性和唯一性.5)给出了特征线积分的Picard方法的具体计算步骤,并同时给出了特征线积分稳定步长的具体条件.6)沿着特征线,初始场随着时间的推移,将发生平移、旋转与纯变形三种位移的几何和,这就是球面上平流方程的保形问题.     

利用多普勒天气雷达资料对一次暴雨过程的同化模拟

以CAPS（Center for Analysis and Prediction of Storm）研发的ARPS模式（The Advanced Regional Prediction System V5．2．4）为基础,结合我国多普勒雷达资料,模拟2001年7月13日安徽省的一次暴雨过程,采用3DVAR（3-dimensional variational data assimilation）同化方法,做多时次同化雷达资料试验,前一时次模拟的结果作为下一时次的初始场,不断调整。结果表明,加入雷达资料后的风场、湿度场等都有明显调整,可以明显提高3h降水模拟效果;同化的雷达时次越多,对上述各要素场和降水的模拟与实际观测的对应效果越好。