力觉临场感遥操作机器人(3)：环境的动力学描述

力觉临场感遥操作机器人系统是一个典型的人-机-环交互系统.环境是遥操作机器人系统最终的环节,也是操作者感知和作用的对象,环境的动力学特性对整个遥操作机器人系统的控制性能会产生直接的影响.通过分析环境在力觉临场感遥操作机器人系统中的动力学特性,建立了环境在碰撞接触、线性平稳接触和非线性平稳接触3类情况下的动力学模型,并给出了模型的等效阻抗形式,为力觉临场感遥操作机器人系统的分析提供了基础.     

力觉临场感遥操作机器人(1):技术发展与现状

人机交互式机器人作为最具实用价值的特种机器人已成为当前机器人学研究的前沿和热点.临场感(Telepresence)技术是人机交互的核心.首先,回顾了力觉临场感遥操作机器人技术的产生、发展和现状,介绍了力觉临场感遥操作机器人在核领域、空间探测领域与远程医疗领域的应用情况;其次,对力觉临场感遥操作机器人的4大关键技术:传感技术、力反馈与触觉再现技术、大时延控制技术和虚拟预测环境建模技术等进行了综述;还介绍了东南大学仪器科学与工程学院机器人传感与控制研究所近20年来开展临场感遥操作机器人技术研究,以及在核探测、康复医疗领域应用的情况.通过回顾与分析,指出了力觉临场感遥操作机器人技术今后需要研究的几个重点问题.     

力觉临场感遥操作机器人（4）：系统的操作性能评价

力觉临场感遥操作机器人系统是一种典型的人-机-环交互系统,临场感是遥操作的核心.如何评价力觉临场感遥操作机器人系统的操作性能即临场感程度,目前大多采用基于人机工效学的主观评价分析方法.通过建立力觉临场感遥操作机器人系统的二端口网络模型,对操作者在遥操作过程的感知和控制行为进行了分析,给出了虚拟阻抗的定义,以此为基础提出了可定量评价系统操作性能即力觉临场感程度的阻抗比较法.利用阻抗比较方法对现有的4种不同反馈控制结构遥操作机器人的操作性能作了分析与评价.     

金融领域的随机建模与基于软件R的Monte Carlo模拟(2):Cox-Ross-Rubinstein模型

主要讨论了 Cox-Ross-Rubinstein (CRR) 模型和广义的CRR模型,并研究了如何基于CRR模型和广义的CRR模型利用Monte Carlo模拟计算资产价格以及期权价值.     

辨识方法的计算效率(2):迭代算法

讨论了最小二乘迭代辨识算法及其计算效率问题.最小二乘迭代算法由于涉及矩阵求逆运算,为减小计算量,提出了基于块矩阵求逆的最小二乘迭代辨识算法.基于块矩阵求逆的最小二乘迭代辨识算法不是一种新算法,只是从辨识算法的实现方式上降低计算负担,它与最小二乘迭代算法产生相同的参数估计,但计算量小.文中研究了伪线性回归系统、多元伪线性回归系统、多变量伪线性回归系统的最小二乘迭代辨识算法及其基于块矩阵求逆的最小二乘迭代算法.     

系统辨识(2):系统描述的基本模型

控制是一切科学问题的核心.数学模型是一切控制问题的基础.事物的运动规律用方程描述就是数学模型.不同学科的发展就是建立其数学模型的过程.本文首次把线性动态系统数学模型分为三类:时间序列模型,方程误差类模型,输出误差类模型;详细介绍了线性系统的一些基本数学模型,包括连续系统离散化和模型等价变换,单输入单输出随机系统模型,多变量系统模型,类多变量系统模型,多输入和多输出系统模型(传递函数阵主模型、子模型、子子模型,多输入单输出系统模型,单输入多输出系统模型等).     

金融领域的随机建模与基于软件R的Monte Carlo模拟(1):金融期权

为了让更多人了解期权及其相关金融衍生品,论文系统地介绍了金融数学中一些描述资产行为的经典模型,并从数学与计算机仿真的角度,由浅入深地介绍期权定价的计算方法.首先介绍了欧式期权及其研究的必要性,并给出了相关的金融名词的解释,最后估计了期权价值的上下界.     

金融领域的随机建模与基于软件R的Monte Carlo模拟(5):Black-Scholes的世界

主要研究了Black-Scholes模型.与Black-Scholes期权定价公式相比,将再次强调和证实利用R软件Monte Carlo模拟的强大作用.     

金融领域的随机建模与基于软件R的MonteCarlo模拟(3):随机对数线性模型

主要研究了随机对数线性(SLL)模型以及如何基于SLL模型计算欧式期权平均收益.此外,还演绎了资产价格的Monte Carlo模拟.     

金融领域的随机建模与基于软件R的Monte Carlo模拟(4):随机微分方程模型

主要研究线性随机微分方程模型,为此定义Itô随机微积分,建立Itô公式.鉴于研究的重点是利用R软件进行数值模拟,所以详细讨论了过去10多年来随机微分方程数值解的研究.     

登陆台风“凡亚比”(1011)合力散度特征诊断研究——垂直分布特征

本文利用2010年1011号台风“凡亚比”登陆过程高分辨率数值模拟资料,诊断分析了“凡亚比”台风环流合力散度的垂直分布及其演变特征。结果指出,合力散度的显著区一直与台风系统相伴随,可以有效地示踪热带气旋（Tropical Cyclone,简称TC）的移动,并能较好地识别TC强度、结构的发展演变。台风中心偏东一侧流入层的合力散度异常信号首先出现并发展,反映出环流的非对称特征。随着台风趋于成熟,合力散度逐渐增强,高度扩展,对称性也逐渐增加;台风中心上空为合力辐合,外围为合力辐散,垂直方向上合力辐合与辐散相间的结构对应上升运动极值区及强降水,即对应台风眼墙位置。合力散度面积指数和强度指数的分析指出,垂直方向上辐合与辐散面积指数负相关;各层的合力辐合强度指数普遍大于辐散强度指数,垂直方向上两强度指数呈显著的正相关关系;结合面积指数与强度指数,可知垂直方向上合力辐合与辐散此消彼长。运用合力散度方程对该垂直分布特征的成因展开分析,发现风速u分量平流随经度变化项和风速v分量平流随纬度的变化项是TC眼区合力辐合部分的主要贡献项,垂直运动项决定了TC眼墙的合力辐合与辐散相间的垂直分布特征。     

Tropospheric Box-Modelling and Analytical Studies of the Hydroxyl (OH) Radical and Related Species: Comparison with Observations

Calculated and observed hydroxyl (OH) fields are presented. Calculated OH was obtained in three ways using (1) a photochemical box-model (2) a simple OH steady state approach and (3) a variant on (2) – the multiple equation steady state approach which assumes steady state for OH, HO2 and RO2 and hence obtains three simultaneous, non linear, equations. All three methods used data collected in June 1995 during the Weybourne Atmospheric Observatory Summer Experiment (WAOSE'95). Julian Days 169, 178, 179 and 180 displayed especially good data capture and were consequently chosen for study. The two steady state methods are essentially driven purely by observations and derive OH from the ratio of the relevant source and sink terms. The box-model was constrained where possible to observations; remaining unmeasured volatile organic compounds (VOCs) were initialised to an arbitrary low value of 10 ppt. Agreement between theory and experiment was usually around 50% and often better than this value, especially on J169, though discrepancies of up to a factor of 3 were occasionally apparent. Despite the inherent scatter, neither the box-model nor the simple steady state method were found to consistently over-estimate OH (a common feature of many numerical approaches) although this did occur to a certain extent using the multiple equation steady state approach, probably due to breakdowns in the steady state approximation. More data spread was evident in the box-model approach compared with the other methods. An analysis of the major sources and sinks of OH is presented for the three methods of calculation. Calculated and observed peroxy radicals are also presented. Calculated peroxy radicals were generally lower than that observed at night yet higher, sometimes by up to a factor of 7, during the day. Possible explanations for this result are explored.     

利用简单生物圈模式SiB2模拟锡林浩特草原地表湍流通量

利用简单生物圈模式SiB2模拟了2007年7月1日至9月30日期间锡林浩特草原的地表能量分配、CO2通量、地表有效辐射温度和土壤湿度.采用锡林浩特国家气候观象台野外试验基地实地测量资料确定SiB2所需要的参数和初始值后,由该资料中30 min一次的太阳短波辐射、大气长波辐射、水汽压、气温、水平风速和降水驱动SiB2,最...     

Modeling of Arctic Sea Ice Variability During 1948–2009: Validation of Two Versions of the Los Alamos Sea Ice Model(CICE)

The Los Alamos sea ice model(CICE) is used to simulate the Arctic sea ice variability from 1948 to 2009. Two versions of CICE are validated through comparison with Hadley Centre Global Sea Ice and Sea Surface Temperature(Had ISST) observations. Version 5.0 of CICE with elastic-viscous-plastic(EVP) dynamics simulates a September Arctic sea ice concentration(SASIC) trend of –0.619 × 1012 m2 per decade from 1969 to 2009, which is very close to the observed trend(-0.585 × 1012 m2 per decade). Version 4.0 of CICE with EVP dynamics underestimates the SASIC trend(-0.470 × 1012 m2 per decade). Version 5.0 has a higher correlation(0.742) with observation than version 4.0(0.653). Both versions of CICE simulate the seasonal cycle of the Arctic sea ice, but version 5.0 outperforms version 4.0 in both phase and amplitude. The timing of the minimum and maximum sea ice coverage occurs a little earlier(phase advancing) in both versions. Simulations also show that the September Arctic sea ice volume(SASIV) has a faster decreasing trend than SASIC.     

On the scavenging of SO2 by cloud and rain drops: IV. A wind tunnel and theoretical study of the absorption of SO2 in the ppb(v) range by water drops in the presence of H2O2

An experimental study involving the Mainz vertical wind tunnel is described where the rate of SO₂ removed from the air by freely suspended water drops was measured for SO₂ concentrations in the gas phase ranging between 50 and 500 ppb, and for various H₂O₂ concentrations in the liquid phase. In a first set of experiments, the pH inside the SO₂ absorbing drops was monitored by means of colour pH indicators added to the drops. In a second set of experiments, the amount of SO₂ scavenged by the drops was determined as sulfate by an ionchromatograph after the drops had been removed from the vertical air stream of the wind tunnel after various times of exposure to SO₂. The results of our experimental study were compared with the theoretical gas diffusion model of Walcek and Pruppacher which was reformulated for the case of SO₂ concentrations in the ppbv(v) range for which the main resistance to diffusion lies in the gas phase surrounding the drop. Excellent agreement between experiment and theory was obtained. Encouraged by this agreement, the theory was used to investigate the rate of sulfate production inside a drop as a function of pH. The sulfate production rate, which includes transport and oxidation, was compared with the production rate based on bulk equilibrium, as cited in the literature.     

第二类热成风螺旋度对登陆台风降水的诊断能力分析台风泰利个例研究

文中利用中尺度数值模式MM5模拟了台风泰利的登陆过程,模拟的台风路径、天气形势和降水都与观测基本一致,能够很好地反映出真实的天气过程.再利用数值模拟结果,研究了第二类热成风螺旋度(H_2)对登陆台风泰利降水的诊断能力,结果表明它对深入内陆的台风强降水具有较好的诊断能力,而对刚登陆前后的台风降水诊断能力不如经典螺旋度.特别地,H_2在提前1 h时与泰利降水达到最高相关系数,且在提前1-5 h时,它与降水的相关性比经典螺旋度的高,表现出十分显著的预示降水增幅的能力.进一步分析表明,在刚登陆前后,泰利台风中心850-200 hPa的风场垂直切变较小(约5 m/s),其最强降水出现在路径右侧300 km半径范围以内,与低空的正温度平流、低空辐合、高空辐散等无明显的关系,而低空相对涡度能够很好地反映降水的变化,这是经典螺旋度与降水在这一阶段相关性优于H_2的主要原因.而在深入内陆后,台风泰利本体环流减弱,受北部西风槽的影响逐渐增强,环境风场垂直切变迅速增大,发生强降水的庐山和大别山区处于顺垂直风切变方向左侧.在东北向的垂直风切变情况下,庐山和大别山强降水区上空有向东的高空急流出流,强高空辐散诱发垂直次级环流,从而激发对流,形成强上升运动区,因此H_2的诊断优势在这一阶段表现得最清楚.     

On the scavenging of SO2 by large and small rain drops: V. A wind tunnel and theoretical study of the desorption of SO2 from water drops containing S(IV)

An experimental and theoretical study has been carried out to investigate the rate of desorption of SO₂ from water drops falling at terminal velocity in air. The experiments were carried out in the Mainz vertical wind tunnel in which water drops of various sizes containing S(IV) in various concentrations were freely suspended in the vertical airstream of the tunnel. The results of these experiments were compared with the predictions of three theoretical models, and with the experiments of Walceket al. This comparison shows that the predictions of the diffusion model of Kronig and Brink in the formulation given by Walcek and Pruppacher agree well with the experimental results for all relevant large and small rain-drop sizes, and for all considered concentrations of S(IV) inside the drops. In contrast, the predictions of the diffusion model which assumes complete internal mixing inside a drop agrees with the experimental results only if the concentration of S(IV) inside the drop is less than that equivalent of an equilibrium SO₂ concentration of 15 ppbv. At larger concentrations, the theoretical predictions of the model for complete internal mixing progressively deviate from the experimental results. It is further shown that Barrie's double film model can be used to interpret the resistance to diffusion inside a drop in terms of a diffusion boundary layer inside the drop which increases in thickness with decreasing concentration of S(IV). Applying our results to the desorption of SO₂ from small and large rain drops falling below an assumed cloud base, shows that for typical contents of S(IV) inside the drops substantial amounts of SO₂ will desorb from these drops unless H₂O₂ is present in the surrounding air.