自行式海底作业车的研究

理论分析和试验研究是本文写作基础，它详细地总结了大洋多金属结核资源开发而研究自行式海底作业车取得中期成果，它对我国大洋采矿和其它海底工程车辆的发展有着重要的文献价值和指导意义。     

A hierarchical real-time control architecture for a semi-autonomous underwater vehicle

This paper describes a real-time control architecture for Dual Use Semi-Autonomous Underwater Vehicle (DUSAUV), which has been developed at Korea Research Institute of Ships and Ocean Engineering (KRISO) for being a test-bed of development of underwater navigation and manipulator technologies. DUSAUV has three built-in computers, seven thrusters for six DOF motion control, one 4-function electric manipulator, one ballasting motor, built-in power source, and various sensors. A supervisor control system with GUI and a multi-purpose joystick is mounted on the surface vessel and communicates with vehicle through a fiber optic link. Furthermore, QNX, one of real-time operating system, is ported on the built-in control and navigation computers for real-time control purpose, while Microsoft OS product is ported in the supervisor computer for GUI programming convenience. A hierarchical control architecture, which consists of application layer, real-time layer and physical layer, has been developed for efficient control system of above complex underwater robotic system. The experimental results with implementation of the layered control architecture for various motion control of DUSAUV in an ocean engineering basin of KRISO is also presented.     

A Study on the Dynamic Analysis of A Tracked Vehicle for Ocean Mining on the Deep Seabed

1 .IntroductionOnthedeepseabed ,30 0 0～ 50 0 0mbelowthePacificOcean ,manganesenodulesaresolidifiedandspread ,andmanycountriesintheworldarestudyinghowtominethem .AccordingtoYamazakietal.( 1 998)andAmannetal.( 1 991 ) ,theenvironmentofthedeepseabedisdifferentfromthedrylandinmanyways .Inparticular,thesurfaceoftheseabedisverysoft.Inordertoensuretheperformanceofrunningofamanganesenodulemineronsuchasoftsurface ,thetrackedvehiclemaybeapplied .Ac cordingtoHongandChoi ( 2 0 0 1 ) ,astudyisbeingdone…     

地图误差对地图匹配质量的影响

高精度的数字地图是正确匹配车辆位置的基础。详细分析了地图数据的地理误差和拓扑误差的误差形式,路网数据模型的常见误差因素和改进策略,最后介绍了不同地图匹配算法对地图质量的敏感性和可行性。根据可能出现的误差对现有数字地图和匹配算法加以改进,弥补了原有数字地图带来的不精确缺陷。跑车实验证明,考虑了数字地图误差影响的匹配算法可以明显提高定位精度,减小车辆定位误差。     

UCD数码相机影像在武汉测区的应用

针对UCD数码航空影像在摄影测量中的空中三角测量和数字测图进行了相关的生产试验。试验结果表明UCD数码航空影像具有较好的成图精度,可以满足大比例尺航测成图的精度指标。根据试验结果对UCD数码影像的生产应用提出了若干建议。     

我国煤炭航测技术的最新发展

中国煤炭地质总局航测遥感局作为我国煤炭航测技术的主要单位,承担着95％以上的煤炭矿区航测成图任务,并逐步发展成为我国集航空摄影、遥感地质、地图制印、地下管线探测、地理信息技术等全面发展的空间信息产业集团：伴随着计算机技术的发展,煤炭航测技术走过了从模拟测图到解析测图,最后发展到今天的全数字测图的历程。目前煤航已拥有和掌握了IMU／DGPS辅助航空摄影技术、SAR（合成孔径雷达）成图技术、LIDAR（机载激光扫描）技术等空间数据采集最新技术。     

遥控飞艇数字航空摄影系统

提出快速获得航空影像并及时制作DOM、DLG的一种手段.介绍遥控飞艇数字摄影系统的工作原理,探讨存在的问题.     

Land-Parcel Land-Use History as a Key to Site Selection for Documenting Soil Contamination Risk： a Case Study from Australian Suburbia

In that orcharding in early-to-mid twentieth century southeastern Australia involved use of certain heavy metal and As compounds in regular pest-control spray procedures, some interest attaches to the possibility that these landparcels are underlain by soils with above-background Cu, Pb and As levels. Interpreta- tion of Land-cover changes allowed land parcels previously occupied by orchards to be identified in the 1950s through time-series air-photos. A comparison of soil analysis results referring to soil samples from control sites, and from land parcels formerly occupied by orchardists, shows that contamination （above-background） levels of cations in the pesticides can be found in the top 6 cm of former orchard soils. It is clear that digital spatial data handling and culturally-informed air photo interpretation has a place in soil contamination studies, land-use planning （with particular reference to re-development） and in administration of public health.     

航空影像分割的最小二乘支持向量机方法

将最小支持向量机LS-SVM用于航空影像的分割,讨论了不同核函数对分割结果的影响和稀疏化处理对决策函数的影响。试验表明了LS-SVM方法用于航空影像分割的可行性。     

基于Kiwi数据格式的地图显示研究

在分析Kiwi显示数据存储组织方法的基础上,研究了Kiwi显示数据在内存中的动态组织,改进了地图显示的二级缓存方法,提出了地图显示的双缓冲池策略。试验结果表明,本文研究的数据动态组织方法和地图显示策略提高了地图显示速度。