融合罗德里格矩阵和整体最小二乘的双目机器人手眼标定算法

针对传统双目式机器人手眼标定方法中未知量多、计算复杂的特点,研究并提出了一种基于罗德里格矩阵和整体最小二乘相融合的改进算法。其中罗德里格矩阵实现了对未知量的降维;整体最小二乘顾及了系数矩阵的误差。通过大量数据分析表明,改进后的手眼标定算法较传统方法在稳定性和精度上均有大幅提高,满足了机器人视觉系统在工业检测和制造领域中的高精度需求。     

基于WSR框架的《开发区土地集约利用评价规程》指标体系分析

旨在剖析我国《开发区土地集约利用评价规程》中指标体系存在的问题并提出改进建议。在界定开发区土地集约利用内涵基础上,从要素特征(W维)、利用目标(R维)和评价过程(S维)等3个维度阐述了开发区土地集约利用评价的系统要求,构建关联分析矩阵,对《规程》中评价指标体系的特征差异化、层次完整性和目标关联性等3个方面进行了分析讨论。针对当前《规程》中存在的评价对象混杂、开发区类型需要细化、指标体系不完整、计算方法需修正等问题提出了相应修改建议。     

随机激励下非线性海洋结构物响应分析方法研究进展

对在随机载荷作用下非线性海洋结构物的运动响应分析的各种方法进行了综述,对有些方法的基本原理做了阐述,并指出一些最新的研究进展和今后进一步研究的方向。     

单锚腿系泊系统动力计算的新方法

在Hamilton型拟变分原理体系下,建立了一种时间子域以三次和五次B样条函数插值的时间子域法,并将这种新方法用于单锚腿系泊系统的动力响应分析中。算例表明,新方法比传统的动力计算方法Wilson-θ法,在计算精度上有明显的优势,表明本方法能够用于计算单锚腿系泊系统的动力响应。     

港口爆破施工的主要环境影响及评价方法

通过对常见的三种港口爆破施工方法——炸礁、爆破挤淤以及开山填海等的介绍,分析炸礁、爆破挤淤以及开山填海主要环境影响,并提出对三种施工方法环境影响的预测评价的方法。     

载人潜水器圆柱形耐压壳体的优化设计研究

采用分枝定界法和序列二次规划方法,对载人潜水器圆柱形耐压壳体的重量最小化进行了研究.设计变量是壳板的厚度、肋骨的型号、间距和数量,讨论了下潜深度、材料几何参数对重量以及其它特征量的影响.算例计算表明,下潜深度越大,屈服极限越高的材料重量减轻越明显.对于大深度而言,选用高屈服极限材料,可以使得材料能够充分利用.文中还对结构重量占排水量比例随深度变化的情况进行了研究.     

世界主要海洋强国综合实力测评研究

文章在回顾世界海洋强国发展历程和分析现阶段发展特点的基础上,构建国家层面的海洋综合实力评价指标体系,并结合层次分析法和加权积决策理论建立了综合实力测评模型。通过选取世界上8个有代表意义的海洋强国,结合其海洋综合实力的现状分析,利用测评模型对其进行测评排序,为我国"海洋强国"战略的科学规划提供参考。     

网格剖分积分法计算富钴结壳资源量

在矿区地质模型建立及边界条件限定的基础上,提出了基于网格剖分积分计算富钴结壳资源量的评估计算方法,推导了相应的计算公式,设计了相应的模块界面,并在"海底地形地貌自动成图系统"中实现了这种计算方法.这种资源量计算方法可应用于富钴结壳资源研究和评价计算.     

A method of determining dominant wave direction from multiparameter hydrological gauge measurements and its application

Multi-parameter hydrological gauge is an instrument developed by the South China Sea Institute of Oceanology,the Chinese Academy of Sciences to make simultaneous observation of current, wave, tide, water temperature and conductivity.By using the well-known "PUV method", the directional wave spectrum can be calculated and the dominant wave direction is then obtained.The comparison of the dominant wave directions derived from the measurements using both the multi-parameter hydrological gauge and the MARK Ⅱ "Wave-Rider" directional buoy shows that the dominant wave directions derived from the two kinds of measurements are in good agreement.     

Decomposition analysis on direct material input and dematerialization of mining cities in Northeast China

Material dematerialization is a basic approach to reduce the pressure on the resources and environment and to realize the sustainable development. The material flow analysis and decomposition method are used to calculate the direct material input (DMI) of 14 typical mining cities in Northeast China in 1995-2004 and to analyze the demateri-alization and its driving factors in the different types of mining cities oriented by coal, petroleum, metallurgy and multi-resources. The results are as follows: 1) from 1995 to 2006, the increase rates of the DMI and the material input intensity of mining cities declined following the order of multi-resources, metallurgy, coal, and petroleum cities, and the material utilizing efficiency did following the order of petroleum, coal, metallurgy, and multi-resources cities; 2) during the research period, all the kinds of mining cities were in the situation of weak sustainable development in most years; 3) the pressure on resources and environment in the multi-resources cities was the most serious; 4) the petro-leum cities showed the strong trend of sustainable development; and 5) in recent years, the driving function of eco-nomic development for material consuming has continuously strengthened and the controlling function of material utilizing efficiency for it has weakened. The key approaches to promote the development of circular economy of min-ing cities in Northeast China are put forward in the following aspects: 1) to strengthen the research and development of the technique of resources' cycling utilization, 2) to improve the utilizing efficiency of resources, and 3) to carry out the auditing system of resources utilization.