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Artificial coordinating field and its application to motion planning of robots in uncertain dynamic environments

Science china(Technological Sciences) 2004年第5期47卷 577-594页

作者： jing xingjian1, 2. WANG Yuechao1 & TAN Dalong1 1. Robotics Laboratory, Shenyang Institute of Automation, {2. academy of Sciences, Shenyang 110016, china 2. graduate school, {2. academy of Sciences, beijing 100039, china correspondence should be addressed to jing xingjian 1. Robotics Laboratory Shenyang Institute of Automation Chinese Academy of Sciences 10016 Shenyang China 2. graduate school Chinese Academy of Sciences 10039 Beijing China

Artificial coordinating fields (ACF) are proposed to deal with the motion planning problems of mobile robots in uncertain dynamic environments. An ACF around an obstacle can generate two orthogonal force vectors to a robot: one is called the coordinating force vector which is purposively designed in this paper, and the other is the repulsive force vector which is the same as that in a conventional artificial potential field. The ACF is designed according to the updated motion purpose and the relative states of the robot with respect to its local environment, and it also satisfies the robot’s dynamic constraints. The direction of the coordinating force can be determiend on line according to an optimal evaluation function. The ACF can effectively remove the local minima, and reduce the oscillation of the planned trajectory between multiple obstacles. Only local knowledge of the environments is needed in the ACF-based motion planning. The properties of the ACF such as controllability, adaptability, safety and reachability are studied and discussed in detail in this paper. Theoretical analysis and simulations are given to illustrate our main results.

关键词： artificial coordinating fields, artificial potential fields, mobile robots, motion planning, uncertain dynamic environments.

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Quantitative reconstruction of the paleosalinity at Qinghai Lake in the past 900 years

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chinese Science Bulletin 2004年第7期49卷 730-734页

作者： ZHANG Enlou1,2.SHEN Ji1,WANG Sumin1,YIN Yu1,ZHU Yuxin1 & XIA Weilan1 1.Key Laboratory of Lake Sediment and Environment,Nanjing institute of Geography and Limnology,chinese {2. of Sciences,Nan-jing 2.0008,china 2.graduate school of chinese {2. of Sciences,beijing 100039,china {12. should be addressed to Zhang Enlou(e-mail:elzhang@ ***) Key Laboratory of Lake Sediment and Environment Nanjing Institute of Geography and Limnology Chinese Academy of Sciences Nanjing 210008 China graduate school of {2. academy of Sciences Beijing 100039 China

Based on the function relationship between the shell length of Limnocythere inopinata and the salinity of its living water in Tibetan Plateau lakes, the paleosalinty of Qinghai Lake in the past 900 years was reconstructed through the measurement of the adult body length of Limno-cythere inopinata. Meanwhile, the paleosalinity sequence of Qinghai Lake during the same period was rebuilt by the Sr/Ca ratio of the shell of Eucypris inflata combined with the Sr/Ca ratio of living ostracod valves from the species of ge-nus Eucypris inflata and the host water. The paleosalinity results obtained by two different methods were compared and assessed in this paper. To check the result, it was also contrasted with other historical climatic sequences of this area including tree ring and ice core. It was shown that the paleosalinity sequence rebuilt by adult ostracod body length had high reliability, and the paleosalinity reconstruction method by trace elements of ostracod shells was not suitable for Qinghai Lake. From the reconstructed paleosalinty se-quence of Qinghai Lake, it can be found that low salinity during 1160—12.0 AD showed the humid climate condition on the Mediaeval Warm Period in this area, while the high salinity during 1410—1540 AD, 1610—1670 AD and 1770—1850 AD which was corresponding to the three cold pulses of the Little Ice Age with a dry climate condition. And the high salinity in the latest several decades was consistent with re-cent warm and dry trends of the climate in this area. The good consistency of the reconstructed palaeosalinity sequence and the precipitation sequence in this area rebuilt by tree ring proves the reconstruction of past lake salinity is reliable.

关键词：青海湖数量重建成体特异湖浪介古盐度树轮海底沉积物介形亚纲动物

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Zircon SHRIMP U-Pb dating for the Cangshuipu volcanic rocks and its implications for the lower boundary age of the Nanhua strata in South china

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Science Bulletin 2003年第16期48卷 1663-1669页

作者： WANG Jian1, LI Xianhua2. DUAN Taizhong3, LIU Dunyi4, SONG Biao4, LI Zhongxiong1 & GAO Yonghua5 1. Chengdu Institute of Geology and Mineral Resources, china Geologi-cal Survey, Chengdu 610082. china 2. Guangzhou Institute of Geochemistry, {2. academy of Sciences, Guangzhou 510640, china 3. Colorado school of Mines, Golden, CO 80401-1887, USA (Present address: Marathon Oil Company, Houston, TX 77056-2.2., USA) 4. Institute of Geology, {2. academy of Geological Sciences, Bei-jing 100037, china 5. graduate school of the {2. academy of Geological Sciences, beijing 100037, china correspondence should be addressed to Wang Jian (e-mail: jianwang@ ***) Chengdu Institute of Geology and Mineral Resources China Geological Survey Chengdu 610082 China Guangzhou Institute of Geochemistry Chinese Academy of Sciences Guangzhou 510640 China Colorado school of Mines Golden CO 80401-1887 USA Institute of Geology Chinese Academy of Geological Sciences Beijing 100037 China graduate school of the {2. academy of Geological Sciences Beijing 100037 China

The continental volcanic rocks and volcaniclas-tic sedimentary conglomerates of the Cangshuipu Formation occur well in Yiyang of Hunan Province, consisting of a wedge-shaped succession of Neoproterozoic strata that over-lie with high-angle unconformity the flysch turbidites of the Lengjiaxi Group in the Upper Mesoproterozoic Eonothem. SHRIMP zircon U-Pb dating gives a weighted mean age of 814 12.Ma for the dacitic volcanic agglomerates from the lowest part of the volcanic rocks in the Cangshuipu Forma-tion. This age is younger than previously reported values of 92.—933 Ma for the volcanic rocks from the Cangshuipu Formation. Our new dating represents the lower boundary age of the Neoproterozoic System in the studied area. The younger age for the Cangshuipu volcanic rocks is supported by the following observations: （1） Lower Neoproterozoic strata （814—1000 Ma） are missing in the studied area; （2. the Nanhua rift system was initiated at about 82. Ma; and （3） an age of82. Ma may be taken as the lower boundary tim-ing of the Nanhua System （even Neoproterozoic） in South china.

关键词： Zicon U-Pb dating Neoproterozoic volcanics rift basin Nanhua System.

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