力觉临场感遥操作机器人(1):技术发展与现状     

宋爱国 《南京气象学院学报》2013,5(1):1-19

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.  相似文献   

CINRAD/SA雷达灯丝电源调试与故障判定     

舒毅  舒童  杨苏勤  李欣  张福贵 《气象科技》2013,41(4):620-625

详细叙述了CINRAD/SA雷达灯丝电源控制电路的工作状态,分析了控制电路中脉宽调制器SG1525A的特性,调试了控制斩波器的脉宽调制电路和振荡器控制电路的关键测试波形,并对灯丝电源输出电压、灯丝电压保护和灯丝电流保护进行了分步调试.根据实际经验总结了在灯丝电源调试过程中出现的故障判定流程和故障排查、排除方法,旨在为雷达灯丝电源的故障处理提供参考和借鉴.  相似文献   

接收机滤波器群时延对CAPS伪距测量影响的优化研究     

余宜珂  杨剑青 《天文研究与技术》2014,(4):356-361

在中国区域定位系统（Chinese Area Positioning System,CAPS）中,带通滤波器是用户接收机的重要组成部分,对于宽频测距码来说,其群时延特性是测距的重要误差来源之一.分析了接收机码跟踪环路,给出相关函数估算测距偏差,对带通滤波器群时延开展仿真分析,并研究了改进接收机设计以优化群时延特性的方法.研究对GNSS接收机的射频和环路设计有一定借鉴意义.  相似文献   

提高中性大气折射延迟改正精度的可能途径     

冒蔚  张捍卫  李彬华  杨磊  铁琼仙 《天文学报》2006,47(4):432-440

针对空间大地测量技术对中性大气折射延迟改正精度的要求,阐述了折射延迟改正值应随测站和随方位而异的必要性．指出,在尚不能直接测定天文大气折射值的情况下,现有的各种改正模型对大气分布模型的依赖性,不能达到预期的精度和降低观测的截止角．根据云南天文台低纬子午环的特殊结构,和测定大气折射的实践,提出了提高折射延迟改正精度的新方法,即：利用各观测站不同方位从天顶附近直到低地平高度角的天文大气折射实测数据,求解得到折射率差和映射函数的参数,从而建立随测站和随方位而异的大气折射延迟改正模型．这一新方法的实施,将能在不需采用大气分布模型的情况下,把天顶延迟的改正精度提高到1 mm以内,低地平高度角的折射延迟改正精度提高到厘米级,并且把截止高度角压缩到5°以内．  相似文献   

通过卫星双向双频观测对电离层时延的测定     

李慧茹  李志刚 《时间频率学报》2005,28(1):29-36

介绍了利用卫星双向双频(C波段)观测来测定电离层时延的方法,并对不同经纬度的观测结果进行了比较和分析。卫星双向双频(C波段)观测精度高,采样间隔短,能测定电离层总电子含量的细微变化。  相似文献   

GPS掩星技术和电离层反演   总被引：13，自引：6，他引：7  

周义炎  吴云  乔学军  张训械 《大地测量与地球动力学》2005,25(2):29-35

系统地介绍了GPS无线电掩星技术的发展现状、系统组成和一些关键技术；论述了利用GPS掩星数据进行电离层反演的理论、模型及相应的计算流程．并结合GPS／MET和CHAMP卫星的实测资料，计算了电子密度剖面，与用其他方法所得结果的对比表明．GPS掩星电离层观测具有精度高、覆盖范围大等特点；最后讨论了GPS掩星技术应用于地震前兆监测的机理和前景。  相似文献   

Propagation of Extremely Low Frequency Waves Through the Ionosphere     

Singh  Ashok K.  Narayan  D.  Singh  R. P. 《Earth, Moon, and Planets》2002,91(3):161-179

The propagation features of extremely low frequency electromagnetic waves through the multicomponent ionospheric plasma are studied. It is shown that at relatively lower frequencies refractive index for right hand mode is higher than the left-hand mode, which is reversed at higher frequencies. The thermal temperature of plasma particle causes decrease in phase and group velocities of both right and left-hand modes. The crossover frequencies for different plasma models are computed and variation with ion concentration and thermal velocity is studied. Explicit expression for group velocity and travel time has been derived and studied numerically. Finally, we have presented simulation of the ion whistler spectrograms for Hydrogen, Helium and Oxygen ions present in the ionospheric plasma. The results are compared with the experimentally detected hydrogen and helium ion whistlers. The importance of the present study in the exploration of ionospheric plasma is illustrated.  相似文献   

Detailed analysis for earthquake source spectrum represented by stochastic impulse train and its applications     

Hitoshi?MorikawaEmail author  Sumio?Sawada  Yusuke?Ono 《Journal of Seismology》2005,9(2):151-170

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Observations and modelling of the travel time delay and leading negative phase of the 16 September 2015 Illapel,Chile tsunami     

Peitao Wang  Zhiyuan Ren  Lining Sun  Jingming Hou  Zongchen Wang  Ye Yuan  Fujiang Yu 《海洋学报(英文版)》2021,40(11):11-30

The systematic discrepancies in both tsunami arrival time and leading negative phase (LNP) were identified for the recent transoceanic tsunami on 16 September 2015 in Illapel, Chile by examining the wave characteristics from the tsunami records at 21 Deep-ocean Assessment and Reporting of Tsunami (DART) sites and 29 coastal tide gauge stations. The results revealed systematic travel time delay of as much as 22 min (approximately 1.7％ of the total travel time) relative to the simulated long waves from the 2015 Chilean tsunami. The delay discrepancy was found to increase with travel time. It was difficult to identify the LNP from the near-shore observation system due to the strong background noise, but the initial negative phase feature became more obvious as the tsunami propagated away from the source area in the deep ocean. We determined that the LNP for the Chilean tsunami had an average duration of 33 min, which was close to the dominant period of the tsunami source. Most of the amplitude ratios to the first elevation phase were approximately 40％, with the largest equivalent to the first positive phase amplitude. We performed numerical analyses by applying the corrected long wave model, which accounted for the effects of seawater density stratification due to compressibility, self-attraction and loading (SAL) of the earth, and wave dispersion compared with observed tsunami waveforms. We attempted to accurately calculate the arrival time and LNP, and to understand how much of a role the physical mechanism played in the discrepancies for the moderate transoceanic tsunami event. The mainly focus of the study is to quantitatively evaluate the contribution of each secondary physical effect to the systematic discrepancies using the corrected shallow water model. Taking all of these effects into consideration, our results demonstrated good agreement between the observed and simulated waveforms. We can conclude that the corrected shallow water model can reduce the tsunami propagation speed and reproduce the LNP, which is observed for tsunamis that have propagated over long distances frequently. The travel time delay between the observed and corrected simulated waveforms is reduced to <8 min and the amplitude discrepancy between them was also markedly diminished. The incorporated effects amounted to approximately 78％ of the travel time delay correction, with seawater density stratification, SAL, and Boussinesq dispersion contributing approximately 39％, 21％, and 18％, respectively. The simulated results showed that the elastic loading and Boussinesq dispersion not only affected travel time but also changed the simulated waveforms for this event. In contrast, the seawater stratification only reduced the tsunami speed, whereas the earth's elasticity loading was responsible for LNP due to the depression of the seafloor surrounding additional tsunami loading at far-field stations. This study revealed that the traditional shallow water model has inherent defects in estimating tsunami arrival, and the leading negative phase of a tsunami is a typical recognizable feature of a moderately strong transoceanic tsunami. These results also support previous theory and can help to explain the observed discrepancies.  相似文献   

基于GPS非差技术近实时获取对流层延迟     

李黎  匡翠林  朱建军  陈永奇  龙四春  何原荣 《测绘科学》2012,37(2):22-25

本文提出一种近实时获取高精度对流层延迟(Zenith Tropospheric Delay,ZTD)的方法。该方法基于全球GPS参考站网络的非差观测值数据和IGU预报产品(卫星轨道和ERP),使用GPS非差技术和卡尔曼滤波近实时估计各参考站的高精度ZTD。将该方法应用于香港GPS参考站网得到的ZTD与基于事后技术计算的ZTD进行比较后发现,两者的平均偏差均优于5mm,RMS均优于6mm。  相似文献