基于激光测距的月球探测重载六足机器人自主避障控制

月面未知环境下具有高承载力的六足移动机器人是月球探测中不可或缺的装备。六足机器人虽然可以借助足地接触信息和姿态信息在不平坦路面行走,在遇到较小障碍物时可以做出适当的反射动作,但当遇到无法逾越的障碍物时,基于视觉信息实现腿式机器人避障运动是非常重要的。针对电驱动六边形对称分布的六足机器人,基于激光测距仪的信息实现了模拟月壤地面的地形建模,提出基于虚拟机体模型的自主避障策略,获得最优可行方向和运动最短距离,规划了实时避障的机体和足端运动轨迹。实验结果表明,六足机器人可以实时、准确地跟踪避障策略得到实时偏航角度,实现了机器人在未知环境下的自主避障运动,为月球探测重载足式机器人研究奠定了基础。     

Wayfinding Performance in and the Spatial Knowledge of a Color-coded Building for Adults and Children

The study reported here investigates the effect color has on the performance in a wayfinding task,the wayfinding strategies used and the acquisition of survey knowledge of a total of sixty participants: twenty second graders,sixth graders, and adults each. All participants had to find their way to a goal in a virtual environment with either a colored or a gray ground. After that,they had to find the shortest way from the start position to the goal in two consecutive trials,to draw a sketch map of the maze,and to mark the position of the goal figure in an overview of the maze. The results showed that color helped all participants to improve their performance in the wayfinding task, influenced the use of some wayfinding strategies but did not improve the acquisition of survey knowledge. Furthermore, there was a developmental achievement from second graders to adults. The results implicate firstly that children and adults similarly rely on the structuring of space through color when navigating through an unfamiliar large-scale environment,and secondly that there is a dissociation between wayfinding behavior and spatial knowledge.     

Influence of estimation errors on wayfinding-decisions in unknown street networks – analyzing the least-angle strategy

The least-angle strategy is a common wayfinding method that can be applied in unknown environments if the target direction is known. The strategy is based on the navigator's heuristic to select the street segment at an intersection which is most in line with the target direction. To use this strategy, the navigator needs to know the angles between the target direction and the street segments leading out from the intersection. If the direct view to the target is blocked and the target vector cannot be perceived, the target direction that is needed for the decision process is based on the agent's believed position and orientation (estimated through path integration). The agent's believed position and target direction are distorted by human errors in estimation of distances and directions, mainly affecting the path integration process. In this paper we examine how human estimation errors of distance and rotation influence the decision behavior in the wayfinding process in an unknown street environment. To demonstrate the geometrical consequences for a specific test case, we use a simulated software agent which navigates in a simulated street environment.     

基于Sarsa(λ)强化学习的空间机械臂路径规划研究

针对目标特性未知的在轨操作环境,研究了典型空间操作机械臂的路径规划策略。采用Sarsa(λ)强化学习方法实现目标跟踪及避障的自主路径规划与智能决策,该方法将机械臂系统的每节臂视为一个决策智能体,通过感知由目标偏差和障碍距离程度组成的二维状态,设计符合人工经验的拟合奖赏函数,进行各臂转动动作的强化训练,最终形成各智能体的状态-动作值函数表,即可作为机械臂在线路径规划的决策依据。将本方法应用于多自由度空间机械臂路径规划任务,仿真结果表明新算法能在有限训练次数内实现对移动目标的稳定跟踪与避障,同时各智能体通过学习所得的状态-动作值函数表,具备较强的后期在线自主调整能力,从而验证了算法较强的鲁棒性和智能性。     

The role of motor processes in mental rotation: selective shaping of cognitive processing via specific sensorimotor experience

The involvement of motor processes in mental rotation is experience-dependent: different levels of expertise in sensorimotor interactions lead to different strategies in mental rotation. In the present study, wrestlers, gymnasts, and nonathletes physically rotated objects that were either light (wooden) or heavy (lead) but otherwise having the same sizes and shapes. They then performed a mental rotation task using photographs of these objects in which the material and therefore the weight was visible. I hypothesized that wrestlers would rely more heavily on experience-based sensorimotor strategies in performing mental rotation because during their athletic practice they not only manipulate external “objects” (i.e., their opponent) but also have to plan future actions taking into account past experience of these “objects” (for example their weight). All participants reported that lead objects were harder to physically rotate than wooden ones. However, only wrestlers mentally rotated lead objects more slowly than wooden ones—as they would if they were physically rotating them—suggesting the involvement of motor processes. These findings show that the involvement of motor processes in mental rotation depends on specific rather than mere sensorimotor experience.     

Impact of Regionalization and Detour on Ad-hoc Path Choice

Abstract

Regionalization has been found to impact human route planning, both when the planning is based on a previously learned environment encoded in memory and when maps are used. This paper presents an experiment in a virtual desktop environment and examines how the length of the path in the start region or goal region impacts ad-hoc route choice, i.e., in situations where the decision is made right after perceiving the decision situation. More specifically, this research aims at quantifying the trade-off value between short travel distances and leaving the start as well as reaching the goal region quicker, respectively.     

Multiple Systems for Spatial Imagery: Transformations of Objects and Bodies

Problem-solving often requires imagining spatial changes. Object-based transformations allow imagining an object in a different orientation. Perspective transformations allow imagining changes in one's viewpoint. Three experiments tested the hypothesis that these two transformations are dissociable and specialized for different situations, by manipulating instructions and task parameters and measuring response times, errors, and introspective reports. Human experience with small objects such as telephones and clothes irons consists mostly of manipulation or observed manipulation, which is characterized by object-based transformations. Consistent with this experience, when participants made judgments about small manipulable objects, they showed a strong tendency to use object-based transformations. Experience with human bodies is more varied, including both object-like interactions and interactions in which one must estimate another's perspective. Accordingly, when making judgments about pictures of bodies, participants' selection of a spatial transformation depended on the type of judgment that needed to be made. When instructions violated these natural mappings, performance was impaired. These data argue for the view that multiple spatial transformation systems evolved to solve different spatial reasoning problems.     

Human navigation ability: Tests of the encoding-error model of path integration

This paper tests the generality and implications of an encoding-error model (Fujita et al. 1993) of humans' ability to keep track of their position in space in the absence of visual cues (i.e., by nonvisual path integration). The model proposes that when people undergo nonvisually guided travel, they encode the distances and turns that they experience, and their errors reflect systematic inaccuracies in the encoding process. Thus when people try to return to the origin of travel, they base their response on mis-encoded values of the outbound distances and turns. The two experiments reported here addressed three issues related to the model: (i) whether path integration is context-dependent and if so, how rapidly it adapts to recently experienced distances and turns; (ii) whether effects of experience can be specifically attributed to changes in the encoding process, and if so, what changes; and (iii) whether the encoding process represents distances and turns in the individual paths without considering their spatial relationship to one another (i.e., an object-centered representation). Testing these issues allows us to evaluate and develop the model.Subjects who were blindfolded or had restricted vision were led through two legs of a triangle and the turn between, then tried to return to the origin. Paths varied in whether experienced legs and turns were small or large (Experiment 1) and in variability of return and outbound course (Experiment 2). Response turn, distance and course were determined. The assumption of immutable encoding functions was not supported; encoding processes were context dependent, although they did not adapt within a block of trials. Although effects of experience could be accounted for by the model, the affected parameters were not always as predicted, and in some cases additional parameters were necessary. Results of manipulating variability in return course were consistent with the model's assumption of object-centered representation.     

一种无人机自主避障与目标追踪方法

针对无人机自主避障与目标追踪问题，以深度Q网络(DQN)算法为基础，提出一种多经验池深度Q网络(MP DQN)算法，使无人机避障与追踪的成功率和算法的收敛性得到优化。更进一步，赋予无人机环境感知能力，并在奖励函数中设计了方向奖惩函数，提升了无人机对环境的泛化能力以及算法的整体性能。仿真结果表明，相较于DQN和双重DQN(DDQN)算法，MP DQN算法具有更快的收敛速度、更短的追踪路径和更强的环境适应性。     

Spatial Influence of Environmental Axes in a Baseball Field

Abstract

We investigated the influence of environmental axes in a baseball field. In Experiment 1, participants walked either a path in the prototypical orientation (home plate to second base) or one which was rotated 225°. Recall for object locations was best when participants imagined themselves aligned with axes salient from the experienced orientation. In Experiment 2, when learning was through a route text, there was less of an influence of environmental axes. In Experiment 3, when participants walked both paths, memories were good for the atypical orientation, suggesting that task-specific spatial cues can be more influential than a prior conceptual north.     

External Cue Effects on Memory for Spatial Location within a Rotated Task Field

Abstract

We propose a mathematical model of the Path Integration (PI) process. Its core assumption is that orientations of a path are summarized by circular probability distributions. We compare our model with classical, deterministic models of PI and find that, although they are indistinguishable in terms of information encoded, the probabilistic model is more parsimonious when considering navigation strategies. We show how sensory events can enrich the probability distributions memorized, resulting in a continuum of navigation strategies, from PI to stimulus-triggered response. We analyze the combination of circular probability distributions (e.g., multicue fusion), and demonstrate that, contrary to the linear case, adding orientation cues does not always increase reliability of estimates. We discuss experimental predictions entailed by our model.     

Lunar exploration and development--a sustainable model

A long-term goal of space exploration is the development of a lunar settlement that will not only be largely self-sufficient but also contribute to the economy of the Earth-Moon system. Proposals for lunar mining and materials processing developments, as well as tourism-based applications, have appeared in the literature for many years. However, so great are the technical and financial difficulties associated with sustained lunar development that, more than 30 years after the end of the Apollo programme, there have been no practical advances towards this goal. While this may soon be remedied by a series of proposed unmanned orbiters, landers and rovers, the philosophy of lunar exploration and development remains the same as it has for decades: conquer, exploit, and ignore the consequences. By contrasting the well-recognised problems of Earth orbital debris and the barely recognised issue of intentional spacecraft impacts on the lunar surface, this paper illustrates the need for a new model for lunar exploration and development. This new paradigm would assign a value to the lunar environment and provide a balance between protection and exploitation, creating, in effect, a philosophy of sustainable development for the Moon. It is suggested that this new philosophy should be an integral part of any future strategy for lunar colonisation.     

充液挠性航天器姿态机动控制的多目标优化

针对充液挠性航天器姿态快速机动、快速稳定的控制要求,为减小姿态机动对挠性附件振动和液体晃动的激发,设计了一种基于正弦型加加速度的姿态机动路径规划方法。为进一步提高姿态控制性能,提出了一种基于云多目标粒子群算法的姿态控制器参数和机动路径参数联合优化方法。以最小化充液挠性航天器三轴姿态达到指定指向精度的时间以及三轴姿态稳定度,构建多目标优化模型,并应用云多目标粒子群算法求取姿态控制器参数和机动路径参数的Pareto最优解。仿真结果表明:采用多目标联合优化算法得到的控制器与路径参数,能够有效减小液体晃动和挠性附件振动,显著提高充液挠性航天器大角度姿态机动的快速性和稳定性。     

Path Integration During a Neighborhood Walk

In three experiments, we contrast two accounts of path integration processes that track direction and distance of movement. Moment-to-moment updating involves the continuous sensing of motion; automatic calculations constantly produce an estimate of position and orientation of self to an anchor point for travel. In contrast, configural updating can be accomplished using episodic memories; a representation of the traveled path is periodically revised and the bearing to the origin of a route can be estimated by connecting the endpoint of the current leg to the starting point of the first leg. Experiments 1 and 3 indicate that people encode the number and direction of turns but have difficulty configuring more gradually curved legs. In Experiment 2, we find that blindfolded people show better than chance performance in estimating the origin of outdoor routes when they are unexpectedly asked to point. It appears that, in addition to episodic memories that allow configural updating, we have available a moment-to-moment representation of our position and heading based on the cues that accompany self-movement.     

基于性能退化数据的可靠性评估

传统的可靠性评估方法一般基于失效寿命数据，对于高可靠长寿命产品，很难通过寿命试验和加速寿命试验获得失效寿命时间，这种情况下产品的性能退化数据可提供可靠性评估的重要信息。在基于失效数据可靠性评估及性能可靠性评估方法的基础上，提出了基于退化轨迹与基于性能退化量分布两种可靠性评估方法，以对具有退化失效机理的高可靠长寿命产品进行可靠性评估。基于退化轨迹的可靠性评估方法首先选取合适的退化轨迹模型，利用退化数据对退化轨迹进行模型拟合得到模型参数，然后根据退化轨迹外推得到伪失效寿命，最后根据完全寿命试验数据的统计分析方法进行统计分析得到产品可靠性信息。基于性能退化量分布的可靠性评估方法首先计算不同测量时刻产品性能退化量的统计特征，对其进行曲线拟合得到统计特征随时间变化的函数，即性能退化量分布参数，最后利用可靠性与性能退化量分布的关系评估产品的可靠性。本文最后给出了两种可靠性评估方法的应用案例，验证了方法的正确性与有效性。     

Understanding microbialite morphology using a comprehensive suite of three-dimensional analysis tools

Microbialites can have complex morphologies that preserve clues to ancient microbial ecology. However, extracting and interpreting these clues is challenging due to both the complexity of microbial structures and the difficulties of connecting morphology to microbial processes. Fenestrate microbialites from the 2521±3 Ma Gamohaan Formation, South Africa, have intricate structures composed of three distinct microbial structures: steeply dipping supports (surfaces defined by organic inclusions), more shallowly dipping supports with diffuse organic inclusions below them, and draping laminae. In polished slabs, shallowly dipping supports with diffuse organic inclusions show apparent dips from 27° to 60°, and supports without associated zones of diffuse inclusions dip 75° to 88°, which suggests a distinction between support types based on orientation. However, dips exposed in polished slabs are apparent dips, and three-dimensional analysis is required for analysis of true dips. Through the Keck Center for Active Visualization in Earth Sciences (KeckCAVES), we used locally developed software that controls a three-dimensional environment with head and hand tracking (an "immersive environment") to visualize and interpret virtual microbialite data sets. Immersive environments have not penetrated into standard scientific work processes ("workflows") due to their high costs, steep learning curves, and low productivity for users. By contrast, our suite of software tools allowed us to develop a personalized scientific workflow that provides a complete path from initial ideas to characterization of fenestrate microbialites' features. Results of three-dimensional analysis of fenestrate microbialites show that supports with inclusions dip 65° to 75°, whereas supports without inclusions dip 85° to 90°. These results demonstrate that all supports have very steep dips, and a 10° dip gap exists between supports with and without inclusions, which suggests they grew in fundamentally different ways. Results also emphasize how valuable three-dimensional analysis is when combined with a comprehensive workflow for understanding intricate structures such as fenestrate microbialites.     

转移轨道航天器深层充放电效应仿真分析

为研究转移轨道卫星介质深层动态充电规律特征,针对卫星动态辐射环境的特点,基于FLUMIC思想,建立辐射带动态电子环境模式。针对动态辐射环境下星上介质深层充电的特征,使用辐射诱导电导率(RIC)模型和Geant4建立了适用于转移轨道卫星动态环境下的介质深层充电应用模型。首次对地球同步转移轨道(GTO)和嫦娥一号卫星调相轨道运行过程中介质深层充电情况进行了仿真分析。结果表明:转移轨道卫星在运行时会多次穿越辐射带区域,电子通量存在明显波动,这种波动性反映在材料的充电电位变化中。材料峰值充电电位分别为-2 846V和-4 110V,介质内部平衡电场均超过106 V/m,存在内放电风险,需要在工程设计中进行针对性防护。     

Space exploration and human survival

I am sympathetic to the view that, given the likelihood of massive natural disasters, such as collisions between the Earth and large asteroids, we should engage in large-scale space exploration and colonization so as to hedge our bets against extinction. I will consider several criticisms of this view. For example, some philosophers may raise objections against the notion of long-term human survival as a value. How can we have obligations towards beings who have not even been conceived yet and thus cannot be properly said to have rights? On a different note, Wendell Berry argues that the abundance of resources in space will produce bad character, for good character requires the discipline of finitude. Others challenge the connection between space exploration and survival, for they fear that by entertaining the promise of new Earths in the heavens we are more likely to neglect our planet, thus leading to our downfall. Presumably, we should instead increase our efforts to restore and preserve the balance of nature. I will advance a variety of replies. For example, we do decide for posterity to a great extent. We may plant the trees from which “our” descendants will receive nourishment and shade, or we may destroy what could have given them a fighting chance against drought and famine. We have an obligation not to plant a bomb that will go off two years from now in a hospital nursery, and another to ensure that the buildup of chemicals in the hospital water tank will not reach critical mass and kill most of the newborns in ten years. The “balance of nature” involved in another objection is a myth that cannot be justified by natural history, whether astronomical or biological. Moreover, the inevitable changes in the environment, independent of asteroid impacts, will make the Earth uninhabitable in a few hundreds of millions and years. In addition, in order to act wisely we need an understanding of the Earth as a planet, and this requires the exploration of space.     

基于波碰撞法的机器人路径规划法

文章提出了在离散区域上,基于起始点和目标点相向传播波碰撞法的机器人路径规划法。设机器人作业环境为二维平面大小一定的矩形地形,机器人行走时仅限于作原地转向或直线行走。基于此开展路径规划的仿真研究,提出了搜索许可路径的算法。计算机模拟结果证实该算法可行、有效。     

抗光轴扰动的双目视觉测量方法

针对交会对接过程中双目测量相机受空间环境影响其光轴指向发生扰动的问题,提出一种抗光轴扰动的双目视觉测量方法。通过辅助光路将固定于卫星本体的参考标志分别成像于两侧像面的边缘,根据其图像变化估计光轴扰动变换矩阵,补偿因光轴扰动而产生的像面变化,从而实现抗扰动测量。理论推导表明：只要参考标志位于两侧相机视场内,便能够校正相机光轴扰动。利用地面试验平台进行了光轴扰动校正的仿真试验,试验结果表明：当两侧相机光轴存在扰动时,该方法能够有效校正光轴扰动,极大地提高了三维位置的测量精度。