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本文在单眼瞳孔对光反应的实验及模型研究基础上,设计了由计算机控制的双眼交替光刺激方法来进行瞳孔动态反应实验,以了解人的瞳孔控制系统是如何在两眼之间耦合的。实验结果表明在双眼交替光刺激时,虽然两眼所受的光通量总和在任何时刻都是恒定不变的,但是当刺激光在左右眼之间交替瞬时,两眼都同时得出明显的瞳孔动态反应。这就提示了双眼之间耦合必需是在双眼分别受光后产生的控制信号,分别经过正微商的非线性环节后,再进行双眼综合共同控制瞳孔虹膜肌,文中还用状态方程法在PDP11/23计算机上对双眼瞳孔模型进行了仿真,输出波形与实验结果很相近,通过模型仿真,还对临床上应用的“Marcus Gunn Sign”(一种用交替光刺激对单侧视神经炎的检查方法)作出了刺激光最佳交替频率的建议。

This paper presented the intelligent navigation control system design of an autonomous mobile robot.A robot prototype,named HN-9,was used to introduce this implementation technology of this scheme.The robot senses its surroundings by scanning-ultrasonic,and makes autonomous navigation decision based on a fuzzy logic controller.Its localization system is composed of encoders and compass.The simulation and experimental results show the validity of the design architecture.This practical scheme is low-cost and modularized,suitable...

This paper presented the intelligent navigation control system design of an autonomous mobile robot.A robot prototype,named HN-9,was used to introduce this implementation technology of this scheme.The robot senses its surroundings by scanning-ultrasonic,and makes autonomous navigation decision based on a fuzzy logic controller.Its localization system is composed of encoders and compass.The simulation and experimental results show the validity of the design architecture.This practical scheme is low-cost and modularized,suitable for endowing an existing mobile robot with intelligent navigation ability,to increase the locomotion-operation efficiency and reliability.

提出一种实用的自主移动机器人智能导航控制方案,以研制的模型样机HN-9为例,阐述了其具体实现技术.机器人采用扫描式超声波实现作业环境的探测,基于码盘和电子罗盘的组合导航子系统实现定位估计,利用模糊决策子系统产生反应式智能导航控制行为.仿真实验及模型样机的实际运行效果验证了该系统构成的可行性.这种模块化的低成本设计方案便于在移动机器人的嵌入式控制系统上实现,便于对已有移动机器人系统进行改造以实现自主导航功能,用以提高操作机动性与可靠性.

Traditional method for soil permeability measurement causes important errors when it is used in municipal solid waste(MSW) experiment.The in-situ saturated water content and hydraulic conductivity were measured at Liulitun landfill. It was tested that the average water content increased downward and the average hydraulic conductivity was(0.018?5)(mm·s~(-1).) On the same condition of density,water retention curve and unsaturated hydraulic conductivity were determined with multistep outflow method in laboratory.Multistep...

Traditional method for soil permeability measurement causes important errors when it is used in municipal solid waste(MSW) experiment.The in-situ saturated water content and hydraulic conductivity were measured at Liulitun landfill. It was tested that the average water content increased downward and the average hydraulic conductivity was(0.018?5)(mm·s~(-1).) On the same condition of density,water retention curve and unsaturated hydraulic conductivity were determined with multistep outflow method in laboratory.Multistep outflow method,together with successive simulation,is used in the paper to provide parameter measurement for distribution models.The model is remarkably correlative to experiment data.On the basis of lab data and later simulation,changing rules of water retention curve are disclosed,and the method is proved to be effective to measure unsaturated hydraulic conductivity of municipal solid waste.

传统土壤渗透性测量方法直接测量填埋生活垃圾的渗透性质误差较大.本实验现场测定六里屯填埋场原状垃圾土饱和含水率和饱和渗透系数,其平均含水率随填埋深度增加而增大,平均渗透系数为0.018 5mm.s-1.在保证容重相同条件下,用多步出流法实验室测定扰动样品水分特征曲线和非饱和渗透系数.运用渗压出流和理论拟合测试技术,为建立渗透参数的随机分布模型提供参数测定方法.实验结果与模型显著相关.通过实验及模型模拟,揭示了填埋垃圾水分特征曲线的变化规律,证明多步出流法是适用于填埋场非饱和渗透性质测定的有效方法.

 
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