遥操作机器人系统时延控制方法综述

遥操作机器人系统的应用和研究是目前机器人学一个重要的研究领域.尤其是网络遥操作系统的产生,更进一步扩大了应用领域,并对控制系统的设计带来了新的挑战.该文主要从控制的角度,面向各种性质的时延(如确定的或未知的,时变的或固定的等)对遥操作系统所带来的稳定性和透明度等问题,针对近年来为解决这些问题所提出的新的控制方法和理论进行系统的综述和分析,指出现有各种方法的优缺点,并提出了今后控制方法的研究方向和应具有的特点.

柴达木盆地北缘地区油气成藏过程模拟与含油气系统评价

As an important part of petroleum exploration areas in the west of China, the north part of Qaidam basin is very promising in making great progress for petroleum discovery. But there are still many obstacles to overcome in understanding the process of petroleum formation and evaluation of oil & gas potential because of the complexity of geological evolution in the study area. Based upon the petroleum system theory, the process of petroleum formation is analyzed and the potential of oil & gas is evaluated in different petroleum systems by means of the modeling approach. The geological background for the formation of petroleum systems and the consisting elements of petroleum systems are described in detail. The thickness of strata eroded is estimated by means of vitrinite reflectance modeling, compaction parameter calculating and thickness extrapolating. The buried histories are reconstructed using the transient compaction model, which combines of forward and reverse modeling. The geo-history evolution consists of four stages - sedimentation in different rates with different areas and slow subsidence during Jurassic, uplifting and erosion during Cretaceous, fast subsidence during the early and middle periods of Tertiary, subsidence and uplifting in alternation during the late period of Tertiary and Quaternary. The thermal gradients in the study area are from 2.0 ℃/100m to 2.6 ℃/100m, and the average of heat flow is 50.6 mW/m~2. From the vitrinite reflectance and apatite fission track data, a new approach based up Adaptive Genetic Algorithms for thermal history reconstruction is presented and used to estimate the plaeo-heat flow. The results of modeling show that the heat flow decreased and the basin got cooler from Jurassic to now. Oil generation from kerogens, gas generation from kerogens and gas cracked from oil are modeled by kinetic models. The kinetic parameters are calculated from the data obtained from laboratory experiments. The evolution of source rock maturation is modeled by means of Easy %Ro method. With the reconstruction of geo-histories and thermal histories and hydrocarbon generation, the oil and gas generation intensities for lower and middle Jurassic source rocks in different time are calculated. The results suggest that the source rocks got into maturation during the time of Xiaganchaigou sedimentation. The oil & gas generation centers for lower Jurassic source rocks locate in Yikeyawuru sag, Kunteyi sag and Eboliang area. The centers of generation for middle Jurassic source rocks locate in Saishenteng faulted sag and Yuka faulted sag. With the evidence of bio-markers and isotopes of carbonates, the oil or gas in Lenghusihao, Lenghuwuhao, Nanbaxian and Mahai oilfields is from lower Jurassic source rocks, and the oil or gas in Yuka is from middle Jurassic source rocks. Based up the results of the modeling, the distribution of source rocks and occurrence of oil and gas, there should be two petroleum systems in the study area. The key moments for these two petroleum, J_1-R(!) and J_2-J_3, are at the stages of Xiaganchaigou-Shangyoushashan sedimentation and Xiayoushashan-Shizigou sedimentation. With the kinetic midels for oil generated from kerogen, gas generated from kerogen and oil cracked to gas, the amount of oil and gas generated at different time in the two petroleum systems is calculated. The cumulative amount of oil generated from kerogen, gas generated from kerogen and gas cracked from oil is 409.78 * 10~8t, 360518.40 * 10~8m~3, and 186.50 * 10~8t in J_1-R(!). The amount of oil and gas generated for accumulation is 223.28 * 10~8t and 606692.99 * 10~8m~3 in J_1-R(!). The cumulative amount of oil generated from kerogen, gas generated from kerogen and gas cracked from oil is 29.05 * 10~8t, 23025.29 * 10~8m~3 and 14.42 * 10~8t in J_2-J_3 (!). The amount of oil and gas generated for accumulation is 14.63 * 10~8t and 42055.44 * 10~8m~3 in J_2-J_3 (!). The total oil and gas potential is 9.52 * 10~8t and 1946.25 * 10~8m~3.

山东莱芜中生代高镁侵入岩及其超镁铁质岩捕掳体的成因研究

In order to know better about the Phanerozoic lithosphere thinning process of Sino-Korea Plate, four Cretaceous intrusion complexes and their ultramafic xenoliths are investigated by this thesis, which are located in Laiwu, Shandong Province, Eastern China, a region far away from plate margin. The four complexes, Kuanshan, Jiaoyu, Jingniushan and Tietonggou, intruded into Archaeozoic granite gneiss and Paleozoic carbonate rocks with scam iron ore at their contact zone. The four complexes can be divided into two magma series, abyssal rocks for the early and hypabyssal rocks for the later. K-Ar dating show that the abyssal rocks intrusion began with 120 ±2 Ma and the hypabyssal rocks intruded about 113 Ma. Abyssal rocks, mainly made up of augite diorites, amphibole diorites and gabbros for the lesser, are chemically characterized with high-Mg (Mg#>0.5) high-K calcalklic rock, which are depleted with Nb, Ta and Ti related to LILE and extremely enriched with Sr and Pb. Comparatively, augite diorites are the most LREE enriched in abyssal rocks, and they show no Eu abnorrnity or weak positive Eu abnormity. Gabbros show the least LREE enrichment with a strong Eu abnormity relatively. In (~(87)Sr/~(86)Sr)_1 -ε Nd(T) diagram, the abyssal rocks show a mixing trend , a rapid change in ε Nd(T) with a relatively small change in (~(87)Sr/~(86)Sr)_1. Low radiogenic Sr and Pb composition with high radiogeic Nd composition indicate that the mixing processes happened in lower crust Melt-rock interactions in lower crust might be the most possible processes to produce these high-Mg and high-K calcalklic magmas. Hypabyssal rocks, mainly made up of granite porphyry and dioritic porphrite, show much higher ε Nd(T) than abyssal rocks. Granite porphyry are distinct with an adakite geochemical characteristics, high (La/Yb)_N, Sr/Y and low Rb/Sr ratio. The adakitic granite porphyry indicates a new lower crust produced by underplating within plate. Ultramafic xenoliths had been found only in augite diorites and amphibole diorites. Field investigations show that ultramafic xenoliths in augite diorites had been inherited from amphibole diorites, so ultramafic xenoliths had been only entrained by hydrous dioritic magma. Ultramafic xenoliths are mainly made up of dunite and harzburgite, orthopyroxenite and bistangite are the lessor. Coarse olivines in dunite often show many chromite exsolution lamellae. Opx in orthopyroxenite often show dense chromite exsolution lamellae. The presence of exsolution minerals indicates that ultramafic xenoliths had cooled before entraining. Metasomatism phenomenons are popular in dunite and harzburgite xenoliths, including two kinds of assemblage, cpx+phlogapite and opx+pl. The first metasomatism assemblage indicates an ancient enrichment. Rb-Sr dating of xenoliths shows that the ancient enrichment happened in 223 ± 7Ma. The second metasomatism assemblage indicates a recent, relatively not deep melt-rock interaction, which might be related with the genesis of the high-Mg high-K calcalklic rocks. Mineralogy and geochemistry indicate that these ultramafic xenoliths might sample the crust-mante transition zone (or the base of lower crust, moho). Investigation of high-Mg intrusions and their ultramafic xenoliths in Laiwu indicate that the thinning processes of Sino-Korea Plate can be divided into two stages. The first stage is lithosphere mantle thinning with crust thickening by underplating in lower crust. The second stage is that the thickened lower crust delaminated into the underlying mantle.

紫阳黄柏树湾和竹山文峪河毒重石矿床碳、氧及硼同位素研究

紫阳黄柏树湾毒重石矿床和竹山文峪河毒重石-重晶石矿床呈层状或似层状产于下寒武统下部的硅质岩中, 矿体受岩性和岩相控制明显. 矿床中毒重石、钡解石和方解石的硼同位素及碳、氧同位素研究结果表明, 形成这些矿物的碳主要来自沉积物中的生物有机质在早期成岩阶段经降解、缩合及脱羧基作用所形成的烃类物质或生物气; 而硼主要为孔隙水中硼与有机质降解过程中所释放的硼的混合, 少部分硼来自盆地深部循环热卤水. 硼同位素及碳、氧同位素研究结果一致表明, 毒重石沉淀于早期成岩阶段富含有机碳的孔隙水介质中. 毒重石矿石中广泛发育的生屑及粒屑结构说明生物作用通过生物成因重晶石(Bio-barite)的形式将海水中的Ba2+浓集并沉降于海底, 形成钡矿床的初始富集体. 海水中生物作用和沉积物的早期成岩作用是形成本区毒重石矿床的主要成矿机制.

硫同位素分馏中的生物作用及其环境效应

自然界中硫同住素组成变化范围较大（-65‰～＋120‰）。许多环境过程可以引起硫同住素分馏，表生环境下微生物还原硫酸盐是最重要的硫同位素分馏过程。在≤50℃条件下，厌氧细菌使硫酸盐SO4^2-还原成H2S，后者与金属离子结合形成硫化物或直接从体系中逸出，这种硫循环过程是造成地球各层圈中硫的轻、重同位素变异的最主要原因。但生物成因的硫同住素分馏过程复杂，受诸多因素的限制。本文综述了由生物作用导致的硫同素分馏的发生机理和影响因素，以及生物硫循环所导致的环境效应。

银和锰之间可能存在的联系

一般认为Ag与Pb、Zn、Cu共生，少数与Au、Sn、Sb、W、As等共生，很少有学者注意到Ag和Nn共生。关于Ag和Nn之间的研究多集中在银锰矿石选矿方面。也有部分学者通过研究渐新世含银矿床中还原锰的离析和生物化学作用。推测前寒武纪的一些生物地球化学作用。从已有的资料看。大多数锰矿床都缺乏银分析数据，过去只认为在表生风化作用下形成的铁-锰帽可能会造成银的富集。并把它划归成铁锰帽型银矿。

Separation of acidic compounds by strong anion-exchange capillary electrochromatography

Separation of the acidic compounds in the ion-exchange capillary electrochromatograph (IE-CEC) with strong anion-exchange packing as the stationary phase was studied. It was observed that the electroosmotic flow (EOF) in strong anion-exchange CEC moderately changed with increase of the eluent ionic strength and decrease of the eluent pH, but the acetonitrile concentration in the eluent had almost no effect on the EOF. The EOF in Strong anion-exchange CEC with eluent of low pH value was much larger than that in RP-CEC with Spherisorb-ODS as the stationary phase. The retention of acidic compounds on the strong anion-exchange packing was relatively weak due to only partial ionization of them, and both chromatographic and electrophoretic processes contributed to separation. It was observed that the retention values of acidic compounds decreased with the increase of phosphate buffer and acetonitrile concentration in the eluent as well as the decrease of the applied voltage, and even the acidic compounds could elute before the void time. These factors also made an important contribution to the separation selectivity for tested acidic compounds, which could be separated rapidly with high column efficiency of more than 220 000 plates/m under the optimized separation conditions. (C) 2000 Elsevier Science BN. All rights reserved.