一种自治水下机器人垂直面避碰规划方法

为提高自治水下机器人在垂直面跨越坡型、台阶型障碍的能力,提出了一种基于模糊控制的垂直面避碰规划方法。该方法以避碰声纳的输出作为输入,垂直面的深度调节量作为输出,直接建立了从障碍感知到避碰行为的映射。半物理仿真实验表明,该方法有效提高了某型自治水下机器人垂直面操纵性能,具有反应迅速、稳定性好、便于工程实现的优点。

子洲—清涧地区上古生界储层综合研究

The exploration and study in recent years shows that the upper Paleozoic in the east of Ordos Basin possesses major exploration potential, so it is necessary to have a comprehensive and synthetic research in this area. Following the guideline of T.A. Cross’s high resolution sequences stratigraphy and combined with sedimentology, the strata and sequence in the research area are divided and correlated. This paper emphasizes on the reservoir in this area and its major fruits are: Firstly, form the framework of the high sequence stratigraphy through mainly studying on the data of core, well drilling and field section combining. Then, think that the best reservoir formation mainly appears in the middle or lower part of long arising semi-cycle, and focus on A type and C1 middle sequence cycle that contributes to the development of formation. Next, think the sedimentary source mainly comes from the epimetamorphic crystalline basement in the north of the Ordoes Basin through analyzing depositional background, researching on sandstone petrography, distribution characteristics of the sedimentary system as well as researching on heavy mineral combination characteristics. Fourthly, give priority to Zizhou-Qingjian area for the first time and gain seven lithofacies paleography maps in the No.2 member of Shanxi and the No.8 member of Shihezi through using the method of isochronal lithofacies paleogeography mapping, then bring forth that Sh2 is mainly developed a type I sequence under the margin of ramp lake-basin background. Fifthly, through researching on the characteristics of reservoir petrography and diagenesis, think that all researched areas experienced compaction and cementation, and there is different types of rocks, only little of the primary pores that are made up of litharenite and lithoclastic quartz sandstone is left, while in lithoclastic quartz sandstone, there are still many primary pores Sixthly, through studying on pore types, microstructure, as well as physical property on the key formation, think that the researched area mostly appears typical low pore, low porosity and permeability, which mainly result from sedimentary and diagenesis. Lastly, through researching on classified evaluation in the key formation, productivity analysis, and combing with reservoir distribution, the researched area is divided into three parts, and think that exploration should be emphasized on formation I and II. The characteristics of sandstones distribution in Sh23 member, gas formation distribution and open flow capacity of exploitation well are all consistent properly with the results of reservoir comprehensive evaluation in this thesis proved by the gas production development in 2006.

Characterization of polyethylene glycol-modified proteins by semi-aqueous capillary electrophoresis

A new program to characterize polyethylene glycol-modified (PEGylated) proteins is outlined using capillary zone electrophoresis (CZE). PEGylated ribonuclease A and lysozyme were selected as examples. Five separation procedures were compared to select out the mixed buffer of acetonitrile-water (1:1, v/v) at pH 2.5 as the best to characterize the PEGylated proteins without sample pretreatment. Polyethylene oxide (PEO) with a high molecular mass of 8X10(6) was applied to rinse the capillary to form a dynamic coating which would decrease the undesirable proteins adsorbed to the inner wall of the silica. The electroosmotic flow (EOF) mobility of the five procedures was determined, respectively. It is found that acetonitrile is mainly responsible for the good resolution of PEGylated proteins with the help of PEO coating in the semi-aqueous system. The low EOF mobility and current in the semi-aqueous system might also have some responsibility for the high resolution. The semi-aqueous procedure described in this paper also demonstrates higher resolution of natural proteins than aqueous ones. (C) 2001 Elsevier Science B.V. All rights reserved.