一种平面运动位姿的并联组合测量方法研究

基于特殊的测量环境需要,提出了用于平面运动位姿测量的并联组合测量方法。介绍了并联组合测量方法的测量机构组成和测量原理,并进行了可行性论证;通过建立误差模型,对几何误差源与原始测量参数的映射关系及其对最终位姿测量误差的影响进行了分析,仿真结果和实际应用测量数据验证了分析的正确性。所述并联组合测量方法构思新颖,结构合理,适用于具有一定特殊测量条件的高精度平面大范围运动过程位姿测量。如果在工程应用中有效地控制几何误差源的影响,该方法则具有一定的推广应用价值。

一种五自由度机电测控系统的设计与实现

文章提出了一种基于五自由度机电系统的测控系统设计方法,并从机械系统构成、测控系统结构及软硬件设计方面论述了系统实现技术。针对系统特定的功能要求,文章详细介绍了位姿组合测量和各位姿自由度控制的测控方法,并应用模块化设计和数据流分析方法进行软硬件设计。通过实验进行系统特性分析,得到运行参数指标。实验证明这种设计方法和实现技术合理可行。

基于关节限位的自治水下机器人机械手系统运动规划研究

对自治水下机器人搭载的四功能水下电动机械手进行了简要描述。考虑到自治水下机器人机械手系统的运动学冗余,将关节限位算法用于系统逆运动学求解,避免载体大幅度姿态变化。利用Matlab仿真表明该算法在解决系统冗余的同时有效的限制了关节位移。

浮力调节系统在作业型AUV上的应用研究

本文根据我国正在研制开发的作业型水下机器人的特性及其对浮力调节和姿态控制的要求,应用PID控制策略,设计了一个浮力调节系统,仿真结果证明该设计方案可以达到预期的目标。(100039北京市中国科学院研究生院)常海龙

基于神经网络的三维物体姿态测定

利用单幅图象中物体的三条边与模型中的三条对应边,可求出三维物体姿态,但解不唯一,通过将这些可能姿态所产生的图象与实际图象匹配,可求出唯一正确姿态.二维图象特征对应问题是个NP完全问题,存在组合爆炸的困难,为此,我们把特征对应问题看作一个组合优化问题,利用Hopfield网络成功解决这一组合优化问题.该算法通用性强,而且适合于并行实现。文中给出了在Ⅵ-COM图象处理系统上对人造图象和实际图象进行的实验结果。

三维物体识别及姿态测定的推理系统

本文介绍了三维物体识别及姿态测定的一种新技术，从物体空间域模型出发，通过约束推理及几何推理，在物体三维信息部分给定的条件下，推断预测图象模型，并通过实测的图象数据反馈，推断出隐含在图象中未给定的三维信息，最终实现三维物体识别及姿态测定。整个系统在ＶＩＣＯＭ机上用Ｃ语言完成。

利用BP神经网络实现三维物体姿态的测定

本文利用BP(Back-Propagation)人工神经网络对三维物体的姿态测定进行了研究。姿态测定一直缺少通用而实际的方法,人工神经网络由于具有强大的自组织、自适应学习能力,迅速的并行信息处理能力,可望解决这个问题。但现有BP算法存在训练慢和易陷入局部最小两个问题.本文提出的级联形式网络结构,使BP网络的训练速度大为提高,陷入局部最小的可能性大为降低。利用这种级联结构对飞机模型姿态测定,取得了较好的实验结果。

一种新型平面组合传感器的误差建模与分析

设计了一种新型三自由度位姿测量平面组合传感器装置,用于完成对平面运动的两个移动自由度和一个转动自由度的动态测量。介绍了传感器的机构构成和测量原理,利用微分法原理建立了误差模型,对误差产生原因进行分析,得出了机构误差对测量精度的影响曲线,试验和仿真验证了新型平面组合传感器机构的合理性。新型平面组合传感器机构简单,测量精度高,适用于特定环境下的高精度平面运动位姿测量。

全信息精细储层预测方法研究与实践-以周清庄油田沙三段油藏为例

With the continuously proceeding of petroleum exploratory development in China, exploratory development becomes more and more difficult. For increasing reserve volume and production, lithologic hydrocarbon reservoir has been the most workable, potential and universality exploration targets. In the past, Dagang Oil Field use the complicated fault reservoir theory as the guide, develop and form a suit of matching construction and instrument in prospecting complicated fault reservoir that reach top of exploration industry in China. But the research of lithologic hydrocarbon reservoir is not much, which affects the exploitation progress of lithologic hydrocarbon reservoir. In this thesis, is object, through the depth study of lithologic deposition in Shasan segment of Zhouqingzhuang Oil Field, a suit of holographic fine reservoir bed forecasting techniques is built up and finally gets following main results: 1. Applying geology, seism, drilling, logging and other information to sensitivity preferences, geological model, inversion and integrated stratum evaluation, realizing the method and flow of refined multi-information stratum forecast. 2. Built up a full three dimensional fine structural interpretation method: in view of r problem of accurately demarcating 90% inclined well, propose a inclined well air space demarcating method, make bed demarcating more exactly; in view of problem of faults demarcating and combination in seismic interpretation, propose a computational method of seismic interference based on wavelet translation, make identify the fault in different level more dependable and reasonable; for exactly identifying structural attitude, propose a velocity modeling method under multi-well restriction, make structural attitude closer to the facts. 3. Built up a high accuracy reservoir bed inversion method: in view of problem in exactly identifying reservoir and nonreservoir with conventional wave impedance inversion method in this place, propose a reservoir log response characteristic analysis and sensible log parameter inversion method. ①analysis log response of reservoir and nonreservoir in region of interest, make definite the most sensible log parameter in identifying reservoir and nonreservoir in this region; ②make sensible log parameter inversion based on wave impedance inversion, to improve inversion accuracy, the thickness of recognizable reservoir bed reach 4-5m. 4. Built up a 4-D reservoir forcasting circuit: in view of difficulty that in lithologic hydrocarbon reservoir making reservoir space characteristic clear by using structural map and reservoir forecasting techniques once only, propose a 4-D reservoir forcasting circuit. In other words, based on development conceptual design, forcast reservoir of different time, namely multiple 3D reservoir forcasting in time queue, each time the accuracy degree of reservoir forcasting is improved since apply the new well material, thereby achieve high quality and highly efficient in exploratory development. During exploratory development lithologic depositin in Shasan segment of Zhouqingzhuang Oil Field, there are thirteen wells get 100% success rate, which sufficiently proves that this suit of method is scientific and effective.

山西堡子湾金矿角砾岩带控矿规律、成矿时代及隐伏矿体定位预测

The Puziwan gold deposit is located at the northern boundary of the North China platform where there are very favorable ore-forming conditions. The deposit is a medium-sized gold deposit associated with silver and copper polymetallic minerallization which were closely related to cryptoexplosive processes and fluidization and underwent multi-epoch superposition of mineralization. The mineralization consists of cryptoexplosive breccia-type, fluidizing-type, porphyry-type, quartz vein-type, etc. The ore-controlling law of ore-bearing brecciated zone is systematically studied in the paper. The shape, scale and attitude of ore bodies are dominat in the upper, the ore bodies of fluidizing breccia-type are dominant in the upper and the middle part, the porphyry-type ore bodies are dominant in the bottom. The quartz vein-type ore bodies are impenetrated in all the brecciated zone. The metallogenic epoch of Puziwan gold deposit is collated and stipulated. The Rb-Sr isochron age of quartz porphyry (wall rock) is 233 Ma, refering to the Ar-Ar age of gold-bearing quartz, excluded the former conclusion that the so-called metallogenic epoch (245.9Ma) is in Indosinian epoch. The nonage metallogenic age of Buziwan gold deposit shoule be in the Yanshanian epoch (142.5Ma). By applying the sub-specimen sampling technique, the Rb-Sr isochron age of gold-bearing pyrites in late mineralization epoch is dated to be 64 Ma. In conclusion, the metallogenetic epoch of Puziwan gold deposit is in late Yanshanian-early Himalayan epoch. On the above basis, the metallogenic model of the "train type" and new texture model of ore deposit are established. by applying the methods of geology, shallow seismic exploration, remote sensing, partial geochemical extraction and the study of inclusions in the late granite porphyry, the author has made the metallogenic progosis in the depth and the prephery of Puziwan gold deposit and eight prospecting targets are proposed.

沾化凹陷泥质岩油气藏成藏特征研究

Mudstone reservoir is a subtle reservoir with extremely inhomogeneous, whose formation is greatly related to the existence of fracture. For this kind of reservoir, mudstone is oil source rock, cover rock and reservoir strata, reservoir type is various, attitude of oil layer changes greatly, and the distribution of oil and gas is different from igneous or clastic rock reservoir as well as from carbonate reservoir of self-producing and self-containing of oil and gas. No mature experience has been obtained in the description, exploration and development of the reservoir by far. Taking Zhanhua depression as an example, we studied in this thesis the tectonic evolution, deposit characteristics, diagenesis, hydrocarbon formation, abnormal formation pressure, forming of fissure in mudstone reservoir, etc. on the basis of core analysis, physical simulation, numerical simulation, integrated study of well logging and geophysical data, and systematically analyzed the developing and distributing of mudstone fissure reservoir and set up a geological model for the formation of mudstone fissure reservoir, and predicted possible fractural zone in studied area. Mudstone reservoir mainly distributed on the thrown side of sedimentary fault along the sloping area of the petroleum generatiion depression in Zhanhua depression. Growing fault controlled subsidence and sedimentation. Both the rate of subsidence and thickness of mudstone are great on the thrown side of growing fault, which result in the formation of surpressure in the area. The unlocking of fault which leads to the pressure discharges and the upward conduct of below stratum, also makes for the surpressure in mudstone. In Zhanhua depression, mudstone reservior mainly developed in sub-compacted stratum in the third segment of Shahejie formation, which is the best oil source rock because of its wide spread in distribution, great in thickness, and rich in organic matter, and rock types of which are oil source mudstone and shale of deep water or semi-deep water sediment in lacustrine facies. It revealed from core analysis that the stratum is rich in limestone, and consists of lamina of dark mudstone and that of light grey limestone alternately, such rock assemblage is in favor of high pressure and fracture in the process of hydrocarbon generation. Fracture of mudstone in the third segment of Shahejie formation was divided into structure fracture, hydrocarbon generation fracture and compound fracture and six secondary types of fracture for the fist time according to the cause of their formation in the thesis. Structural fracture is formed by tectonic movement such as fold or fault, which develops mainly near the faults, especially in the protrude area and the edge of faults, such fracture has obvious directivity, and tend to have more width and extension in length and obvious direction, and was developed periodically, discontinuously in time and successively as the result of multi-tectonic movement in studied area. Hydrocarbon generation fracture was formed in the process of hydrocarbon generation, the fracture is numerous in number and extensively in distribution, but the scale of it is always small and belongs to microfracture. The compound fracture is the result of both tectonic movement and hydrocarbon forming process. The combination of above fractures in time and space forms the three dimension reservoir space network of mudstone, which satellites with abnormal pressure zone in plane distribution and relates to sedimentary faces, rock combination, organic content, structural evolution, and high pressure, etc.. In Zhanhua depression, the mudstone of third segment in shahejie formation corresponds with a set of seismic reflection with better continuous. When mudstone containing oil and gas of abnormal high pressure, the seismic waveform would change as a result of absorb of oil and gas to the high-frequency composition of seismic reflection, and decrease of seismic reflection frequency resulted from the breakage of mudstone structure. The author solved the problem of mudstone reservoir predicting to some degree through the use of coherent data analysis in Zhanhua depression. Numerical modeling of basin has been used to simulate the ancient liquid pressure field in Zhanhua depression, to quantitative analysis the main controlling factor (such as uncompaction, tectonic movement, hydrocarbon generation) to surpressure in mudstone. Combined with factual geologic information and references, we analyzed the characteristic of basin evolution and factors influence the pressure field, and employed numerical modeling of liquid pressure evolution in 1-D and 2-D section, modeled and analyzed the forming and evolution of pressure in plane for main position in different periods, and made a conclusion that the main factors for surpressure in studied area are tectonic movement, uncompaction and hydrocarbon generation process. In Zhanhua depression, the valid fracture zone in mudstone was mainly formed in the last stage of Dongying movement, the mudstone in the third segment of Shahejie formation turn into fastigium for oil generation and migration in Guantao stage, and oil and gas were preserved since the end of the stage. Tectonic movement was weak after oil and gas to be preserved, and such made for the preserve of oil and gas. The forming of fractured mudstone reservoir can be divided into four different stages, i.e. deposition of muddy oil source rock, draining off water by compacting to producing hydrocarbon, forming of valid fracture and collecting of oil, forming of fracture reservoir. Combined with other regional geologic information, we predicted four prior mudstone fracture reservoirs, which measured 18km2 in area and 1200 X 104t in geological reserves.

热察绥地区过去300年土地利用覆被变化

The historical land use and land cover changes is one of the key issues in LUCC research. However, the achievement of China in this field doesn't match her position in the world yet. And the reliability of the quantitive records in Chinese historical literature, the basic data for historical land use research, has been doubted. This research focuses on Re-Cha-Sui, a typical area for the farming-pastoral region in the north of China, to make a detailed case study in this field. Based on a deep mining and calibration on the data from massive historical documents and land-use surveys, the author gives a detailed analysis on the administrative region evolution, historical population dynamics, reclamation policy, and the land statistic system. According to textual researches, parallel validation and physical geographical analysis, a unified land use series for recent 300 years, which founded on the results of modern land-use surveys, is constructed. And the thematic maps on the cultivation index for different counties in several temporal sections are plotted. Based on the endeavor above, the dynamic of forest and steppe is reconstructed as well. The temporal-spatial patterns of land use/land cover changes in the area is analyzed. And the influence of different driving forces are discussed. The main conclusions of the research are as followed: 1. The quantitive records in literatures on Re-Cha-Sui area are reflection of real amounts of croplands. It is practical to reconstruct a result comparable with the modern land-use surveys, based of a deep mining and considerate validation on historical documents. The unexceptional negative attitude towards the numerical records in historical documents is unnecessary. 2. In recent 300 years, 3 climax of reclamation appeared in Re-Cha-Sui area and altered the pure pastoral area into a farming-pastoral region. The interval were respectively the early time till mid time of the Qing dynasty, the end of the Qing dynasty till early time of the Republic of China(ROC), and the time after A.D. 1949. After the first expansion, the area of cropland in this region reached 2.0 million ha. Among them, Guisui area, which was most densely cultivated, had a cultivation index over 30%, which is similar with modern situation. The second expansion covered broader area, and the amount of cropland reached 3.5 million ha. The increase of farming area after 1949 is due to the recultivation of abandoned farmland. The current area of cropland in this region is 5.6 million ha. In the southern area where the land was reclaimed early, the amount on of the cropland has some fluctuation in 300 years. While in the new reclaimed area in the north, the area of cropland has kept the trend of increasing. 3. Due to the different natural conditions, most forests in Re-Cha-Sui area distribute in the mountain area of North Hebei province, and the upland of West Liaoning province, especially the former, which has a forest coverage near 70%. However, most of these forests were destroyed before the end of the Qing dynasty. In 1949, the natural forest near Chengde was nearly cleared up. They were partly renewed after 1949 due to plantation. 4. In the steppe zone such as northern Rehe, Suiyuan and Chahar, the area of steppe has a negative correlation with that of cropland. With the expansion of cropland, the percentage of steppe has shrunk from over 80% to 53%. In the mountain area of North Hebei province, steppe expanded with the shrinkage of forest, though cropland was expanding. The percentage once reached 60%, and then fell with the renew of forest. However, in the upland of West Liaoning province, the steppe shrink slowly from original 50% to current 26%, with the expansion of cropland. 5. The land use and land cover change in Re-Cha-Sui area in recent 300 years is driven by various factors, including human dimensions such as population, policy of the government, disorder of the society, cultural tradition, and natural factors such as climate change and natural disasters. Among them, pressure from surplus population is the basic driving force.

人－组织匹配等因素对员工的满意度、组织承诺的影响

P-J Fit and P-O Fit are focus problems in the investigation field of industry and organization psychology. They have distinct influences on staff job performance and job attitude. In a certain extend,these influences are moderated by some variables. LMX(Leader-member Exchange) and TMX(Team-member exchange) are two most important personal relationship types in job scene. Post investigations indicated that they are equal to forecasting variables and moderating variables of staff job performance and job attitude. From actualities, although there are many investigations about the relationships between P-J Fit, P-O Fit, LMX, TMX and job attitude, these investigations only focused on some aspects, and they discussed little about four aspects at one time and mutual influences. Using hierarchical regression analysis to analyze the survey data collected from 592 employees in a big governmental telecom company, we got some results as follows: (1)After controlling demography variables, standardized regression coefficients on P-J Fit, P-O Fit, LMX, TMX and job satisfaction, organization commitment are all positive, and reach distinct levels. (2) LMX could distinctly moderate the influences of P-J Fit, P-O Fit on job satisfaction, but couldn’t distinctly moderate the influences of the two on organization commitment. Specifically, as LMX increased,the effect of P-J on job satisfaction decreased gradually,while the effect of P-O increased. (3) TMX could not distinctly moderate the relationships between P-J Fit, P-O Fit, job satisfaction and organization commitment. The theoretical implication of this investigation lies in enriching and developing investigations in these fields in a certain extend, through conforming the influences of P-J Fit, P-O Fit, LMX, and TMX on job satisfaction and organization commitment. The practical implication lies in revealing these aspects for corporation governors: When selecting applications for a job, they should try their best to realize the best fit of personal ability and the job requirements, personal value and organization culture. They should enhance staff job satisfaction and organization commitment through furthering the relationship between the leader and members, team members each other. They should cushion disadvantage influences of non-P-J Fit on staff job satisfaction and enhance positive influences of P-O Fit. 【Key words】 person-job fit; person-organization fit; leader-member exchange; team member exchange; job attitude

不同类型量表的线上调查和传统纸笔调查的比较研究

During the past 11 years, with the rapid development of the Internet, more and more psychologists began to realize and take advantage of it, which led to a growing number of psychological test administrated on the internet for data collection. But there were some controversy about the reliability and representatively of this new method. To examine the applicability of the Online Survey and how different types of scales used on the internet, we first reversed the measurement instrument, then from three different levels to investigate the equivalence of online survey and paper-and-pencil assessment, namely, sample level, scale level and item level. Both Classical Test Theory and Item Response Theory were used to analyze the invariance of different types of scale applicability on the internet. The main conclusions of this study could be drawn as follows: 1. In the sample-based study, self-select sample of the online survey was compared to the random sampled sample of paper-and-pencil assessment. The results showed there were no gender difference between them (p>0.05), but the online survey sample was characterized with high qualifications, high-income and younger features (88% of the sample with post-secondary education or above, and 71% aged 20 -29 years). There were significant differences on the scores of all scales between online survey and paper-and-pencil assessment (p<0.01). With demographic controlled, there was no significant difference on the variable of Neurotic between different surveys (p>0.05). 2. With in-group design, it was proved equivalence of the scale of BI (Attitude toward Brand Importance), BT (Attitude toword Brand Switcher), Extraversion, and Conscientiousbess in the compared study in the reliability, construct validity and average scores. 3. On the item level, the results based on the Item Response Theory analysis showed that 2PLM is appropriate for personality and attitude scales. With regard to personality scale, there emerged some items with DIF in the dimensions of Openness to the experience subscale and Agreeable subscale. However, there were no significant differences about the test function. 4. Exploring the psychometrics properties of answer formats of five-, six-, seven-, ten-points, it was showed that different measurement validity between online survey and paper-and-pencil test. It was also described the lower reliability and validity of six-point scale. In conclusion, the results support the application of personality scale online, but for attitude scale, we need to choose prudently.

社会发展与中国人人格变迁——控制测验理论与工具的变异后不同时期的中国人人格差异研究

In non-western society，researches on social development and personality change focused on economic development and social modernization. The present study is aimed at exploring the relationship between the social transformation and personality changes of Chinese people by using so-called indigenous personality measurement of CPAI (Chinese Personality Assessment Inventory). Meanwhile, the influence of CPAI measurement itself and measurement theory were also taken into consideration. In study 1, two sets of CPAI data collected in a 10 year interval were analyzed. At the same time, the CPAI-2 data was analyzed in terms of modernization level of various cities from which the data were collected. However, this study didn’t consider the importance of “equivalence” of the measurement, CPAI. In study 2, we detected DIF (Differential item functioning) across the different period groups to confirm if CPAI was equal to people in different period. In this process, both CTT and IRT method were used. The outcome reminded us that there were some DIF items. In study 3, to make sure that the personality measurement is fair to people in different period, we only saved those items whose DIF effect size lower than 0.01, and used IRT method to estimate test-taker’s personality. Then, cohort analysis was used to explore the pattern of personality change of Chinese people. In study 4, we factor-analyzed the DIF items to find the relation between social transformation and the latent personality variable which were composed of DIF items. From these 4 studies, we could got the following conclusions: (1) The CPAI 22 traits could be divided into two categories, with the changing of age, period and cohort, type I traits didn’t change, they were Logical vs Affective Orientation, Enterprise, Responsibility, Inferiority vs Self-Acceptance, Optimism vs Pessimism, Face, Family, Defensive, Graciousness vs Meanness; While with the changing of age, period and cohort, type II traits changed, they were Leadership, Self vs. Social Orientation, Veraciousness vs Slickness, Traditionalism vs Modernity, Harmony, Renqing, Meticulousness, Extraversion vs Introversion, Emotionality, Practical Mindedness, Internal vs External Locus of Control, Thrift vs Extravagance, Discipline. Meanwhile DIF items measured 5 psychologycial characteristics which changed greatly with the changing of age, period and cohort, they were Life attitude of Cynicism-realism, Psychological maladjustment, Coping style of Waiyuanneifang, Self-efficacy, the value of Individualism. (2) In sum, Chinese people in 1992 were more traditional than those in 2001, and with the 10-year of rapid development, according to the market economy’s needs, Chinese people became more individualism. (3) The DIF method of CTT and IRT were comparable. But, in generally, IRT method was more accurate and valid in detecting DIF as were as estimating personality. (4) The DIF outcomes showed that CPAI had good item validity. Meanwhile, it’s possible to develop a subscale by using CPAI items to assess some psychological characteristics. In this current study, according to their stability and variability, we could divided personality traits and psychological characteristics into 3 categories, and the outcome supported the hypothesis of “Six Factor Model”, these foundings were of some theoretic meanings. Meanwhile, as the relation between social development and personality change being explored, it certain help Chinese people cope with the rapid changing society. In this study, we also found that it’s possible to develop a subscale by using CPAI items to assess obverse personality traits and it had some practical use. Furthermore, the use of different measurement theory and cohort analysis embodied some innovation in methodology.