两栖机器人轮桨腿驱动机构多目标优化设计

提出了一种既能够在陆地上爬行,又能够在一定深度的水下浮游和在海底爬行的新概念轮桨腿一体化两栖机器人;多运动模式和复合移动机构是该机器人的突出特点.分析了轮桨腿复合式驱动机构的运动机理,并采用多目标优化设计理论和算法,对驱动机构的爬行性能和浮游特性进行了综合优化,得到了两栖机器人驱动机构的结构优化参数.虚拟样机的仿真结果证明了该轮桨腿一体化两栖机器人驱动机构的综合运动性能良好,对非结构环境具有一定的适应能力。

基于模糊多目标遗传算法的飞行器模拟件结构参数优化

空间飞行器模拟件的设计是一个具有约束的多目标多准则优化问题。本文在建立空间飞行器模拟件参数优化的数学模型的基础上,将模糊多目标决策理论用于飞行器模拟件的结构参数优化,提出了一种新的模糊评价指数。结构参数优化的结果已经用于某试验系统。

渤海海域河流相油藏精细描述技术及应用研究

Aiming at the character of Bohaii Sea area and the heterogeneity of fluvial facies reservoir, litho-geophysics experiments and integrated research of geophysical technologies are carried out. To deal with practical problems in oil fields of Bohai area, such as QHD32-6, Southern BZ25-1 and NP35-2 et al., technology of reservoir description based on seismic data and reservoir geophysical methods is built. In this dissertation, three points are emphasized: ①the integration of multidiscipline; ②the application of new methods and technologies; ③the integration of quiescent and dynamic data. At last, research of geology modeling and reservoir numerical simulation based on geophysical data are integrated. There are several innovative results and conclusion in this dissertation: (1)To deal with problems in shallow sea area where seismic data is the key data, a set of technologies for fine reservoir description based on seismic data in Bohai Sea area are built. All these technologies, including technologies of stratigraphic classification, sedimentary facies identification, structure fine characterization, reservoir description, fluid recognition and integration of geological modeling& reservoir numerical simulation, play an important role in the hydrocarbon exploration and development. In the research of lithology and hydrocarbon-bearing condition, petrophysical experiment is carried out. Outdoors inspection and experiment test data are integrated in seismic forward modeling& inversion research. Through the research, the seismic reflection rules of fluid in porosity are generated. Based on all the above research, seismic data is used to classify rock association, identify sedimentary facies belts and recognition hydrocarbon-bearing condition of reservoir. In this research, the geological meaning of geophysical information is more clear and the ambiguity of geophysical information is efficiently reduced, so the reliability in hydrocarbon forecasting is improved. The methods of multi-scales are developed in microfacies research aiming at the condition of shallow sea area in Bohai Sea: ① make the transformation from seismic information to sedimentary facies reality by discriminant analysis; ②in research of planar sedimentary facies, make microfacies research on seismic scale by technologies integration of seismic multi-attributes analysis& optimization, strata slicing and seismic waveform classification; ③descript the sedimentary facies distribution on scales below seismic resolution with the method of stochastic modeling. In the research of geological modeling and reservoir numerical simulation, the way of bilateral iteration between modeling and numerical simulation is carried out in the geological model correction. This process include several steps: ①make seismic forward modeling based on the reservoir numerical simulation results and geological models; ②get trend residual of forward modeling and real seismic data; ③make dynamic correction of the model according to the above trend residual. The modern integration technology of reservoir fine description research in Bohai Sea area, which is developed in this dissertation, is successfully used in (1)the reserve volume evaluation and development research in BZ25-1 oil field and (2)the tracing while drilling research in QHD32-6 oil field. These application researches show wide application potential in hydrocarbon exploration and development research in other oil fields.

基于独立分量分析的地震属性分析方法研究

Conventional seismic attribute analysis is not only time consuming, but also has several possible results. Therefore, seismic attribute optimization and multi-attribute analysis are needed. In this paper, Fuyu oil layer in Daqing oil field is our main studying object. And there is much difference between seismic attributes and well logs. So under this condition, Independent Component Analysis (ICA) and Kohonen neural net are introduced to seismic attribute optimization and multi-attribute analysis. The main contents are as follows: (1) Now the method of seismic attribute compression is mainly principal component analysis (PCA). In this article, independent component analysis (ICA), which is superficially related to PCA, but much more powerful, is used to seismic reservoir characterizeation. The fundamental, algorithms and applications of ICA are surveyed. And comparation of ICA with PCA is stydied. On basis of the ne-entropy measurement of independence, the FastICA algorithm is implemented. (2) Two parts of ICA application are included in this article: First, ICA is used directly to identify sedimentary characters. Combined with geology and well data, ICA results can be used to predict sedimentary characters. Second, ICA treats many attributes as multi-dimension random vectors. Through ICA transform, a few good new attributes can be got from a lot of seismic attributes. Attributes got from ICA optimization are independent. (3) In this paper, Kohonen self-organizing neural network is studied. First, the characteristics of neural network’s structure and algorithm is analyzed in detail, and the traditional algorithm is achieved which has been used in seism. From experimental results, we know that the Kohonen self-organizing neural network converges fast and classifies accurately. Second, the self-organizing feature map algorithm needs to be improved because the result of classification is not very exact, the boundary is not quite clear and the velocity is not fast enough, and so on. Here frequency sensitive principle is introduced. Combine it with the self-organizing feature map algorithm, then get frequency sensitive self-organizing feature map algorithm. Experimental results show that it is really better. (4) Kohonen self-organizing neural network is used to classify seismic attributes. And it can be avoided drawing confusing conclusions because the algorithm’s characteristics integrate many kinds of seismic features. The result can be used in the division of sand group’s seismic faces, and so on. And when attributes are extracted from seismic data, some useful information is lost because of difference and deriveative. But multiattributes can make this lost information compensated in a certain degree.

松辽盆地古龙地区葡萄花油层组沉积成岩相研究

The sediment and diagenesis process of reservoir are the key controlling factors for the formation and distribution of hydrocarbon reservoir. For quite a long time, most of the research on sediment-diagenesis facise is mainly focusing on qualitative analysis. With the further development on exploration of oil field, the qualitative analysis alone can’t meet the requirements of complicated requirements of oil and gas exploreation, so the quantitative analysis of sediment-diagenesis facise and related facies modling have become more and more important. On the basis of the research result from stratum and sediment on GuLong Area Putaohua Oil Layer Group, from the basic principles of sedimentology, and with the support from the research result from field core and mining research results, the thesis mainly makes the research on the sediment types, the space framework of sands and the evolution rules of diagenesis while mainly sticking to the research on sediment systement analysis and diagenetic deformation, and make further quantitative classification on sediment-diageneses facies qualitatively, discussed the new way to divide the sediment-diagenesis facies, and offer new basis for reservoir exploration by the research. Through using statistics theory including factor analysis, cluster analysis and discriminant analysis, the thesis devided sediment-diagenesis facies quantitatively. This research method is innovative on studying sediment-diagenesis facies. Firstly, the factor analysis could study the main mechanism of those correlative variables in geologic body, and then could draw a conclusion on the control factors of fluid and capability of reservoir in the layer of studying area. Secondly, with the selected main parameter for the cluster analysis, the classification of diagenesis is mainly based on the data analysis, thus the subjective judgement from the investigator could be eliminated, besides the results could be more quantitative, which is helpful to the correlative statistical analysis, so one could get further study on the quantitative relations of each sediment-diagenesis facies type. Finally, with the reliablities of discriminant analysis cluster results, and the adoption of discriminant probability to formulate the chart, the thesis could reflect chorisogram of sediment-diagenesis facies for planar analysis, which leads to a more dependable analytic results.According to the research, with the multi-statistics analysis methods combinations, we could get quantitative analysis on sediment-diagenesis facies of reservoir, and the final result could be more reliable and also have better operability.

弱各向异性介质中传播的地震波及其速度重建

We begin our studies to make the best of information of seismic data and carry out the description of cracks parameters by extracting anisotropic information. The researching contents are: (1) velocity and polarization anomaly of seismic wave (qP and qSV wave) in weak anisotropic media; (2) reflection seismic synthetic record in anisotropic media; (3) multiple scattering induced by cracks; (4) anisotropic structure inversion and velocity reconstruction with VSP (Vertical Seismic Profile) data; (5) multi-parameters analysis of anisotropy in time-domain and depth-domain. Then we obtain results as follows: (1) We achieve approximate relation of qP and qSV wave's velocity and polarization property in weak anisotropic media. At the same time, we calculate anisotropic velocity factors and polarization anomaly of several typical sedimentary rocks. The results show there are different anisotropic velocity factors and polarization anomaly in different rocks. It is one of the primary theoretical foundation which is expected to identify lithology; (2) We calculate reflection seismic synthetic record with theoretical model; (3) We simulate scattering induced by cracks with Boundary Element Method. Numerical studies show that in the presence of cracks; spatial and scale-length distributions are important and cannot be ignored in modeling cracked solids; (4) From traveltimes information of VSP data, we study the velocity parameter inversion of seismic wave under isotropic and anisotropic models, and its result indicate that the inversion imaging under anisotropic model will not destroy the original features of isotropic model, but it will bring on some bigger error if we adopt the method of isotropic model for anisotropic model data. Further more, basing on the study we develop the CDP mapping technology of reflecting structure under isotropic and anisotropic models, and we process real data as a trial of the methods; (5) We study the problem of initial model reconstruction of anisotropic parameters structure represented by Anderson parameter in depth domain for surface data.

民众社会风险认知的影响因素及作用机制

Risk perception is one of important subjects in management psychology and cognitive psychology. It is of great value in the theory and practice to investigate the social risk events that the public cares a lot especially in this social transition period. Furthermore, this study explored the factors that influence the risk perception and the results caused by risk perception. A survey including 30 hazards and 8 risk attributes was designed and distributed to about 3, 200 residents of 8 districts, Beijing. The major findings are listed as following： Firstly, combining the methods of system science and psychology, GAE program was used to indentify 7 groups of social risk events, such as national safe, government management, social stability, general mood of society, economic and finance, resources and environment & daily life problems. This study provided substance for the following studies and it was also a new attempt in research method which is of certain reference value for the related researches. Secondly, a scale of societal risk perception was designed and 2 factors were identified (Dread Risk & Unknown Risk). Reliability analysis, EFA and CFA show the reliability and validity of the societal risk questionnaire is good enough. The investigation using this scale showed that older participants and higher socioeconomic status perceived the societal hazards to be more threatening than did younger participants and lower socioeconomic status. However, there is no gender difference. Thirdly, structural equation model was used to analyze the influence factors and mechanism of societal risk perception. Risk taking, government support and social justice could influence societal risk perception directly. Government support moderated the relationship between government trust and societal risk perception. Societal risk perception influenced life satisfaction, public policy preferences and social development belief. Multi-group analysis was used to find out that the participants who have different socioeconomic status express different mechanism. Fourthly, the result of the research was used to explore the risk event of 2008 Olympic game. The results showed that government support and preparation of Olympic game influenced societal risk perception directly. Preparation moderated the relationship between government trust and risk perception. Risk perception influenced worry, effect of Olympic game and belief of successl. This result proved that risk perception could be used as an indicator. The indictor of risk perception was used to identify the characteristics of higher risk perception group. Finally, suggestions to the related decision were provide to the government.