履带式移动机器人行动规划技术的研究

本文以８６３－５１２型号项目为背景，从运动特性、运动描述、运动控制以及运动规划等几个方面研究履带式移动机器人的行动规划技术；首先从理论上分析了履带式移动机器人的内在运动传递机理，指出了其区别于轮式移动载体的独特的运动特性，尤其是在其转向特性方面，得出了履带式移动机器人运动角速度几乎不可控原理、原地转弯转不准问题、以及履带式车辆行动规划时所要遵循的规则等重要结论，针对履带式移动机器人的纵向运动控制问题，讨论了其速度控制模型，提出了一种速度测量与控制的简单、准确、可靠的方法。在磺向运动方面，提出了一种基于ＦＭ－ＬＩＫＥ和ＡＭ－ＬＩＫＥ相结合的复合控制技术，解决了难度较大的方向控制问题。最后提供了实验结果，证明了上述方法与结论的正确性。上述方法与结论，作为８６３－５１２某型号任务的一部分，业已通过验收。

不同基板预热温度对激光金属沉积成形过程温度场的影响

为降低成形过程的热应力,抑制成形过程裂缝的产生,减小成形过程试样和基板的翘曲变形,激光金属沉积成形往往需要进行基板预热,因此研究不同基板预热温度对激光金属沉积成形过程温度场的影响具有非常重要的意义.根据有限元分析中的"单元生死"技术,利用APDL编程建立了基板预热对激光金属沉积成形过程温度场影响的三维多道多层数值模拟模型,详细分析了基板未预热和分别预热到200,300,400,500,600℃时对沉积成形过程温度场和温度梯度的影响.通过中国科学院沈阳自动化研究所自行研制的激光金属沉积成形系统和基板预热系统,在与模拟过程相同的参数下,利用镍基合金粉末在基板未预热和分别预热到300,400,500,560℃时进行了成形试验,试验结果跟数值模拟结果吻合较好.

不同基板预热温度对激光金属沉积成形过程热应力影响的研究

研究不同基板预热温度对激光金属沉积成形过程热应力的影响,对于降低成形过程的热应力,抑制成形过程裂缝的产生,减小成形过程试样和基板的翘曲变形具有非常重要的意义。根据有限元分析中的"单元生死"技术,编程建立了基板预热对激光金属沉积成形过程热应力影响的三维多道多层数值模拟模型,详细分析了基板未预热和分别预热到200℃、300℃、400℃、500℃、600℃时对沉积成形过程VonMise’s热应力、X方向、Y方向以及Z方向热应力的影响。在与模拟过程相同的参数下,利用镍基合金粉末分别在基板未预热和分别预热到300℃、400℃、500℃、600℃时进行了成形试验,试验的结果跟数值模拟结果吻合较好。

重庆老龙洞二叠系-三叠系界线地层微生物岩研究

The largest mass extinction in the Phanerozoic happened at the end of the Permian. The microbialites formed in the extreme environments after the mass extinction has become a hotspot for geologists and paleontologists throughout the world. The dendroid microbialites that were described for the first time in 1999 from the Permian-Triassic boundary section at Laolongdong, Chongqing, have been studied by many geologists from China and overseas. Two important viewpoints about their origin have been proposed. Some researchers believed that they resemble Quaternary travertine shrubs in form, and may belong to microbialites. Some other researchers proposed that the dendroid structure is composed of clots formed by coccoidal cynaobacteria, and is microbialite. Our detailed survey on the section reveals that: (1) there is an interval of speckled “microbialite” in the section, and it underlies the dendroid “microbialite”, (2) the dendroid “microbialite” does not always have dendroid appearance; they are dendroid only in very local places; they are not dendroid in most places; for this reason, they are not comparable to recent tufa; (3) the volume of the dendroid structure greatly increases toward the top of the dendroid microbialite interval: accounting to 70% of the whole rock in the top part. This distribution pattern implies that the formation of this structure may be related to downward migration of the diagenetic fluid. Examination of thin sections reveals that the dendroid structure or point-like structure in the “microbialite” look as lighter areas in the thin sections and are composed of large blocky clear calcites containing scattered yellow dirty small calcite rhombi and irregular “points” of relict lime mudstone or wackestone or packstone. Their formation is by any one of the following two processes: (1) dissolution → filling of large blocky calcite; (2) dolomitization → dedolomitization → dissolution by meteoric fresh water → filling by large blocky calcites. It has been found that there are at least two sea-level falls during the P-T transition. As the sea level fall, the carbonate deposits came into supratidal environment, and suffered dolomitization caused by evaporative fluid or mixing water of sea water and meteoric water. Since the fluid migrated downward from the top of the deposits and in random pathway, the dolomitization formed dendroid or speckled dolomitic areas. As the deposits came into subaerial environments, the meteoric fresh water migrated along the dendroid or speckled dolomitic area with higher porosity, and dissolution happened, which caused the rock became spongy or alveolate. In later time, after the strata came into phreatic zone, large clear blocky calcites grew in and filled the pores in the spongy areas. The dendroid and speckled structure were formed in this way, rather than composed of clots formed by coccoid cyanobecteria. The microbial fossils in Laolongdong section include two types. The first is the tube-like cyanobecteria in middle Bed 3, which are generally less than 1 mm in length, taper toward one end, and are internally filled by microspars. They are straight or sinuous, with micritic wall 0.005~0.01 mm thick. Since this kind of microbial fossils are abundant in middle Bed 3, this rock belongs to microbialite. The second type occurs in Bed 5 and lower and middle Bed 6. They are irregular globular in shape, generally 0.2 ~ 0.5 mm in size, with several outward progresses, and internally filled by one layer of needle-like calcite cements on the wall and the large blocky calcite in the inner space. According to their shape and preservation way, it is inferred that this kind of fossils were formed from some kind of bacterial colony. The bacterial colony may be cuticle in composition, since it has some hardness as it is indicated by its resistance to deposit loading. These organisms discomposed during diagenetic time, and formed good porosity. In later diagenetic time, these pores were firstly cemented by needle-like calcites and later filled by large blocky calcites. So, the bacterial colony promoted the formation of dendroid and speckled structures. However, they did not always form such structures. On the other hand, even though no bacterial colony or other microbes or any kind of fossils were present, dendroid or speckled structures can form. Bed 4 of Laolongdong section contains abundant gastropods but no microbial fossils, and is not microbialite, even though it is speckled. The top of Bed 6 is dendroid, but contain no microbial fossils, and is not micrbialite.

Pg震相走时的各向异性影响及各向异性结构成像

As the first arrival of seismic phase in deep seismic sounding, Pg is the important data for studying the attributes of the sedimentary layers and the shape of crystalline basement because of its high intensity and reliable detection. Conventionally, the sedimentary cover is expressed as isotropic, linear increasing model in the interpretation of Pg event. Actually, the sedimentary medium should be anisotropic as preferred cracks or fractures and thin layers are common features in the upper crust, so the interpretation of Pg event needs to be taken account of seismic velocity anisotropy. Traveltime calculation is the base of data processing and interpretation. Here, we only study the type of elliptical anisotropy for the poor quality and insufficiency of DSS data. In this thesis, we first investigate the meaning of elliptical anisotropy in the study of crustal structure and attribute, then derive Pg event’s traveltime-offset relationship by assuming a linear increasing velocity model with elliptical anisotropy and present the invert scheme from Pg traveltime-offset dataset to seismic velocity and its anisotropy of shallow crustal structure. We compare the Pg traveltime calculated by our analytic formula with numerical calculating method to test the accuracy. To get the lateral variation of elliptical anisotropy along the profiling, a tomography inversion method with the derived formula is presented, where the profile is divided into rectangles. Anisotropic imaging of crustal structure and attribute is efficient method for crust study. The imaging result can help us interprete the seismic data and discover the attribute of the rock to analyze the interaction between layers. Traveltime calculation is the base of image. Base on the ray tracing equations, the paper present a realization of three dimension of layer model with arbitrary anisotropic type and an example of Pg traveltime calculation in arbitrary anisotropic type is presented. The traveltime calculation method is complex and it only adapts to nonlinear inversion. Perturbation method of travel-time calculation in anisotropy is the linearization approach. It establishes the direct relation between seismic parameters and travetime and it is fit for inversion in anisotropic structural imaging. The thesis presents a P-wave imaging method of layer media for TTI. Southeastern China is an important part of the tectonic framework concerning the continental margin of eastern China and is commonly assumed to comprise the Yangtze block and the Cathaysia block, the two major tectonic units in the region. It’s a typical geological and geophysical zone. In this part, we fit the traveltime of Pg phase by the raytracing numerical method. But the method is not suitable here because the inefficiency of numerical method and the method itself. By the analytic method, we fit the Pg and Sg and get the lateral variation of elliptical anisotropy and then discuss its implication. The northeastern margin of Qinghai-Tibetan plateau is typical because it is the joint area of Eurasian plate and Indian plate and many strong earthquakes have occurred there in recent years．We use the Pg data to get elliptical anisotropic variation and discuss the possible meaning.

电离层垂直TEC映射函数的实验观测与统计特性

When used in the determining the total electron content (TEC), which may be the most important ionospheric parameter, the worldwide GPS observation brings a revolutionary change in the ionospheric science. There are three steps in the data processing to retrieve GPS TEC: (1) to estimate slant TEC from the measurements of GPS signals; (2) to map the slant TEC into vertical; and (3) to interpolate the vertical TEC into grid points. In this scientific dissertation we focus our attention on the second step, the mapping theory and method to convert slant TEC into vertical. This is conventionally done by multiplying on the slant TEC a mapping function which is usually determined by certain models of electron density profile. Study of the vertical TEC mapping function is of significance in GPS TEC measurement. This paper first reviews briefly the three steps in GPS TEC mapping process. Then we compare the vertical TEC mapping function which were respectively calculated from the electron density profiles of the ionospheric model and retrieved from the observation of worldwide GPS TEC. We also perform the statistical analysis on the observational mapping functions. The main works and results are as follows: 1. We calculated the vertical TEC mapping functions for both SLM and Chapman models, and discussed the modulation of the ionosphere height to the mapping functions. We use two simple models, single layer model (SLM) and Chapman models, of the ionospheric electron density profiles to calculate the vertical TEC mapping function. In the case of the SLM, we discuss the control of the ionospheric altitude, i.e., the layer height hipp, to the mapping function. We find that the mapping function decreases rapidly as hipp increases. For the Chapman model we study also the control mapping function by both ionospheric altitude indicated by the peak electron density height hmF2, and the scale height, H, which present the thickness of the ionosphere. It is also found that the mapping function decreases rapidly as hmF2 increases. and it also decreases as H increases. 2. Then we estimate the mapping functions from the GPS observations and compare them with those calculated from the electron density models. We first, proposed a new method to estimate the mapping functions from GPS TEC data. This method is then used to retrieve the observational mapping function from both the slant TEC (TECS) provided by International GPS Service (IGS）and vertical TEC provide by JPL Global Ionospheric Maps (GIMs). Then we compare the observational mapping function with those calculated from the electron density models, SLM and Chapman. We find that the values of the observational mapping functions are much smaller than that from the model mapping functions, when the zenith angle is large enough. We attribute this to the effect of the plasmasphere which is above about 1000 km. 3. We statistically analyze the observational mapping functions and reveal their climatological changes. Observational mapping functions during 1999-2007 are used in our statistics. The main results are as follows. (1) The observational mapping functions decrease obviously with the decrement of the solar activity which is represented by the F10.7 index; (2) In annual variations of the observational mapping functions, the semiannual component is found at low-latitudes, and the remarkable seasonal variations at mid- and high-latitudes. (3) The diurnal variation of the observational mapping functions is that they are large in daytime and small at night, they become extremely small in the early morning before sunrise. (4) The observational mapping functions change with latitudes that they are smaller at lower latitudes and larger at higher. All of the above variations of the observational mapping functions are explained by the existence of the plasmasphere, which changes more slowly with time and more rapidly with latitude than the ionosphere does . In summary, our study on the vertical TEC mapping function imply that the ionosphere height has a modulative effect on the mapping function. We first propose the concept of the 'observational mapping functions' , and provide a new method to calculate them. This is important in improving the TEC mapping. It may also possible to retrieving the plasmaspheric information from GPS observations.

边坡动力响应分析及应用研究

As a marginal subject, dynamic responses of slopes is not only an important problem of engineering geology (Geotechnical problem), but also of other subjects such as seismology, geophysics, seismic engineering and engineering seismic and so on. Owning to the gulf between different subjects, it is arduous to study dynamic responses of slopes and the study is far from ripeness. Studying on the dynamic responses of slopes is very important in theories as well as practices. Supported by hundreds of bibliographies, this paper systemically details the development process of this subject, introduces main means to analyze this subject, and then gives brief remarks to each means respectively. Engineering geology qualitative analysis is the base of slopes dynamic responses study. Because of complexity of geological conditions, engineering geology qualitative analysis is very important in slopes stability study, especially to rock slopes with complex engineering geology conditions. Based on research fruits of forerunners, this paper summarizes factors influencing slopes dynamic stability into five aspects as geology background, stratums, rock mass structure, and topography as well as hydrogeology condition. Based on rock mass structure controlling theory, engineering geology model of the slope is grouped into two typical classes, one is model with obvious controlling discontinuities, which includes horizontal bedded slope, bedding slope, anti-dip slope, slide as well as slope with base rock and weathered crust; the other is model without obvious controlling discontinuities, which includes homogeneous soil slope, joint rock mass slope. Study on slope failure mechanism under dynamic force, the paper concludes that there are two effects will appear in slope during strong earthquake, one is earthquake inertia force, the other is ultra pore pressure buildup. The two effects lead to failure of the slope. To different types of slope failure, the intensity of two effects acting on the slope is different too. To plastic flow failure, pore pressure buildup is dominant; to falling rock failure and toppling failure, earthquake inertia force is dominant in general. This paper briefly introduces the principle of Lagrangian element method. Through a lot of numerical simulations with FLAC3D, the paper comprehensively studies dynamic responses of slopes, and finds that: if the slope is low, displacement, velocity and acceleration are linear enlarging with elevation increasing in vertical direction; if the slope is high enough, displacement, velocity and acceleration are not linear with elevation any more, on the other hand, they fluctuate with certain rhythm. At the same time, the rhythm appears in the horizontal direction in the certain area near surface of the slope. The distribution form of isoline of displacement, velocity and acceleration in the section of the slope is remarkably affected by the slope angle. In the certain area near the slope surface, isoline of displacement, velocity and acceleration is parallel to the surface of the slope, in the mean time, the strike direction of the extreraum area is parallel to the surface of the slope too. Beyond this area, the isoline direction and the strike direction of the extremum area turn to horizontal with invariable distance. But the rhythm appearing or not has nothing to with the slope angle. The paper defines the high slope effect and the low slope effect of slopes dynamic responses, discusses the threshold height H^t of the dynamic high slope effect, and finds that AW is proportional to square root of the dynamic elastic moduli El P , at the same time, it is proportional to period Tof the dynamic input. Thus, the discriminant of H^t is achieved. The discriminant can tell us that to a slope, if its height is larger than one fifth of the wavelength, its response regular will be the dynamic high slope effect; on the other hand, its response regular will be the dynamic low slope effect. Based on these, the discriminant of different slopes taking on same response under the same dynamic input is put forward in this paper. At the same time, the paper studies distribution law of the rhythm extremum point of displacement, velocity and acceleration, and finds that there exists relationship of N = int among the slope height H, the number of the rhythm extremum VHlhro) point N and ffthre- Furthermore, the paper points out that if N^l, the response of the slope will be dynamic high slope effect; \fNmodel as well as pore pressure model of Martin-Finn-Seed, a method for estimating the permanent displacement of the slide is put forward in this paper, and then put it into dynamic analysis of the left abutment slope of Jinping hydropower station. The forecasting result is almost coincided with numerical simulation result. The Jinping hydropower station, located at the middle stream of Yalongjiang River and the west side of Jinpingdahewan, is the highest double-curvature arch dam planned in building in the world. However, deep fractures are well developed at the left abutment slope, so stability of the slope is a key engineering geological problem. The paper studies the dynamic stability of the slope. In the analysis, considering regional geology and regional seismology of the slope, combining with characteristics of the slope as well as the scale of the project, PGA(peak ground acceleration) of the site is decided (about 197.1cm/s2) by engineering seismology, and then the seismic input used in the slope dynamic analysis is determined. Comprehensive studies are carried out on the slope, especially to its deep fractures, and then the paper concludes that the deep fractures of slope are the result of the combination unloading effect of gravity and tectonic stress. At the same time, the failure model of the slope under dynamic input is attained. Based on these, the stability is comprehensively studied for section IV-IV with numerical simulation method as well as method putting forward in chapter 5. At last, the paper concludes that under dynamic input, the section will slide along fault f9, some deep fractures and fault/5 with certain permanent displacement, and this must be taken into consideration in the engineering.

An improvement on the theoretical model for the large-scale coherent structures in the outer region of a turbulent boundary layer

According to the experimental results, there exist large-scale coherent structures in the outer region of a turbulent boundary layer, which have been studied by many authors.As experimental results, Antonia (1990) showed the phase- aver aged streamlines and isovorticity lines of the large-scale coherent structures in a turbulent boundary layer for different Reynolds numbers. Based on the hydrodynamic stability theory, the 2-D theoretical model for the large-scale structures was proposed by Luo and Zhou, in which the eddy viscosity was defined as a complex function of the position in the normal direction. The theoretical results showed in ref. were in agreement with those in ref. However, there were two problems in the results. One is that in the experimental results, there were divergent focuses between two saddle points in the streamlines, but in the theoretical results, there were centers. The other is that the stretched parts of the isovorticity lines appear at the location of centers in the theoretical results, while in the experimental results they located somewhere between the focuses and saddle points. The reason is that the computations were based on a 2-D model.

Conjugate Model for Heat and Mass Transfer of Porous Wall in the High Temperature Gas Flow

Heat and mass transfer of a porous permeable wall in a high temperature gas dynamical flow is considered. Numerical simulation is conducted on the ground of the conjugate mathematical model which includes filtration and heat transfer equations in a porous body and boundary layer equations on its surface. Such an approach enables one to take into account complex interaction between heat and mass transfer in the gasdynamical flow and in the structure subjected to this flow. The main attention is given to the impact of the intraporous heat transfer intensity on the transpiration cooling efficiency.

Two-way coupling model for shock-induced laminar boundary-layer flows of a dusty gas

The present paper describes a numerical two-way coupling model for shock-induced laminar boundary-layer flows of a dust-laden gas and studies the transverse migration of fine particles under the action of Saffman lift force. The governing equations are formulated in the dilute two-phase continuum framework with consideration of the finiteness of the particle Reynolds and Knudsen numbers. The full Lagrangian method is explored for calculating the dispersed-phase flow fields (including the number density of particles) in the regions of intersecting particle trajectories. The computation results show a significant reaction of the particles on the two-phase boundary-layer structure when the mass loading ratio of particles takes finite values.

A ground hydrologic model with inclusion of a layer of vegetation canopy that can interact with general-circulation model

In this paper, a ground hydrologic model(GHM) is presented in which the vapor, heat and momentum exchanges between ground surface covers (including vegetation canopy) and atmosphere is described more realistically. The model is used to simulate three sets of field data and results from the numerical simulation agree with the field data well. GHM has been tested using input data generated by general circulation model (GCM) runs for both the North American regions and the Chinese regions, The results from GHM are quite different from those of GHMs in GCMs. It shows that a more active concerted effort on the land surface process study to provide a physically realistic GHM for predicting the exchange between land and atmosphere is important and necessary.

A Mechanical Model For The Quantification Of The Effect Of Laser Quenching On Ctod In Steels

The technology of laser quenching is widely used to improve the surface properties of steels in surface engineering. Generally, laser quenching of steels can lead to two important results. One is the generation of residual stress in the surface layer. In general, the residual stress varies from the surface to the interior along the quenched track depth direction, and the residual stress variation is termed as residual stress gradient effect in this work. The other is the change of mechanical properties of the surface layer, such as the increases of the micro-hardness, resulting from the changes of the microstructure of the surface layer. In this work, a mechanical model of a laser-quenched specimen with a crack in the middle of the quenched layer is developed to quantify the effect of residual stress gradient and the average micro-hardness over the crack length on crack tip opening displacement (CTOD). It is assumed that the crack in the middle of the quenched layer is created after laser quenching, and the crack can be a pre-crack or a defect due to some reasons, such as a void, cavity or a micro-crack. Based on the elastic-plastic fracture mechanics theory and using the relationship between the micro-hardness and yield strength, a concise analytical solution, which can be used to quantify the effect of residual stress gradient and the average micro-hardness over the crack length resulting from laser quenching on CTOD, is obtained. The concise analytical solution obtained in this work, cannot only be used as a means to predict the crack driving force in terms of the CTOD, but also serve as a baseline for further experimental investigation of the effect after laser-quenching treatment on fracture toughness in terms of the critical CTOD of a specimen, accounting for the laser-quenching effect. A numerical example presented in this work shows that the CTOD of the quenched can be significantly decreased in comparison with that of the unquenched. (C) 2008 Elsevier B.V. All rights reserved.

Acceleration of ultra-thin electron layer.Analytical treatment compared with 1D-PIC simulation

In this paper, we apply an analytical model [V.V. Kulagin et al., Phys. Plasmas 14, 113101 (2007)] to describe the acceleration of an ultra-thin electron layer by a schematic single-cycle laser pulse and compare with one-dimensional particle-in-cell (1D-PIC) simulations. This is in the context of creating a relativistic mirror for coherent backscattering and supplements two related papers in this EPJD volume. The model is shown to reproduce the 1D-PIC results almost quantitatively for the short time of a few laser periods sufficient for the backscattering of ultra-short probe pulses.

Thermodynamic model of hydrogen-induced silicon surface layer cleavage

A thermodynamic model of hydrogen-induced silicon surface layer splitting with the help of a bonded silicon wafer is proposed in this article. Wafer splitting is the result of lateral growth of hydrogen blisters in the entire hydrogen-implanted region during annealing. The blister growth rate depends on the effective activation energies of both hydrogen complex dissociation and hydrogen diffusion. The hydrogen blister radius was studied as a function of annealing time, annealing temperature, and implantation dose. The critical radius was obtained according to the Griffith energy condition. The time required for wafer splitting at the cut temperature was calculated in accordance with the growth of hydrogen blisters. (C) 2001 American Institute of Physics.