网络控制系统稳定性的图理论

针对具有有界时延和数据包丢失的网络控制系统,提出了一种新的稳定性判据.基于Lyapunov方法和图论理论,给出非线性离散和连续网络控制系统渐近稳定的充分条件,获得保持这两类系统稳定的最大允许时延界,得到控制器设计方法.并且,利用区间矩阵的谱特征,给出网络控制系统区间稳定的充分条件.设计算法,获得比例积分反馈控制器增益.算例表明所提方法的有效性。

基于SVD和能量最小原则的图像自适应降噪算法

基于奇异值分解和能量最小原则,提出了一种自适应图像降噪算法,并给出了基于有界变差的能量降噪模型的代数形式。通过在矩阵范数意义下求能量最小,自适应确定去噪图像重构的奇异值个数。该算法的特点是将能量最小法则和奇异值分解结合起来,在代数空间中建立了一种自适应的图像降噪算法。与基于压缩比和奇异值分解的降噪方法相比,由于该算法避免了图像压缩比函数及其拐点的计算,因此具有快速去噪和简单可行的优点。实验结果证明,该算法是有效的。

类Lyapunov理论在类人形机器人任务空间内跟踪的应用

考虑了类人形机器人的各种不确定因素,提出了其手臂控制的新方法.基于类Lyapunov方法,设计出具有鲁棒性功能的任务空间控制器.该方法得到的控制器不但在有限确定时间内达到稳定跟踪,而且不需要雅可比矩阵求逆,对一定类型的外部干扰具有鲁棒性功能.最后通过数值仿真显示了所得结果的有效性及其应用方法.

装配机器人系统快速碰撞检测算法

提出一种面向操作手装配系统的快速碰撞检测算法。该算法以机器人运动学和空间解析几何为基础 ,将判断机械手手臂与障碍物是否发生碰撞问题转化为直线段与有界平面是否存在公共点的简单解析几何问题 ,并以 PU MA5 6 0操作手为例对算法加以说明。该算法不仅适用于静态的障碍物已知的环境 ,而且适用于障碍物运动规律已知的动态环境 ,减少了碰撞检测占用的时间 ,提高了路径规划的效率

水下机器人的神经网络自适应控制

研究了水下机器人神经网络直接自适应控制方法,采用Lyapunov稳定性理论,证明了存在有界外界干扰和有界神经网络逼近误差条件下,水下机器人控制系统的跟踪误差一致稳定有界.为了进一步验证该水控制方法的正确性和稳定性,利用水下机器人实验平台进行了动力定位实验、单自由度跟踪实验和水平面跟踪实验等验证实验.

湖南、广西泥盆纪硅岩地球化学与沉积构造背景

During the Devonian, a complicated carbonate platform-basin configuration was created through transtensional rifting in the context of opening of Devonian South China Sea; extensive bedded chert, commonly interbedded with tuffaceous beds, occurred in the narrow, elongate interplatform basins (or troughs) in South China, where they occurred earlier (Early Devonian) in southern Guangxi and later (early Late Devonian) in northern Guangxi-south central Hunan. In order to unravel the origin and distribution of the bedded chert successions, and their relationships to basement faulting activities during the opening of the Devonian South China Sea, studies of element (major, minor and REE) geochemistry and Rb-Sr, Sm-Nd isotopic systematics are carried out upon the chert deposits. These chert deposits commonly have high SiO2 contents and (average 94.01%) and low TFe2O3 (average 0.55%), together with other geochemical parameters, suggestive of both biogenic and hydrothermal origins. However, Fe/Ti ratio are high along the elongate interplatform basins(troughs) to the northwest along Wuxiangling-Zhaisha-Chengbu, and to the southeast along Xiaodong-Mugui-Xinpu, suggesting relatively intense hydrothermal activities there. They generally contain very low total REE contents (∑REE average 31.21ug/g) with mediate negative Ce anomalies (mean Ce/Ce*=0.83) and low Lan/Cen values (average 1.64), indicating an overall continental margin basin where they precipitated. The northward increases in Ce/Ce* values, particularly along the elongate troughs bounded both to the east and west of the Guangxi-Huanan rift basin, suggest a northward enhancement of terrigenous influences, thereby reflecting a gradual northward propagation of open marine setting. Generally low positive Eu anomalies in the chert, except for the apparently high Eu anomalies in the chert from Chengbu (Eu/Eu* up to 4.6), suggest mild hydrothermal venting activities in general, except for those at Chengbu. The initial 87Sr/86Sr (0) ratios of chert generally vary from 0.712000 to 0.73000 , suggesting influences both from terrigenous influx and seawater. The Nd isotopic model ages (tDM or t2DM) and initial εNd (0) values of chert vary mostly from 1.5 to 2.1 Ga, and from –16 to –21, respectively, implying that the silica sources were derived from the provenances of the Palaeoproterozoic crust relics at depth. The high εNd (0) values of chert (-0.22 to 14.7) in some localities, mostly along the elongate troughs, suggest that silica sources may have been derived from deeper-seated mantle, being channeled through the interplate boundary fault zones extending downwards to the mantle. At Wuxiangling, Nanning, chert occurs extensively from the Emsian through the Frasnian strata, both U/Th ratios and tDM ages of chert reached up to a maximum in the early Frasnian corresponding to the extensive development of chert in South China, pointing to a maximum extensional stage of Devonian South China basin, which is supported by the Ce/Ce* values as is opposed to the previous datasets as the coeval minimum values.

甘肃临夏盆地龙担剖面晚新生代磁性地层与古环境

Linxia Basin, situated in the northeast belt of the Tibetan Plateau, is a late Cenozoic depression basin bounded by the Tibetan Plateau and the Chinese Loess Plateau. The Cenozoic deposition, spanning over 30Ma, in which very abundant mammal fossils were discovered, is very suitable for study of uplift processes and geo-morphological evolution of the Tibetan Plateau. The Longdan section (35°31′31.6″N，103°29′0.6″E) is famous for the middle Miocene Platybelodon fauna and the late Miocene Hipparion fauna for a long time and is also one of the earliest known places for wooly rhino, which lies on the east slope of Longdan, a small village of township Nalesi in the south of the Dongxiang Autonomous County, Linxia Hui Nationallity Autonomous Prefecture. The Longdan mammal fauna was discovered at the base of the Early Pleistocene loess deposits at Dongxiang, where the lithology is different from the typical Wucheng Loess on the Chinese Loess Plateau. The rich fossils contain many new species and the major two layers of fossils are in the loess beds. Geologically the fossiliferous area is located in the central part of the Linxia Cenozoic sedimentary basin. Tectonically the Linxia Basin is an intermountain fault basin, bordered by the Leijishan major fault in the south and the north Qinling and Qilianshan major faults in the north. The section is 51.6m thick above the gravel layer, including the 1.6m Late Pleistocene Malan Loess on the top and the other loess-paleosol sequences in the middle of the section. The base of the section is the Jishi Formation, consisting of gravel layer of 13 ~ 17m thick. In this study, 972 bulk samples were collected with an interval of 5cm and other 401 orientied samples were taken with a magnetic compass. In the laboratory, the paleomagnetism, medium grain size, susceptibility, color, micromorphology, anisotropy of magnetic susceptibility were analyzed. From the stratigraphic analysis, the Longdan section from the top 0.3m to the bottom 51.6m, containing 5 normal polarities (N1-N5) and 5 reversal polarities (R1-R5). The paleomagnetic results show N3 is the Olduvai subchron in the middle of the Matuyama chron, and then the chronology of the Longdan mammal fauna is constructed along the section. The Matuyama-Gauss boundary is 45m and N5 enters Gauss chron. The Olduvai subchron with the age of 1.77 ~ 1.95Ma is found just in the upper fossiliferous level of Longdan mammal fauna. Taking the deposit rate of the section into account, the geological age of the upper fossiliferous level of Longdan mammal fauna is estimated to be about 1.9Ma. The lower fossiliferous level is just below the Reunion subchron and its age is estimated to be 2.25Ma. In addition, anisotropy of magnetic susceptibility of the loess-paleosol and other climatic indexes were used for discussing the late Cenozoic paleoenvironmental changes at Longdan, from which the Longdan area should have been an area of predominantly steppe the same as the Longdan mammal fauna.

新疆谢米斯台中段地区火山岩特征及其含矿性研究

Central Xiemisitai is located on the northwest edge of the Junggar Basin, bounded on the north by Sawuer Mountain, and southward Junggar Basin. Geotectonically, it is within the Chengjisi-Ximisitai-Santanghu island arc of Late Paleozoic, between Siberian and Junggar plates. The volcanics in this area mainly consist of acidic volcanic lava, rock assemblage of esite, dacite, and rhyolite, and the transitional phase is comparatively developed. Besides, Si2O of volcanics here covers a large range of 53.91-79.28t %, K2O of 1.71-6.94t%, and Na2O of 2.29-5.45t%, which is a set of metaluminous- peraluminous high K calc-alkaline to calc alkaline mid-acidic volcanic series. In addition, the volcanics are potassic to high-potassic assemblage, with slight shoshonite in. The REE curve of volcanics in central Xiemisitai is rightward and smooth, inclining to LREE enrichment, which reveals the characteristics of island-arc volcanics. Through the lithology changing from neutral to acidic, the negative anomaly of Eu is increasing. The volcanics here deplete HFSE such as Nb, Ti, P, etc., but relatively rich in LILE like Rb, K, Th, etc., possessing geochemistry characteristics of arc volcanics, which means that the lava source region is watery, under the meta-somatic contamination of subducted components. Moreover, high Ba and Sr show volcanics in epicontinental arc environment, and their contemporaneous granitoid rocks are also marked with the characteristics of volcanic arc granite. In central Xiemisitai, the volcanics zircon age of volcanic rhyolite is 422.5Ma± 1.9Ma, mid-late Silurian. Only one sample zircon has been measured for the present, not very convincing, so volcanics here might not come from Devonian volcanism. Consequently, further confirming the volcanic age will play a key role in the research on the beginning of volcanism in Xiemisitai area and even North Xinjiang. This area includes three copper mineralization types: a) from andesite fracture; b) from rhyolite fracture broken zone, with the copper mineralization distributed by veins along the fissure; and c) from quartz veins. The mineralization of earth surface in S24 ore spot is intensive, and the primary geochemistry reconnaissance anomaly is fairly good. According to display data, the maximum content of Cu is as high as 0.9% and as low as 0.05%. Also, ore-control fracture structure is having a considerable scale in the strike of fracture both horizontally and vertically downwards, and the result of the geophysics stratagem EH-4 system reveals obvious low-resistivity anomaly. As a result, we believe that the S24 plot is expected to be a volcanic copper deposit target area.

基于软粘土微观特性的非线性固结理论研究

The land subsidence of soft clay is including natural and man-made content, which leads to the research on the mechanism of land subsidence constituted by two different aspects, which are studied by geological engineers and geologist. The main major research is focused on the effects of engineering. The land subsidence engineering of soil mechanics is caused by the consolidation and compression of soft clay, the content of which is including the micro-structural characteristics, the stress - strain constitutive relation, porous law, and consolidation theory. In this paper, it is discussed the nonlinear consolidation and compression theory of soft clay. The main studies and conclusions of this thesis are as follows. （1）The micro-structure and its stability are closely related to the engineering characters of soft clay. The stiffness and force connection status of micro-structure plays a controlling influence to its stability. （2）Under saturated state, clay particles remain in a non-full contact or non-contact status, so it is needed to modify the Terzaghi effective stress principle. With the discharge of pore water, the effective stress is increasing, and part of weakly bound-water begins flow, while the porosity and permeability are became lower. （3）It exist non-linear flow in soft clay, which is caused by the shear flow situation of weakly bounded-water. In this case, permeability coefficient is a nonlinear function of hydraulic gradient. （4）In the initial consolidation stage of soft clay in the initial stage, the porous flow is mainly caused by the excretion of free water. With the decrease of free water content, combined bonded-water start to supply free water. At the later stage of consolidation, the flow of fluid is mainly consisted by weakly bounded-water. The exchange between bonded-water and free water is played a role, which slows down the consolidation process.

大别山碰撞造山带逆冲推覆构造运动学和动力学研究

Since the discovery of coesite-bearing eclogites in Dabie and Sulu region over ten years ago, the Dabie collisional orogen has been the "hot-spot" across the world. While many great progresses have been made for the last decade in the researches on the Dabie and Sulu UHP metamorphic rocks in the following fields, such as, petrology, mineralogy, isotope chronology, and geochemistry, the study of the structural geology on the Dabie orogen is still in great need. Thrust and nappe tectonics commonly developed in any collisional orogenic belt during the syncollisional process of the orogen. It is the same as the Dabic collisional orogen is concerned. The paper put much stress on the thrust and nappe tectonics in the Dabic orogenic belt, which have been seldom systematically studied before. The geometric features including the division and the spatial distribution of various thrust and nappe tectonics in the Dabie orogen have been first studied, which is followed by the detailed studies on their kinematic characteristics in different scales varying from regional tectonics to microtectonics. In the thesis, new deformation ages have been obtained by the isotopic methods of ~(40)Ar-~(39)Ar, Sm-Nd and Rb-Sr minerals-whole rock isochrons on the mylonites formed in three ductile shear zones which bounded three different major nappes in the Dabie collisional orogenic belt. And the petrological, geochemical characteristics of some metamorphic rocks as well as the geotectonics of their protoliths, which have also deformed in the ductile shear zone, are analyzed and discussed. In the paper, twelve nappes in the Dabie orogen are first divided, which are bounded by various important NWW or NW-strike faults and three NNE-strike faults. They are Shangcheng Nappe, Huoshan Nappe, Yuexi Nappe, Yingshanjian-Hengzhong Nappe, Huangzhen Nappe, Xishui-Huangmei Nappe, Zhoudang Nappe, Suhe-Huwan Nappe, Xinxian Nappe, Hong'an Nappe, Mulan Nappe and Hhuangpi-Susong Nappe. In the Dabie orogen, three types of thrust and nappe tectonics belonging to two stages have been confirmed. They are: (1) early stage ductile thrust -nappe tectonics which movement direction was top-to-the-south; (2) late stage brittle to ductile-brittle thrust-nappe tectonics which are characterized by double-vergence movement, including top-to-the-north and top-to-the-south; (3) the third type also belongs to the late stage which also characterized by double-vergence movement, including top-to-the-east and top-to-the-west, and related to the strike-slip movement. The deformation ages of both Wuhe-Shuihou ductile shear zone and Taihu-Mamiao ductile shear zone have been dated by ~(40)Ar-~(39)Ar method. ~(40)Ar/~(39)Ar plateau ages of biotite and mica from the mylonites in these two shear zones are 219.57Ma and 229.12Ma. The plateau ages record the time of ductile deformation of the ductile shear zones, which made the concerned minerals of the mylonites exhume from amphibolite facies to the middle-upper crustal conditions by the early stage ductile thrust-nappe tectonics. The mineral isochons of Sm-Nd and Rb-Sr dating on the same mylonite sample of the metamafic rocks are 156.5Ma and 124.56Ma respectively. The two isochron ages suggest that the mylonitic rock strongly deformed in the amphilbolite facies at 156Ma and then exhumed to the upper crustal green schist condition at 124Ma with the activities of the Quiliping-Changlinggang ductile shear zone which bounded to the southen edge of Xinxian Nappe. Studies of the petrological and geochemical characteristics of some meta-mafic rocks and discussion on the geotectonics of their protoliths indicate that their protoliths were developped in an island arc or back-arc basin or active continental margin in which calc-alkline basalts formed. This means that arc-accretion orogeny had evolved in the margins of North china plate and/or Yangtze plate before these two plates directly collided with each other during the evolution process of Dabie orogen. Three-stage evolution of the thrust-nappe tectonics in Dabie collisional orogen has been induced based on the above-mentioned studies and previous work of others. And a possible 3-stage exhumation model (Thrust-Positive Flower Structure Model) has also been proposed.

胶东地区三类金矿成矿系统地质地球化学及动力学

The East Shandong gold province is located on the southeastern margin of the North China Craton and features uplift in the north and depression in the south. The uplift area is made up of the Archaean Jiaodong Group, the Proterozoic Jingshan Group and Yanshannian granites. Most gold deposits in the uplift area are spatially associated with the Yanshannian granites. Two types of gold mineralization occur in the region: the quartz-vein type hosted in the Linglong granite suite, and the shear zone type hosted by either the Linglong granite or Guojialing granitoid suites. The mineralization ages are 113～126 Ma. The southern part of East Shandong contains the Mesozoic Jiaolai basin, which formed during regional extension. The basin is bounded by the Wulian-Rongcheng fault in the southeast and the Tanlu fault in the west. The Pengjiakuang, Fayunkuang and Dazhuangzi gold deposit occurs on the northeastern margin of the basin. The mineralization ages of these deposits are 110～128 Ma. This paper focuses on a low-angle detachment fault developed between the Proterozoic Jingshan Group metamorphic complex and the northeastern margin of the basin. Our field work shows that the distribution of the Pengjiakuang gold deposit was controlled by the detachment fault. Moreover, the Fayunkuang, Guocheng and Liaoshang gold deposits also occurr in the periphery of the basin, and their features are similar to Pengjiakuang gold deposit. The study of geological geochemistry of the gold deposits has shown: ①three-type gold deposit was situated in the Jiaodong area, including altered rock type (Jiaojia type), quartz vein type (Linglong type) and breccia type (Pengjiakuang type); the ore-forming materials and fluid for Pengjiakuang type gold deposit shows multiple source; ②the ore materials of Jiaojia and Linglong type deposits are mainly from deep source. The author has studied geological-geochemical dynamics of three types deposits in Jiaodong area. The study of tectonic dynamics shows that ore-forming structure differential stress values of Pengjiakuang gold deposit is 100 * 10~6～130 * 10~6 Pa, and that of Jiaojia gold deposit is 100 * 10~5～194 * 10~6 Pa. Dynamics of hydrothermal ore-forming fluid has also been studied in this paper. Author applies Bernoulli equation to dynamic model of hydrothermal fluid motion in brittle fracture and cracks (quartz vein type gold mineralization), and applies Darcy law to dynamic model of hydro thermal fluid motion in porous medium (altered rock type gold mineralization). Author does daring try in order to study quantitativly transport mechanism of hydrothermal ore-forming fluid in this paper. The study of fluid inclusions and crystal dynamics shows that reaction system of hydrothermal ore-forming includes three types, as follows: ore-forming reaction, controlling reaction and buffer controlling reaction. They depend on each other, controlling each other, which form a organic system. Further research shown that formation of ore shoots was controlled by coincidence processes of tectonic dynamic condition and thermodynamic evolution. This paper has summaried reginoal metallogenic laws and seted up metallogenic(dynamics) models for Jiaodong gold ore belt.

复杂断块油藏形成机制及剩余油预测

The central uplift in the Huimin depression is famous for its large amounts of faults and small-scale fault-block area, and it is the famed typical complicated fault-block group oil & gas field in the whole world. After many years of rolling exploration and exploitation, many complex oil &gas field have been discovered in the central uplift, and won the splendent fruit. With the gradual deepening and development of the rolling exploitation, the exploration faces more and more difficulties. Therefore, it is important to reveal the forming mechanism and distributing rule of the complex fault-block reservoir, and to realize the forecast of the complex fault-block reservoir, sequentially, expedite the exploration step. This article applies the new multi-subject theory, method and technique such as structure geometry, kinematics, dynamics, structural stress field, fluid potential field, well logging record and constrained inversion of seismic records, coherence analysis, the seal mold and seal history of oil-bounded fault etc, and try to reveal the forming mechanism and distributing law of the complex fault-block reservoir, in result, implements the forecast of the fault-block reservoir and the remaining oil distributing. In order to do so, this article synthetically carries out structural estimate, reservoir estimate, fault sealing history estimate, oil-bearing properties estimate and residual. This article also synthetically researches, describes and forecast the complex fault-block in Huimin depression by use of the techniques, e.g. seismetic data post-stack processing technique, multi-component demarcating technique, elaborate description technique for the fault-block structure, technique of layer forecasting, fault sealing analysis technique, comprehensive estimate technique of fault-block, comprehensive analysis and estimate technique of remaining oil etc. The activities of the faults varies dramatically in the Huimin depression, and most of the second-class and the third-class faults are contemporaneous faults, which control the macroscopical distribution of the reservoir in the Huimin depression. The fourth-class faults cause the complication between the oil & gas among the fault-blocks. The multi-period strong activities of the Linyi fracture resulted in the vertical migration of large amount of oil & gas along with the faults. This is the main reason for the long vertical distribution properties near the Linyi fracture in the Huimin depression. The sealing ability of the fault is controlled by the property,size and direction of the main stress, the contact relationship of the both sides of the fault, the shale polluting factor, and the configuration relationship between the fault move period and the migration period of oil & gas. The article suggest four fault-sealing modes in the research zone for the first time, which establishes the foundation for the further forecast of the complex fault-block reservoir. Numerical simulation of the structural stress field reveals the distribution law and the evolvement progress of the three-period stress field from the end of the Dongying period to the Guantao period to nowadays. This article puts forward that the Linyi and Shanghe regions are the low value of the maximum main stress data. This is combined with the fault sealing history estimate, then multi-forming-reservoir in the central uplift is put forward. In the Shanghe oilfield, the article establishes six reservoir geological modes and three remaining oil distributing modes(the plane, the inside layer and the interlayer), then puts forward six increase production measure to enhance the remaining oil recovery ratio. Inducting the exploitation of oilfield, it wins notable economic effects and social effects.