Fast simulation of the forward tracking detector of HPLUS

The necessity of installing a forward tracking detector stack is discussed for the Hadron Physics LanzhoU Spectrometer(HPLUS). A local tracker is developed to solve the multi-track finding problem. The track candidates are searched iteratively via Hough Transform. The fake tracks are removed by a least square fitting process. With this tracker we have studied the feasibility of pp -> pp + phi(-> K+K-), a typical physical channel proposed on HPLUS. The single track momentum resolution due to the uncertainty of the positioning in FTD is 1.3%. The multiple scattering effect contributes about 20% to the momentum resolution in the FTD coverage. The width and the signal-to-background ratio of the reconstructed phi are 1.51 MeV and 4.36, respectively, taking into account the direct Kaon channel pp -> pp + K+K- as background. The geometry coverage of FTD for phi events is about 85.4%. Based on the current fast simulation and estimation, the geometrical configuration of FTD meets the physical requirement of HPLUS under the current luminosity and multiplicity conditions. The tracker is applicable in the full simulation coming next and is extendable to other tracking component of HPLUS.

Incremental pairwise discriminant analysis based visual tracking

The distinguishment between the object appearance and the background is the useful cues available for visual tracking in which the discriminant analysis is widely applied However due to the diversity of the background observation there are not adequate negative samples from the background which usually lead the discriminant method to tracking failure Thus a natural solution is to construct an object-background pair constrained by the spatial structure which could not only reduce the neg-sample number but also make full use of the background information surrounding the object However this Idea is threatened by the variant of both the object appearance and the spatial-constrained background observation especially when the background shifts as the moving of the object Thus an Incremental pairwise discriminant subspace is constructed in this paper to delineate the variant of the distinguishment In order to maintain the correct the ability of correctly describing the subspace we enforce two novel constraints for the optimal adaptation (1) pairwise data discriminant constraint and (2) subspace smoothness The experimental results demonstrate that the proposed approach can alleviate adaptation drift and achieve better visual tracking results for a large variety of nonstationary scenes (C) 2010 Elsevier B V All rights reserved

Dynamics of nonlinear error growth and season-dependent predictability of El Nino events in the Zebiak-Cane model

With the intermediate-complexity Zebiak-Cane model, we investigate the 'spring predictability barrier' (SPB) problem for El Nino events by tracing the evolution of conditional nonlinear optimal perturbation (CNOP), where CNOP is superimposed on the El Nino events and acts as the initial error with the biggest negative effect on the El Nino prediction. We show that the evolution of CNOP-type errors has obvious seasonal dependence and yields a significant SPB, with the most severe occurring in predictions made before the boreal spring in the growth phase of El Nino. The CNOP-type errors can be classified into two types: one possessing a sea-surface-temperature anomaly pattern with negative anomalies in the equatorial central-western Pacific, positive anomalies in the equatorial eastern Pacific, and a thermocline depth anomaly pattern with positive anomalies along the Equator, and another with patterns almost opposite to those of the former type. In predictions through the spring in the growth phase of El Nino, the initial error with the worst effect on the prediction tends to be the latter type of CNOP error, whereas in predictions through the spring in the decaying phase, the initial error with the biggest negative effect on the prediction is inclined to be the former type of CNOP error. Although the linear singular vector (LSV)-type errors also have patterns similar to the CNOP-type errors, they cover a more localized area than the CNOP-type errors and cause a much smaller prediction error, yielding a less significant SPB. Random errors in the initial conditions are also superimposed on El Nino events to investigate the SPB. We find that, whenever the predictions start, the random errors neither exhibit an obvious season-dependent evolution nor yield a large prediction error, and thus may not be responsible for the SPB phenomenon for El Nino events. These results suggest that the occurrence of the SPB is closely related to particular initial error patterns. The two kinds of CNOP-type error are most likely to cause a significant SPB. They have opposite signs and, consequently, opposite growth behaviours, a result which may demonstrate two dynamical mechanisms of error growth related to SPB: in one case, the errors grow in a manner similar to El Nino; in the other, the errors develop with a tendency opposite to El Nino. The two types of CNOP error may be most likely to provide the information regarding the 'sensitive area' of El Nino-Southern Oscillation (ENSO) predictions. If these types of initial error exist in realistic ENSO predictions and if a target method or a data assimilation approach can filter them, the ENSO forecast skill may be improved. Copyright (C) 2009 Royal Meteorological Society

研磨抛光机器人运动控制器设计与研究

本文设计了研磨抛光机器人运动控制器的核心硬件结构和软件模块,采用了参数模糊自整定PID机器人关节位置控制策略,通过实验表明该运动控制器可以大大降低研磨抛光机器人的位置跟踪误差。建立的模块化的软件体系,便于运动控制器的维护和扩展,并可将其应用到其它工业机器人上。

基于ARM的研磨抛光机器人运动控制器的设计

本文设计了研磨抛光机器人分布式控制系统中的一种运动控制器,并对运动控制器基于AT91M40800微控制器的硬件结构、基于μC/OS-Ⅱ实时操作系统的软件模块和采用的参数模糊自整定PID机器人关节位置控制策略进行了详细介绍。实验表明该控制器可以大大降低研磨抛光机器人的位置跟踪误差。提高了关节控制的计算及处理能力,易于扩展和维护。

Robust Guaranteed Cost Control for Yaw Control of Helicopter

针对具有时变不确定性且不确定性界为椭球的线性系统提出了一种新的具有自适应机制的鲁棒保性能控制器设计方法。首先,引入一个具有可由自适应律在线调整的可调参数的目标模型,通过该参数来保证由目标模型与被控模型所获得的误差系统渐近稳定。结合保证目标模型稳定性的设计,最终形成保证闭环系统稳定且控制器增益仿射依赖于可调参数的鲁棒保性能跟踪控制器。应用于安装在试验平台上的小型直升机航向控制中,仿真试验表明了该方法的有效性。

基于模型扰动抑制的直线伺服系统设计

针对高精度、微进给永磁直线交流同步电机 (PMLSM )驱动系统 ,采用基于模型的扰动抑制 (MBDA)方法 ,对诸如摩擦力、切削力、负载变动之类的扰动进行抑制。MBDA是利用一个与系统并行的标称模型 ,通过输出反馈 ,将系统输出与标称模型输出进行比较 ,得出误差信号 ,并通过设计一个补偿器将误差信号反馈给被控对象的输入端 ,从而实现扰动抑制。同时 ,针对速度环设计了积分 -比例 (IP)控制器 ,以满足系统快速跟踪指令的要求 ,并且其具有较强的抗扰动能力。仿真结果表明 ,该控制方法响应速度快 ,抗干扰能力强

柔性机械臂基于观测的逆动力学轨迹跟踪控制

本文探讨了稳定逆动力学与基于观测的状态误差反馈镇定器集成实现柔性机械臂末端轨迹跟踪的控制策略．基于观测器可以充分利用由稳定逆动力学生成的理想状态轨迹信息，实现全状态误差的反馈镇定以消除末端轨迹跟踪的扰动误差。

结构光视觉传感器误差分析与结构分析

结构光视觉传感器是视觉焊缝跟踪系统获得焊缝信息的重要组成部分,其测量误差与性能对焊缝跟踪系统的总体测量精度及可靠性有着直接影响。本文对应用于焊缝跟踪的结构光视觉传感器进行误差分析,包括传感器硬件系统结构误差、激光散斑噪声误差及镜头畸变误差等,并对不同结构方式下的视觉传感器建立了数学模型,具体分析了结构参数对其误差的影响,提出结构光视觉焊缝跟踪传感器优化设计方法,并依据仿真结果给出结构优化设计参数,最后通过实验验证了该优化设计方法的正确性。

开发早期油藏动态地质模型与油藏工程优化研究——以埕岛油田馆上段油藏为例

In order to developing reservoir of Upper of Ng at high-speed and high-efficient in Chengdao oilfield which is located in the bally shallow sea, the paper builds up a series of theory and means predicting and descripting reservoir in earlier period of oilfield development. There are some conclusions as follows. 1. It is the first time to form a series of technique of fine geological modeling of the channel-sandy reservoir by means of mainly seismic methods. These technique include the logging restriction seismic inversion, the whole three dimension seismic interpretation, seismic properties analysis and so on which are used to the 3-dimension distributing prediction of sandy body, structure and properties of the channel reservoir by a lot of the seismic information and a small quantity of the drilling and the logging information in the earlier stage of the oil-field development. It is the first time that these methods applied to production and the high-speed development of the shallow sea oilfield. The prediction sandy body was modified by the data of new drilling, the new reservoir prediction thinking of traced inversion is built. The applied effect of the technique was very well, according to approximately 200 wells belonging to 30 well groups in Chengdao oilfield, the drilling succeeded rate of the predicting sandy body reached 100%, the error total thickness only was 8%. 2. The author advanced the thinking and methods of the forecasting residual-oil prediction at the earlier stage of production. Based on well data and seismic data, correlation of sediment units was correlated by cycle-correlation and classification control methods, and the normalization and finely interpretation of the well logging and sedimentation micro-facies were acquired. On the region of poor well, using the logging restriction inversion technique and regarding finished drilling production well as the new restriction condition, the sand body distributing and its property were predicted again and derived 3-dimension pool geologic model including structure, reservoir, fluid, reservoir engineering parameter and producing dynamic etc. According to the reservoir geologic model, the reservoir engineering design was optimized, the tracking simulation of the reservoir numerical simulation was done by means of the dynamic data (pressure, yield and water content) of development well, the production rule and oil-water distributing rule was traced, the distributing of the remaining oil was predicted and controlled. The dynamic reservoir modeling method in metaphase of development was taken out. Based on the new drilling data, the static reservoir geologic model was momentarily modified, the research of the flow units was brought up including identifying flow units, evaluating flow units capability and establishing the fine flow units model; according to the dynamic data of production and well testing data, the dynamic tracing reservoir description was realized through the constant modification of the reservoir geologic model restricted these dynamic data by the theory of well testing and the reservoir numerical simulation. It was built the dynamic tracing reservoir model, which was used to track survey of the remaining oil on earlier period. The reservoir engineering tracking analysis technique on shallow sea oilfield was founded. After renewing the structure history since tertiary in Chengdao area by the balance section technique and estimating the activity character of the Chengbei fault by the sealing fault analysis technique, the meandering stream sediment pattern of the Upper of Ng was founded in which the meandering border was the uppermost reservoir unit. Based on the specialty of the lower rock component maturity and the structure maturity, the author founded 3 kinds of pore structure pattern in the Guanshang member of Chengdao oil-field in which the storing space mainly was primary (genetic) inter-granular pore, little was secondary solution pore and the inter-crystal pore tiny pore, and the type of throat mainly distributed as the slice shape and the contract neck shape. The positive rhythmic was briefly type included the simple positive rhythm, the complex positive rhythm and the compound rhythm. Interbed mainly is mudstone widely, the physical properties and the calcite interbed distribute localized. 5. The author synthetically analyzed the influence action of the micro-heterogeneity, the macro-heterogeneity and the structure heterogeneity to the oilfield water flood development. The efficiency of water flood is well in tiny structure of convex type or even type at top and bottom in which the water breakthrough of oil well is soon at the high part of structure when inject at the low part of structure, and the efficiency of water flood is poor in tiny structure of concave type at top and bottom. The remaining oil was controlled by sedimentary facies; the water flooding efficiency is well in the border or channel bar and is bad in the floodplain or the levee. The separation and inter layer have a little influence to the non-obvious positive rhythm reservoir, in which the remaining oil commonly locate within the 1-3 meter of the lower part of the separation and inter layer with lower water flooding efficiency.