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。

避免误操作的遥协作模糊控制方法

现有的遥操作系统中普遍存在的问题是受环境、心理、生理等影响,操作者在遥操作机器人过程中可能由于误操作产生不可预料的后果.为了解决操作者误操作问题,提出对基于操作者通过选择操作手法得到的模糊操作量和对基于多传感器融合决策产生的模糊控制量采取加权和的遥协作模糊控制方法.以遥操作机械手臂为例,通过单纯由操作者、单纯由多传感器融合决策和遥协作模糊控制3种方法进行实验,验证所提出方法的合理性.

网络遥操作机器人的任务产生方法研究

为了解决网络遥操作中操作者误操作问题,给出了一种在非结构环境下遥操作机器人的模糊控制方法,介绍了一种网络遥操作机器人控制系统结构,对任务产生器进行了设计,并以网络遥操作机械手抓取物品为例,通过实验验证了所设计方法的合理性。

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.

五轴并联铣床特征参数误差灵敏度分析

将并联机构等效为由串联机构构成的空间闭环机构，运用 D－ H方法系统研究了五轴并联铣床的特征参数误差对运动平台位姿误差的影响，揭示出特征参数沿机床各位姿方向误差灵敏度变化规律。仿真结果不仅证实了现有机床机构设计合理，而且为今后并联机床进一步精度设计提供了可靠依据。

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.

基于时延Petri网的多UUV系统的任务分配策略

针对多水下机器人(unmanned underwater vehicle,UUV)系统动态任务分配问题展开研究,在对系统的体系结构和任务分配机制进行分析的基础上,利用时延 Petri 网理论对系统的任务分配进行建模,提出了一种新的任务分配策略:群体协调层采用集中式任务分配策略,由主 UUV 将任务实时下达给各从 UUV;监控规划层采用基于适应度的分布式任务分配方式,充分发挥各异构 UUV 自身的智能。仿真结果验证了模型的合理性和任务分配策略的有效性。

水下滑翔机器人控制系统设计与实现

本文以水下滑翔机器人为研究对象,首先简要介绍了水下滑翔机器人的总体结构,然后重点研究了其控制系统的设计方案,阐述了控制系统软、硬件的设计与实现,通过水下滑翔机器人湖试验证了控制系统设计合理,运行正确,实现了水下滑翔机器人的基本运动。

海上时移地震综合解释技术研究与应用

The practical application and development of the time-lapse seismic reservoir monitor technology has indicated which has already become one of most important development technologies in seeking the surplus oil distribution and improving the reservoir recovering. The paper, first obtained the rock physics experiment analysis data according to the Bohai Sea loose sandstone in-situ measure technical, and determined the feasibility research of the S oil-field on the time-lapse seismic reservoir monitoring combining with the time-lapse numeric simulation technology, which was used to analyze the time-lapse seismic respond raw of the reservoir parameters change and pointed out the attentive problems during the real time-lapse seismic processing and interpretation. Next, simply introduced the technical link and the effect of the time-lapse mutual constrained fidelity and match processing aiming at the local complex gathering condition, geological condition, development engineering condition. Third, introduced the time-lapse integrated interpretation and the technical system with the innovative key technology that includes the time-lapse difference explanation technology, the time-lapse seismic multi-attributes integrated interpretation technology, and the time-lapse constrained reservoir parameters inversion technology, and so on. Using the time-lapse difference direct explanation technology, directly obtained the surplus oil macroscopic distribution through the difference seismic data; Using the presenting 8 big principles of the sublayer isochronisms comparison, carried on the time-lapse integrated interpretation analysis on the fine sublayer comparison and the thin oil-layer(group) contrast and the oil layer (group); The paper putted up the research, contrast, applications of the multi-sides sensitive attribute analysis and the RBF nerve network on the nearest study algorithm, and predicted the reservoir parameters and the surplus oil distribution with them; Combining with innovative researches and the time-lapse seismic constrained reservoir parameters inversion technology realized the good combination of the seismic and the reservoir engineering. Fourth, under fully analyzing the geology condition, the reservoir condition, the exploit dynamic data, and the seismic data of the S oil-field, and analyzing the time-lapse difference factors with reservoir dynamic exploit data, calibrated the oil-gas saturation change, the pressure change, the water saturation change, and determined the rationality of the time-lapse seismic difference, and finally obtained the surplus oil distribution, the water flood characteristic understanding, reservoir degasification, and pressure drop raw, and so on, which had been used in the well pattern tightening plan proof of the S oil-field development adjustment plan. Finally, the paper summarized the knowledge and understanding of the marine time-lapse seismic integrated interpretation, also had pointed out the further need researched question.

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.

井约束外推反演可信度与井震相关性关系研究

With the deepening development of oil-gas exploration and the sharp rise in costs, modern seismic techniques had been progressed rapidly. The Seismic Inversion Technique extracts seismic attribute from the seismic reflection data, inverses the underground distribution of wave impedance or speed, estimates reservoir parameters, makes some reservoir prediction and oil reservoir description as a key technology of Seismic exploration, which provides a reliable basic material for oil-gas exploration. Well-driven SI is essentially an seismic-logging joint inversion. The low, high-frequency information comes from the logging information, while the structural characteristics and medium frequency band depend on the seismic data. Inversion results mainly depend on the quality of raw data, the rationality of the process, the relativity of synthetic and seismic data, etc. This paper mainly research on how the log-to-seismic correlation have affected the well-driven seismic inversion precision. Synthetic, the comparison between middle –frequency borehole impedance and relative seismic impedance and well-attribute crossplots have been taken into account the log-to-seismic correlation. The results verify that the better log-to-seismic correlation, the more reliable the seismic inversion result, through the analysis of three real working area (Qikou Sag, Qiongdongnan basin, Sulige gas field).

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.