基于数字制造环境的可重构装配线仿真分析平台

以某汽车变速箱装配生产线制造系统为背景,应用多Agent制造及Holon制造模式改造传统装配生产线以提升其柔性与重构能力·针对基于agent与holon混合思想的可重构装配生产线的基础框架与实现等理论提供分析验证环境,提出应用数字制造技术构建面向可重构装配线的数字仿真验证平台·在分析面向重构装配线的仿真平台功能特征的基础上,构建了数字仿真验证平台的框架·研究了仿真平台开发中的系统集成、可视化仿真、可重构装配线性能分析等关键技术,最后给出了仿真平台的实例系统·

基于智能优化算法的设备布局设计

制造系统的设备布局与生产率和生产成本密切相关 ,布局设计是制造系统设计者面临的关键问题之一。文章针对布局问题的平方分派模型 ,构建了一种布局设计的混合智能优化算法———遗传退火算法 ,并分析了算法实现的方法。实例表明遗传退火算法的高效性。

水下机器人光纤微缆动力学研究

讨论了水下机器人远程通信光纤微缆的动力学问题,研究分析了在海洋层流条件下水下机器人的运动对光纤微缆张力的影响,在仿真分析的基础上提出了对光纤微缆收放系统的设计要求并给出了概念设计方案。

监控式水下机械手及相关技术的研究

水下机械手作为水下机器人通用作业工具得到广泛地应用，目前水下机械手的主要操作方式为主从方式。虽然主从方式具有操作直观，灵活的特点，但难于完成需要精确定位，轨迹控制的水下作用，如海洋石油钻井平台导管架的检查作用。为了扩展水下机器人的作业能力，提高水下作业智能化程度，沈阳自动化所承担国家863课题“水下虚拟遥操作与监控机械手系统”关键技术的研究工作。作者参加了此课题的研究工作，以Schilling水下机械手为研究对象，深入研究机械手的作用功能，对机械手的逆运动学，焊缝空间轨迹规划作了深入的研究，形成本文阐述的主要内容。由于Schilling水下机械手各关节之间的连接参数中存在多个偏距，其运动学逆解不能简单由解析方式给出。机械手进行控制与轨迹规划等操作必须找到一种快速求解的方法。本篇文章得出一种基于信赖域法的机械手运动学逆解算法。由于该算法具有收敛速度快的特点，故可以被应用于在线求解机械手运动学逆解；由于没有直接求解二阶导数，故不存在奇异解的问题。经理论分析和实验证明该方法在解决水下监控机械手在线跟踪水下结构物空间轨迹的技术问题具有较好的效果。作为课题的实际应用背景的导管架焊缝曲面为一复杂的空间曲面。为了实现课题的研究目标，本课题不仅要求解焊缝的轨迹，而且要给出其法线方向。对于这样一个问题，用空间解析几何和微分几何方法是很难求解的，本文给出了一种基于B样条参数曲面及曲面求交的方法，具有速度快，通用性强的优点。

激光拼焊生产线规划设计及应用

首先分析了激光拼焊产品及其特点,探讨了在激光拼焊生产线设计中的主要问题工艺流程、生产规划、生产线布局及激光拼焊质量控制等,给出了相应的对策,并在实际生产线设计中加以应用。

基于RFID的混流装配汽车生产线物料动态配送研究

针对混流装配的汽车自动化生产线提出了基于RFID的车辆追踪和基于条码的无线物料库存管理实现方法。在此基础上,设计了装配生产线的物料动态配送调度业务流程,给出了物料动态配送的规划依据,并进行了实例计算。

大港油田复杂断块油气藏评价技术研究与应用

In this paper, in view of characteristics and appraisal difficulty of complicate fault block reservoir, based on the theory of reservoir geology, tectonic geology, sequence stratigraphy, logging geology and sedimentology, according to related multidisciplinary data, such as geological, geophysical, logging and testing, taking 3D seismic acquisition processing, delicate structure interpretation, fine reservoir prediction, reservoir engineering and logging evaluation as research methods, on the basis of comprehensive geologic research, innovative appraisal thinking of complicate fault block reservoir is probed into, reservoir evaluation technology series of different reservoirs were created, and appraisal circuit of complicate fault block reservoir was proposed. According to the research on main controlling factors of hydrocarbon and concentration and concealing laws of Dagang exploration area, family assemble patterns of complicate fault block reservoir were proposed firstly, such as twinning, juxtaposed, overlying, concurrent, connected in series and so on, so theory basement was provided to reservoir evaluation. Taking into account of difficulties of low signal to noise ratio and border identification of lithologic trap of complicate fault block reservoir, in the middle of seismic data acquisition, double focusing layout and optimization technology were adopted, geophysical model was set up, and best observation system was ascertained. During object processing, matching processing technology of removing time difference, phase difference, energy difference and frequency spectrum difference generated by different blazing and receiving elements was studied. Imagery, low amplitude structure and identification of subtle lithologic reservoir was interpreted reasonably. On the basis of characteristics and technical description analysis of structural, structural--lithologic and lithologic reservoirs, innovative appraisal thinking of these reservoirs was formatted, appraisal circuit of complicate fault block reservoir was proposed, and this method could be used in other similar oilfields

三维VSP技术的研究及应用

Today, because of high petroleum consumption of our country, society steady development and difficulty increase in new resources exploration, deep exploitation of the existing oilfield is needed. More delicate reservoir imaging and description, such as thin layer identification, interlayer exploitation monitoring, subtle structure imaging, reservoir anisotropy recognition, can provide more detail evidence for new development adjustment scheme and enhanced oil recovery. Now, the people have already realized the 3D VSP technique more effective than the general methods in solving these aspects. But VSP technique especially 3D VSP develop slowly due to some reasons. Carrying out the research of VSP technique, it will be very useful to the EOR service. 3D VSP techniques include acquisition、data processing and interpretation. In this paper, the author carried out some researches around acquisition and processing. The key point of acquisition is the survey design, it is critical to the quality of the data and it will influence the reservoir recognition as follows. The author did detailed researches on the layout pattern of shot point and geophone. Some attributes relate to survey design such as reflectivity, incidence angle, observation area, reflection points distribution, fold, minimum well source distance, azimuth angle and so on are studied seriously. In this geometry design of 3D-VSP exploration in deviated wells, the main problems to be solved are: determining the center position of shots distribution, the effect of shots missing on coverage areas and coverage times，locating the shots and receivers of multi-wells. Through simulating and analyzing, the above problems are discussed and some beneficial conclusions are drawn. These will provide valuable references to actual survey design. In data processing, researches emphasize on those relatively key techniques such as wavefield separation, VSP-CDP imaging, the author carried out deep researches around these two aspects. As a result, variant apparent slowness wavefield separation method developed in this article suit the underground variant velocity field and make wavefield separation well, it can overcome reflection bending shortage aroused by conventional imaging method. The attenuateion range of underground seismic wave is very important for amplitude compensation and oil/gas identification.In this paper, seismic wave attenuateion mechanism is studied by 3D-VSP simulateion and Q-inversion technique. By testing with seismic data, the method of VSP data attenuateion and relationship of attenuateion attribute variant with depth is researched. Also the software of survey design and data processing is developed, it fill the gap of VSP area in our country. The technique developed applied successfully in SZXX-A Oilfield、QKYY-B Oilfield、A area and B area. The good results show that this research is valuable, and it is meaningful to the VSP technique development and application of offshore oil industry and other areas in our country.

东海陆架盆地复杂天然气藏地震勘探判别技术研究

Exploration study proves that East sea shelf basin embeds abundant hydrocarbon resources. However, the exploration knowledge of this area is very low. Many problems in exploration are encountered here. One of them is that the gas reservoir of this area, with rapid lateral variation, is deeply buried. Correlation of Impendence between sandstone, gas sand and shale is very poor. Another problem is that the S/N ratio of the seismic data is very low and multiples are relatively productive which seriously affect reservoir identification. Resolution of the seismic data reflected from 2500-3000 meter is rather low, which seriously affects the application of hydrocarbon direct identification (HDI) technology. This research established a fine geological & geophysical model based on drilling、well logging、geology&seismic data of East sea Lishui area. A Q value extraction method from seismic data is proposed. With this method, Q value inversion from VSP data and seismic data is performed to determine the subsurface absorption of this area. Then wave propagation and absorption rule are in control. Field acquisition design can be directed. And at the same time, with the optimization of source system, the performance of high resolution seismic acquisition layout system is enhanced. So the firm foundation is ensured for east sea gas reservoir exploration. For solving the multiple and amplitude preserving problems during the seismic data processing, wave equation pre-stack amplitude preservation migration and wave equation feedback iteratively multiple attenuation technologies are developed. Amplitude preservation migration technology can preserve the amplitude of imaging condition and wave-field extrapolation. Multiple removing technology is independent of seismic source wavelet and velocity model, which avoiding the weakness of Delft method. Aiming at the complicated formation condition of the gas reservoir in this area, with dissecting typical hydrocarbon reservoir, a series of pertinent advanced gas reservoir seismic identification technologies such as petrophysical properties analyzing and seismic modeling technology、pre-stack/post-stack joint elastic inversion, attribute extraction technology based on seismic non-stationary signal theory and formation absorption characteristic and so on are studied and developed. Integrated analysis of pre-stack/post-stack seismic data, reservoir information, rock physics and attribute information is performed. And finally, a suit of gas reservoir identification technology is built, according to the geological and geophysical characteristics of this area. With developed innovative technologies, practical application and intergrated interpretation appraisal researches are carried out in Lishui 36-1.The validity of these technologies is tested and verified. Also the hydrocarbon charging possibility and position of those three east sea gas exploration targets are clearly pointed out.

环渤海花岗岩体地下油库建设的工程地质力学研究

As a kind of strategic resource，petroleum play an very important role in current social stability, economic development and state safety. Since 1993 China has turned from a net oil exporter into a net oil importer, the figure of imported oil increased from then on. In 2004 China's total energy consumption exceeded Japan’s, and ranked in the second place, just inferior to America. Today China is the world’s third-largest importing nation, accounting for 6% of world imports and 8% of world consumption. Comparing with other strategic petroleum reserve schemes, underground oil storage possess many advantages, such as security, economy, less pollution, save land, suited for strategic reserve and so on, so it is the most ideal form for strategic petroleum reserve. In the background of China Strategic Petroleum Reserve Program started just now, this paper choose Circum-Bo sea region as a study area, and do some system study on the underground oil storage caverns constructed in inter-large granite rock masses in Circum-Bo sea region. On the foundation of a great amount of information come from both home and abroad, firstly this paper analysed the principle, economy, cavern shape, profile dimension, and gain some cognizances and logos, as follows: ①Hard rock mass such as granite is the major rock, in which underground oil storage are constructed; ②Unlined underground oil storage caverns had been wide spread used as a sort of oil storage form abroad, there already exist a suit of skilled experience and technologies to prevent oil product from leaking; ③Compared with surface tanks, underground oil storage cavern possess predominance in economy clearly. In general, it will be more economical when the storage capacity exceed 50000m3. The quality of rock mass is the most important factor for underground storage cost, however such as hydrogeology, storage capacity, the number of storage galleries, the length, storage product, mechanical equipments, geographic location also influent the cost. In designed depth of the underground storage, the rock mass of Jinzhou mainly belong to class Ⅱ, but parts with dykes, clayization alteration, and dense joints are Ⅲ, Ⅳ; ④Now, there are few underground oil storages span more than 25m in both abroad and home. The examples of some ancient underground works and modern underground excavation with wide span surely give us many precious elicitations to construct more great unlined storage caverns, when the rock mass quality is good, cavern shape and construction method also are proper, it is quite possible to construct underground oil storage cavern with span more than 30m . The main axis orientation of Jinzhou underground oil storage cavern is NW direction, the cavern's elevation locate between -53msl and -76msl. The storage's total volume is about 3×106m3, composed of 8 parallel galleries with 950m length, the pillars between them are 45m, and every two of galleries form one unit, which can deposit 75×104m3 for each unit. The product will be stored are Saudi light and Saudi medium crude oil, the main cavern's section is 411.5m2, with 23m height and 19m width. According to the principle and technique of engineering geomechanics, this study supply a sort of system scientific thinking and method for sitting location of underground oil storage in granite region: ① On the foundation of the earth crust stability sub-zone appraise of Circum-Bo sea region, farther research concerning granite distribution, genesis, geological period and fault structure are conducted in stable areas, generally, this paper select Liaoxi, east shore of Liaotung peninsula and Jiaotung peninsula as target areas for underground oil storage regions, where Mesozoic granite is magnitude; ②After roundly comparison in facts of geologic structure, engineering geology, hydrogeology, topography, transportation and so on of three granite distributed areas, at last, selecting Jingzhou granite zone in Liaoxi out as an ideal construction area; ③ Detailed investigation is conducted in the southeast of Baimashi in Jingzhou development district, the final field. Ultrasonic Borehole Television, as a major way to collect original information of borehole rock mass were used, which is very effective to appraise the quality of deep rock mass; ④ According to the field data of tectonic stress, rock mass quality, the spatial distribution of fracture water, some optimum designs in cross section, axial direction and cavern span have been designed for the underground oil storage cavern layout in Jinzhou. To understand the characteristics of swelling alteration rock in Jinzhou granite mass, collected abundant swelling alteration rock engineering examples in granite, which study them in detail, concluded the swelling alteration rock distribute nearly everywhere in China, intruded medium-basic dykes alteration, along discontinuities and mineral hydrothermal alteration with genesis of granite are three main forms clayization alteration rock in granite rock mass. In Jinzhou field, from macro to micro studied the swelling rock which induced by mid-basic dyke intrusion, with weak swelling. In conclusion, this paper conclude the distribution rule and features of expansion alteration rock in filed, and advise some technical suggestions for excavation at swelling alteration rock part. The main features of this paper: ①In the process of site selection, investigation and design, a suit of technique and method of engineering geomechanics metasynthesis were formed, which is significative to guide the large scale underground oil storage cavern sitting location, investigation and design in granite rock mass; ②The detailed discussion on the engineering geology problems in granite mass, such as weathering crust, faults, dykes and clayization alteration rock, are useful for other projects in aspects of site selection, engineering geology evaluation and stability estimation; ③The summary and integration of the genesis, type, countermeasure relate to swelling alteration rock, also is likely to be used for other underground oil storage caverns constructed in swelling alteration granite. In conclusion, this study is meaningful for guiding the large scale underground oil storage for site selection, investigation and design in granite rock mass.

有源电磁扩散场克希霍夫积分偏移

As active electromagnetic method, field data of CSAMT method follow the equation of diffusion. Propagting in solid earth media, diffusion EM signal has strong attenuation and dispersion, otherwise seismic wave shows weak attenuation and dispersion, therefore the resolution power of CSAMT method is not better than seismic reflection method. However, there is consistence and similarity between EM signal and seismic wave in wave equation, we can apply Kirchhoff integral migration technique, a proven one in seismic method in time domain, to carry out seduo-seismic processing for CSAMT signal in frequency domain so that the attenuation and dispersion could be made compensated in some extent, and the resolution power and interpretation precision of active EM wave could be improved. Satisfying passive homogeneous Helmholtz quation, we proceed with Green theorem and combine the active inhomogenous Helmholtz quation, the Kirchhoff integral formula could be derived. Given practical problems, if we only consider the surface integral value, and assume that the intergral value in other interface is zero, combined with Green theorem in uniform half space, the expression could be simplified, and we can obtain frequency-domain Kirchhoff integral formula in surface, which is also called downward continuation of EM field in frequency domain. With image conditions and energy compensation considered, in order to get image conditions in time domain Fourier inverse transformation in frequency domain can be performed, so we can formulate the active Kirchhoff integral migration expression. At first, we construct relative stratified model, with different frequency series taken into account, then we change the distances between transmitter and reciever, the EM response can be obtained. Analyzing the EM properties, we can clarify near and far zone that can instruct us to carry out transmitter layout in practical application. Combined with field data surveyed in far zone, We perform Kirchhoff integral migration and compare the results with model to interpret. Secondly, with far field EM data, we apply TM mode to get EM response of given 2D model, then apply Kirchhoff integral migration on modelling data and interpret the results.

波动方程模拟与偏移的实用化方法研究

Along with the widespread and in-depth applications in petroleum prospecting and development, the seismic modeling and migration technologies are proposed with a higher requirement by oil industrial, and the related practical demand is getting more and more urgent. Based on theories of modeling and migration methods for wave equation, both related with velocity model, I thoroughly research and develop some methods for the goal of highly effective and practical in this dissertation. In the first part, this dissertation probes into the layout designing by wave equations modeling, focusing on the target-oriented layout designing method guided by wave equation modeling in complicated structure areas. It is implemented by using the fourth order staggered grid finite difference (FD) method in velocity-stress 2D acoustic wave equations plus perfectly matched layer (PML) absorbing boundary condition. To design target-oriented layout: (a) match the synthetic record on the surface with events of subsurface structures by analyzing the snapshots of theoretical model; (b) determine the shot-gather distance by tracking the events of target areas and measuring the receiving range when it reaches the surface; (c) restrict the range of valid shot-gather distance by drawing seismic windows in single shot records; (d) choose the best trace distance by comparing the resolution of prospecting targets from the simulated records with different trace distance. Eventually, we obtained the observation system parameters, which achieve the design requirements. In the second part, this dissertation presents the practical method to improve the 3D Fourier Finite Difference (FFD) migration, and carefully analyzes all the factors which influence 3D FFD migration’s efficiency. In which, one of the most important parameters of migration is the extrapolating step. This dissertation presents an efficient 3D FFD migration algorithm, which use FFD propagator to extrapolate wavefields over big layers, and use Born-Kirchhoff interpolator to image wavefields over small layers between the big ones. Finally, I show the effectiveness of this hybrid migration method by comparing migration results from 3D SEG/EAGE model with different methods.

波前重建法射线追踪及走时表压缩

As a fast and effective method for approximate calculation of seismic numerical simulation, ray tracing method, which has important theory and practical application value, in terms of seismic theory and seismic simulation, inversion, migration, imaging, simplified from seismic theory according to geometric seismic, means that the main energy of seismic wave field propagates along ray paths in condition of high-frequency asymptotic approximation. Calculation of ray paths and traveltimes is one of key steps in seismic simulation, inversion, migration, and imaging. Integrated triangular grids layout on wavefront with wavefront reconstruction ray tracing method, the thesis puts forward wavefront reconstruction ray tracing method based on triangular grids layout on wavefront, achieves accurate and fast calculation of ray paths and traveltimes. This method has stable and reasonable ray distribution, and overcomes problems caused by shadows in conventional ray tracing methods. The application of triangular grids layout on wavefront, keeps all the triangular grids stable, and makes the division of grids and interpolation of a new ray convenient. This technology reduces grids and memory, and then improves calculation efficiency. It enhances calculation accuracy by accurate and effective description and division on wavefront. Ray tracing traveltime table, which shares the character of 2-D or 3-D scatter data, has great amount of data points in process of seismic simulation, inversion, migration, and imaging. Therefore the traveltime table file will be frequently read, and the calculation efficiency is very low. Due to these reasons, reasonable traveltime table compression will be very necessary. This thesis proposes surface fitting and scattered data compression with B-spline function method, applies to 2-D and 3-D traveltime table compression. In order to compress 2-D (3-D) traveltime table, first we need construct a smallest rectangular (cuboidal) region with regular grids to cover all the traveltime data points, through the coordinate range of them in 2-D surface (3-D space). Then the value of finite regular grids, which are stored in memory, can be calculated using least square method. The traveltime table can be decompressed when necessary, according to liner interpolation method of 2-D (3-D) B-spline function. In the above calculation, the coefficient matrix is stored using sparse method and the liner system equations are solved using LU decomposition based on the multi-frontal method according to the sparse character of the least square method matrix. This method is practiced successfully in several models, and the cubic B-spline function can be the best basal function for surface fitting. It make the construction surface smooth, has stable and effective compression with high approximate accuracy using regular grids. In this way, through constructing reasonable regular grids to insure the calculation efficiency and accuracy of compression and surface fitting, we achieved the aim of traveltime table compression. This greatly improves calculation efficiency in process of seismic simulation, inversion, migration, and imaging.

济阳地区深部结构与含油气性讨论

Oil and gas exploration of marine strata in China's Pre-Cenozoic residual basins is regarded as a worldwide puzzle because of existent problems and cruxes. Objectively speaking, the subsurface geologic structure is complicated, and the surface conditions of some areas are tough. On the other hand, there are still many problems to be solved in oil and gas exploration technologies of Pre-Cenozoic marine fades, and theoretic cognition about petroleum geology is not profound yet. Therefore, it is principal to explore integrated geophysical research ways of Pre-Cenozoic residual basins. Seismic prospecting and geophysical integrated interpretation technologies aimed at middle Paleozoic marine facies with deeper burial and complicated geologic conditions have not formed due to bad quality of deep strata data. Pre-Cenozoic strata, and especially extension, thickness and internal structure of Paleozoic strata can not be recognized from seismic profiles, so it is hard to systematically cognize structural features and oil-gas resources prospect of Pre-Cenozoic basins. To further investigation of fabric and structural features, basin prototype, formation and evolution pattern of Pre-Cenozoic basins, and also their control over formation, migration and aggregation of oil and gas, will play a guiding and promotive role in developing new surveying areas, selecting advantageous zones and predicting oil-gas resources.This paper follows the modem macrocontrol theory of "Region constrains local, deep strata controls shallow ones", and uses the integrated geophysical method of "One guide, two hinges, three combinations and multi feedbacks'*. Based on several years of geological and geophysical results of the Shengli Oilfield, and 14 newly-joint regional seismic profiles, deep structure and oil-gas bearing capacity of the Jiyang area are discussed and new cognitions are drawn as below.Seismic identification marks Tr, Tg, Tgl and Tg2 are established for importantPre-Cenozoic geological interfaces, and promoted to the whole Jiyang area.Through area-wide tracking and clogging of important seismic reflection marker,the isochronic framework of pre-Tertiary basin is set up in the Jiyang area for the firsttime, which is vital for basin research.Integrated with geological and geophysical research results, the Jiyang area isdivided into four first-order tectonic sequences- basement, lower tectonic layer,upper tectonic layer, and top tectonic layer. The basement and lower tectonic sequence which are related to Pre-Cenozoic are studied with emphasis.Through the research of regional seismic profiles, the point of view is given thatthe Kongdian Formation of Jiyang is structural transition period. The top-bottomunconformable interface of the Kongdian Formation is found out for the first time,and the basin model is determined primarily, which lay a basis for prototype basinresearch of the Jiyang Kongdian Formation.The distribution status of Middle-Paleozoic is delineated in the Jiyang area.The maximum thickness of Paleozoic lies in the top of the south declivity of half-graben. The thickness gets thinner towards the center of Mesozoic and Cenozoic half-graben basin, and even disappears. Structural action in the west-north affects the distribution of Paleozoic residual strata.6. The features of second-order tectonic sequence of the Jiyang depression isstudied and its evolution history of is rebuilt.Combined with the 5-stage evolution history of the China continent and structure evolution features of the Jiyang area, the structure sedimentary process since Paleozoic is divided into 5 periods - basement forming , Indosinian orogenic, Yanshan negative reversal, Himalayan extension and Neogene subsidence period.Combined with the research results of gravity, magnetic surveying and regionalprofiles, this paper brings forward the idea for the first time that the western boundaryof the Jiyang depression is the Ningjin-Yangpan fracture zone, and forms aside-column assemblage with the Wudi fracture zone.The opinion that under Middle-Cenozoic basins in the middle Jiyang area theremight superimpose an old residual basin is given for the first time. And if it is provedto be true, a new exploration space will be pioneered for Jiyang and even north China.There exists many types of tectonic-stratigraphic traps formed under piezotropy,extension and compound action in Pre-Cenozoic Jiyang. Therein all kinds of burialhills are the most important oil-gas trap type of Pre-Cenozoic, which should besurveyed layeredly according to the layout of oil sources.As such a new challenging project and field, the paper systematically analyses different geophysical responses of the Jiyang area, frames the deep structure of the area, and preliminarily recognizes the Pre-Cenozoic residual basins. It breaks through to a certain extent in both theory and practice, and is expected to provide new geophysical and geotectonic clues for deep exploration in Shengli.

序列学习场景条件下学习序列与空间记忆内在参照系的建立

Previous studies showed that preferred directions in pointing judgments (e.g. imagine you are standing at X, facing Y, please point to Z) were consistent with the sequence participants used to learn locations of objects suggesting that the learning sequence may determine the intrinsic frames of reference in spatial memory. Numerous studies pay excessive attention to the selection of intrinsic frames of reference in spatial memory acquired from viewing an entire layout simultaneously. This research focused on the relationship between the learning sequence and the spatial reference direction in sequentially learning a layout based on the theory of intrinsic reference system. The results indicated that: 1. The intrinsic frame of reference used to specify objects’ locations in memory could not be determined by learning sequence. The learning sequence reflected the encoding of interobject spatial relations aligned with the intrinsic reference directions . 2. when the objects presented sequentially in a random order and the layout geometry structure was either all along or briefly, the preferred heading was determined by the symmetric axis. when the objects presented sequentially in a random order and the layout geometry structure was either not indicated or briefly presented after study, the preferred heading was determined by learning viewpoint. 3. When the objects were presented sequentially along a certain direction, whether the layout geometry structure displayed or not, the effect of the learning viewpoint on selection of intrinsic axis was observed. 4. When participants learned a layout during locomotion, whether the layout geometry structure displayed or not, the initial study perspective was used as a reference direction in memory. 5. Spatial reference direction was determined at the very beginning of learning objects’ locations. Spatial reference direction could not be changed once it had been choosed. These results not only contribute to specify in greater detail the nature of these spatial representations but also extend the intrinsic model of spatial memory.