THE VARIATION AND MOVEMENT OF A KIND OF EDDIES IN SHELF SLOPE WATER

Considering the characteristics of the time and space scales of the eddies we established a quasi-static and quasi-geostrophic model to describe their variation and movement in shelf slope water. The analytical solution revealed the main properties of the variation: slow expansion and fast stagnation processes and the law of the eddy motion affected under the background field. All theoretical results are proved by satellite image measurements.

Theoretical and experimental research on time-optimal trajectory planning and control of industrial robots

提出了一种用于工业机器人时间最优轨迹规划及轨迹控制的新方法，它可以确保在关节位移、速度、加速度以及二阶加速度边界值的约束下，机器人手部沿笛卡尔空间中规定路径运动的时间阳短。在这种方法中，所规划的关节轨迹都采用二次多项式加余弦函数的形式，不仅可以保证各关节运动的位移、速度 、加速度连续而且还可以保证各关节运动的二阶加速度连续。采用这种方法，既可以提高机器人的工作效率又可以延长机器人的工作寿命以PUMA560机器人为对象进行了计算机仿真和机器人实验，结果表明这种方法是正确的有效的。它为工业机器人在非线性运动学约束条件下的时间最优轨迹规划及控制问题提供了一种较好的解决方案。

轮桨腿一体两栖机器人爬行步态规划研究

爬行运动为轮桨腿一体两栖机器人基本运动模式之一。以机器人爬行运动为研究对象，分析了两栖机器人爬行运动机理，并建立了其典型驱动单元的运动学模型；根据机器人不同爬行运动状态，提出了基于轮桨和足板不同步态形式的运动规划策略；采用虚拟样机技术，对不同爬行状态下的步态规划效果进行了仿真试验分析和验证。试验结果表明，在规划的步态下，轮桨腿一体两栖机器人具有良好的爬行稳定性、转向机动性和越障能力。

双机械臂协调系统的一类最优轨迹规划方法

基于动力学约束的机械臂最优关节轨迹规划

本文提出了基于机械臂关节驱动力矩约束方程规划其关节最优运动轨迹的一种有效方法.该方法运用矩阵范数理论简化机械臂的动力学约束方程;在机械臂的关节空间内采用归一化的无因次量运用非线性规划法优化其运动轨迹.将所规划的无因次量轨迹方程作为机械臂产生实际运动轨迹的发生器,通过给定机械臂各运动段的起始和终止关节坐标,由系统的动力学约束方程计算出整个运动段所允许的最短运行时间,即生成所期望的运动轨迹.本文的轨迹规划方法计算效率高,可用于在线轨迹规划,文中通过算例证实了该方法的实用性.

港西地区河流相砂岩油藏剩余油分布研究

The Gangxi oil field has reached a stage of high water production. The reservoir parameters, such as reservoir physical characteristics, pore structure, fluid, have obviously changed. This thesis therefore carries out a study of these parameters that control reservoir characteristics, physical and chemical actions that have taken place within the reservoirs due to fluid injection, subsequent variations of reservoir macroscopic physical features, microscopic pore structures, seepages, and formation fluid properties. This study rebuilds a geologic model for this oil field, establishes a log-interpreting model, proposes a methodology for dealing with large pore channels and remnant oil distribution, and offers a basis for effective excavation of potential oil, recovery planning, and improvement of water-injection techniques. To resolve some concurrent key problems in the process of exploration of the Gangxi area, this thesis carries out a multidisciplinary research into reservoir geology, physical geography, reservoir engineering, and oil-water well testing. Taking sandstone and flow unit as objects, this study establishes a fine geologic model by a quantificational or semi-quantificational approach in order to understand the remnant oil distribution and the reservoir potential, and accordingly proposes a plan for further exploration. By rebuilding a geological model and applying reservoir-engineering methods, such as numerical simulation, this thesis studies the oil-water movement patterns and remnant-oil distribution, and further advances a deployment plan for the necessary adjustments and increase of recoverable reserves. Main achievements of this study are as follows: 1. The Minghazhen Formation in the Gangxi area is featured by medium-sinuosity river deposits, manifesting themselves as a transitional type between typical meandering and braided rivers. The main microfacies are products of main and branch channels, levee, inter-channel overflows and crevasse-splay floodplains. The Guantao Group is dominantly braided river deposit, and microfacies are mainly formed in channel bar, braided channel and overbank. Main lithofacies include conglomerate, sandstone, siltstone and shale, with sandstone facies being the principal type of the reservoir. 2. The reservoir flow unit of the Gangxi area can be divided into three types: Type I is a high-quality heterogeneous seepage unit, mainly distributed in main channel; Type II is a moderate-quality semi-heterogeneous seepage unit, mainly distributed in both main and branch channels, and partly seen within inter-channel overflow microfacies; Type III is a low-quality, relatively strong heterogeneous seepage unit, mainly distributed in inter-channel overflow microfacies and channel flanks. 3. Flow units and sedimentary microfacies have exerted relatively strong controls on the flowing of underground oil-water: (1) injection-production is often effective in the float units of Type I and II, whilst in the same group of injection-production wells, impellent velocity depends on flow unit types and injection-production spacing; (2) The injection-production of Type III flow unit between the injection-production wells of Type I and II flow units, however, are little effective; (3) there can form a seepage shield in composite channels between channels, leading to inefficient injection and production. 4. Mainly types of large-scale remnant-oil distribution are as follows: (1) remnant oil reservoir of Type III flow unit; (2) injection-production well group of remnant oil area of Type III flow unit; (3) remnant oil reservoirs that cannot be controlled by well network, including reservoir featured by injection without production, reservoir characterized by production without injection, and oil reservoir at which no well can arrive; (4) remnant oil area where injection-production system is not complete. 5. Utilizing different methods to deal with different sedimentary types, sub-dividing the columns of up to 900 wells into 76 chronostratigraphic units. Four transitional sandstone types are recognized, and contrast modes of different sandstone facies are summarized Analyzing in details the reservoirs of different quality by deciphering densely spaced well patterns, dividing microscopic facies and flow units, analyzing remnant oil distribution and its effect on injection-production pattern, and the heterogeneity. Theory foundation is therefore provided for further excavation of remnant oil. Re-evaluating well-log data. The understanding of water-flood layers and conductive formations in the Gangxi area have been considerably improved, and the original interpretations of 233 wells have changed by means of double checking. Variations of the reservoirs and the fluid and formation pressures after water injection are analyzed and summarized Studies are carried out of close elements of the reservoirs, fine reservoir types, oil-water distribution patterns, as well as factors controlling oil-gas enrichment. A static geological model and a prediction model of important tracts are established. Remaining recoverable reserves are calculated of all the oil wells and oil-sandstones. It is proposed that injection-production patterns of 348 oil-sandstones should be adjusted according to the analysis of adaptability of all kinds of sandstones in the injection-production wells.