自主移动机器人激光全局定位系统研究

本文介绍了我们研制开发的一种用于自主移动机器人的激光全局定位系统 ,重点描述了该系统的硬件结构和工作原理 ,介绍分析了定位算法 .文章最后介绍了该定位系统在实验室条件下所进行的实验 .实验结果表明 :该系统具有较高的定位精度和抗干扰能力 ,是自主移动机器人理想的定位工具 .

一种基于视觉的移动机器人定位系统

具有自主的全局定位能力是自主式移动机器人传感器系统的一项重要功能 .为了实现这个目的 ,国内外均在不断地研究发展各种定位传感器系统 .这里介绍了一种采用光学原理的全方位位置传感器系统 .该传感器系统由主动式路标、视觉传感器、图象采集与数据处理系统组成 .其视觉传感器和数据处理系统可安装在移动机器人上 ,然后可通过观测路标和视角定位的方法 ,计算出机器人在世界坐标系中的位置和方向 .实验证明 ,该系统可以实现机器人的在线定位 ,其采样速率和精度能够满足实用要求 .

螺纹拧紧机机轴控制器的设计与实现

在现代工业生产过程中，螺纹联接由于稳定可靠、拆卸方便，而广泛应用于众多的机构装配当中。目前在中国，由于传统工艺和技术水平的原因，广泛应用在装配线上的是气动与液压扳手，其存在操作不方便、工人劳动强度大、效率低、角度和扭矩控制精度差，无法实现集中式管理等缺点。这也逐渐成为制约我国装备制造业发展的重要瓶颈。随着近几年装备制造业的飞速发展，对螺纹装配的效率和质量提出了更高的要求，自动螺纹拧紧机由于其装配效率高、控制精确、能够实现网络化等优点，逐渐应用于发动机、制冷压缩机、变速箱、机床、仪表等对螺纹拧紧的角度和位置精度要求很高的场合。但目前，我国所使用的自动螺纹拧紧机还完全依赖于国外，国内在自动螺纹拧紧机的研制和设计上才刚刚起步，同国外相比还存在着较大的差距。 本论文适应装备制造业的发展和自动螺纹拧紧设备市场的需要，根据现代螺纹拧紧理论与技术的发展情况，对自动螺纹拧紧机进行了深入研究。本论文结合嵌入式技术，设计出了基于嵌入式微控制器的螺纹拧紧机机轴控制器。 论文的第一部分介绍了自动螺纹拧紧机国内外发展现状，在此基础上，提出了本课题的研究目标与研究内容。 第二部分详细分析了现代螺纹拧紧理论。在此基础上，给出了在机轴控制器上实现精确预紧力控制的控制算法、包括紧固扭矩的计算、转角的计算、屈服点的计算等问题。同时，在扭矩控制中采用角度监视；在转角控制中采用扭矩监视；在屈服极限控制中采用扭矩监视和角度监视。可以自动对最终拧紧结果的有效性进行判断，从而实现有效、准确的螺纹多目标控制方式。本论文实现了扭矩控制/角度监视、转角控制/扭矩监视、屈服极限控制/扭矩、角度监视。 第三部分介绍了机轴控制器的硬件结构。本文采用美国Silicon Lab公司的C8051F040微控制器，使得成本大大降低。在硬件设计中采用大量可靠性设计，保证了螺纹拧紧机在复杂的工业环境下能够稳定工作。 第四部分介绍了机轴控制器的软件设计。在机轴控制软件的实现中，引入了嵌入式实时操作系统 C/OS-II。这部分首先将 C/OS-II移植到单片机C8051F040上，接着在 C/OS-II上完成整个机轴控制软件的编写。 C/OS-II的使用使得上层应用程序容易设计和扩展，提高了机轴控制软件的实时性。 实验证明，本文设计的基于嵌入式微控制器的螺纹拧紧机机轴控制器，控制精度较高、性能稳定、质量可靠、操作简便。在扭矩控制模式下，误差可以控制在5%以内；在屈服极限控制模式下，误差可以控制在15%以内。同时，由于在控制软件的设计中引入了嵌入式实时操作系统 C/OS-II, 使得该控制系统具有较好的扩展性和实时性。本设计进一步缩小了我国与国外同类产品的差距，因此，具有很好的市场发展前景。

碎屑岩储层低电阻率油层识别方法与应用——以济阳坳陷为例

So far, there is no methods of logging interpretation effective enough to identify a low resistivity payzone since its resistivity value almost equals to that of an aquifer although many low-resistivity payzones have been found in lots of petroliferous basins worldwide. After a thorough study on those technical difficulties of the logging interpretation for the low-resistivity payzones, some corresponding resolutions have been put forward in this paper. In order to reveal its microscopic mechanism, researches on the discovered low-resistivity payzones have been carried on with analyses of core and lab test data, thus main influencing factors of the low-resistivity reservoirs have been pointed out including conductivity minerals, clay minerals, fluids, porosity and pore structure. In order to make clear the degree of influence of those reservoir factors on resistivity logging(log), lab studies and numeral simulations have been done with the typical core and formation water samples, therefore, their influence degrees have ascertained quantitatively or semi-quantitatively. The distribution law and possible distribution areas of the low-resistivity payzones in Jiyang Depression have been figured out firstly after the macroscopic geology origins (sedimentation, dynamic accumulation process, diagenesis etc.) in the area have been studied. In order to resolve the problem of difficult logging-interpretation, methods of interpretation and identification have been brought forward creatively according to the low-resistivity payzone type ascribed to macroscopic geology laws and to the combined features of logging traces, after a systemic summary of different responses of logging caused by different microscopic mechanism. Those methods have been applied in Dongying and Huimin Sag of Shengli Exploration Area, precision of identification of the low-resistivity payzones improved effectively and good economic attraction prove their great prospect.

地震P-S波时差耦合作用的斜坡崩滑效应研究

China locates between the circum-Pacific and the Mediterranean-Himalayan seismic belt. The seismic activities in our country are very frequent and so are the collapses and slides of slope triggered by earthquakes. Many collapses and slides of slope take place mainly in the west of China with many earthquakes and mountains, especially in Sichuan and Yunnan Provinces. When a strong earthquake happening, the damage especially in mountains area caused by geological hazards it triggered such as rock collapses, landslides and debris flows is heavier than that it caused directly. A conclusion which the number of lives lost caused by geological hazards triggered by a strong earthquake in mountains area often accounts for a half even more of the total one induced by the strong earthquake can be made by consulting the statistical loss of several representative earthquakes. As a result, geological hazards such as collapses and slides of slope triggered by strong earthquakes attract wide attention for their great costs. Based on field geological investigation, engineering geological exploration and material data analysis, chief conclusions have been drawn after systematic research on formation mechanism, key inducing factors, dynamic characteristics of geological hazards such as collapses and slides of slope triggered by strong earthquakes by means of engineering geomechanics comprehensive analysis, finite difference numerical simulation test, in-lab dynamic triaxial shear test of rock, discrete element numerical simulation. Based on research on a great number of collapses and landslides triggered by Wenchuan and Xiaonanhai Earthquake, two-set methods, i.e. the method for original topography recovering based on factors such as lithology and elevation comparing and the method for reconstructing collapsing and sliding process of slope based on characteristics of seism tectonic zone, structural fissure, diameter spatial distribution of slope debris mass, propagation direction and mechanical property of seismic wave, have been gotten. What is more, types, formation mechanism and dynamic characteristics of collapses and slides of slope induced by strong earthquakes are discussed comprehensively. Firstly, collapsed and slided accumulative mass is in a state of heavily even more broken. Secondly, dynamic process of slope collapsing and sliding consists of almost four stages, i.e. broken, thrown, crushed and river blocked. Thirdly, classified according to failure forms, there are usually four types which are made up of collapsing, land sliding, land sliding-debris flowing and vibrating liquefaction. Finally, as for key inducing factors in slope collapsing and sliding, they often include characteristics of seism tectonic belts, structure and construction of rock mass, terrain and physiognomy, weathering degree of rock mass and mechanical functions of seismic waves. Based on microscopic study on initial fracturing of slope caused by seismic effect, combined with two change trends which include ratio of vertical vs. horizontal peak ground acceleration corresponding to epicentral distance and enlarging effect of peak ground acceleration along slope, key inducing factor of initial slope fracturing in various area with different epicentral distance is obtained. In near-field area, i.e. epicentral distance being less than 30 km, tensile strength of rock mass is a key intrinsic factor inducing initial fracturing of slope undergoing seismic effect whereas shear strength of rock mass is the one when epicentral distance is more than 30 km. In the latter circumstance, research by means of finite difference numerical simulation test and in-lab dynamic triaxial shear test of rock shows that initial fracture begins always in the place of slope shoulder. The fact that fracture strain and shear strength which are proportional to buried depth of rock mass in the place of slope shoulder are less than other place and peak ground acceleration is enlarged in the place causes prior failure at slope shoulder. Key extrinsic factors inducing dynamic fracture of slope at different distances to epicenter have been obtained through discrete element numerical simulation on the total process of collapsing and sliding of slope triggered by Wenchuan Earthquake. Research shows that combined action of P and S seismic waves is the key factor inducing collapsing and sliding of slope at a distance less than 64 km to initial epicenter along earthquake-triggering structure. What is more, vertical tensile action of P seismic wave plays a leading role near epicenter, whereas vertical shear action of S seismic wave plays a leading role gradually with epicentral distance increasing in this range. On the other hand, single action of P seismic wave becomes the key factor inducing collapsing and sliding of slope at a distance between 64 km and 216 km to initial epicenter. Horizontal tensile action of P seismic wave becomes the key factor gradually from combined action between vertical and horizontal tensile action of P seismic wave with epicentral distance increasing in this distance range. In addition, initial failure triggered by strong earthquakes begins almost in the place of slope shoulder. However, initial failure beginning from toe of slope relates probably with gradient and rock occurrence. Finally, starting time of initial failure in slope increases usually with epicentral distance. It is perhaps that the starting time increasing is a result of attenuating of seismic wave from epicenter along earthquake-triggering structure. It is of great theoretical and practical significance for us to construct towns and infrastructure in fragile geological environment along seism tectonic belts and conduct risk management on earthquake-triggered geological hazards by referring to above conclusions.

中国大陆地区远震体波接收函数与岩石圈厚度的研究

Movements of separation and convergence between the continental plates, as well as the interaction beween the lithosphere and asthenosphere is the dominant factor in plate evolution. Moreover, those phenomena, the formation, enrichment and storage of energy and mineral strorage, as well as intraplate earthquakes are all relate to plate movement and evolution. Therefore, the study of continental lithosphere, is not only helpful to analysing the dynamic model between lithosphere and asthenoshere as well as different plates, but also important to the nation's economy and the people's livelihood. And the lithospheric thickness or Lithosphere-Asthenosphere Boundary (LAB) is one of the most important parameters in study of continental lithospheric formation and evolution. Chinese continent composed by many small plates, possesses diverse type of lithospheric structure. But our knowledge ahout Chinese continental lithosphere, especially the regional research, is almost based on the low-resolution results of surface wave dispersion analysis and seismic wave tomography. Howere, recently a technique employing S-to-P converted body waves (the S receiver function technique) has been developed that can be used to identify the LAB with a higher resolution. This thesis has collected waveform data of 232 broadband seismic stations that are located in China and neighboring regions. Using teleseismic S-wave and P-wave receiver functions have studied the Chinese continental lithospheric structure. The results of this study indicate that, the thickness of Chinese continental lithosphere become thinner from west to east, and obvious difference exists between different blocks. Four types of lithosphere have been detected: (1) Convergence thicking lithosphere in Tibetan Plateau; (2) Stable lithosphere in Tarim basin and upper Yangtze craton; (4) Active lithosphere in Orogenic belts; (4) Break-up thinning lithosphere in east China craton

铂族元素分析方法研究及其在有关地质问题中的应用

Characterization of Platinum Group Elements (PGE) has been applied to earth, space and environmental sciences. However, all these applications are based on a basic prerequisite, i.e. their concentration or ratio in the research objects can be accurately and precisely determined. In fact, development in these related studies is a great challenge to the analytical chemistry of the PGE because their content in the geological sample (non-mineralized) is often extremely low, range from ppt (10~(-12)g/g) to ppt (10~(-9)g/g). Their distribution is highly heterogeneous, usually concentrating in single particle or phase. Therefore, the accurate determination of these elements remains a problem in analytical chemistry and it obstructs the research on geochemistry of PGE. A great effort has been made in scientific community to reliable determining of very low amounts of PGE, which has been focused on to reduce the level of background in used reagents and to solve probable heterogeneity of PGE in samples. Undoubtedly, the fire-assay method is one of the best ways for solving the heterogeneity, as a large amount of sample weight (10-50g) can be hold. This page is mainly aimed at development of the methodology on separation, concentration and determination of the ultra-trace PGE in the rock and peat samples, and then they are applied to study the trace of PGE in ophiolite suite, in Kudi, West Kunlun and Tunguska explosion in 1908. The achievements of the study are summarized as follows: 1. A PGE lab is established in the Laboratory of Lithosphere Tectonic Evolution, IGG, CAS. 2. A modified method of determination of PGE in geological samples using NiS Fire-Assay with inductively coupled plasma-mass spectrometry (ICP-MS) is set up. The technical improvements are made as following: (1) investigating the level of background in used reagents, and finding the contents of Au, Pt and Pd in carbonyl nickel powder are 30, 0.6 and 0.6ng/g, respectively and 0.35, 7.5 and 6.4ng, respectively in other flux, and the contents of Ru, Rh, Os in whole reagents used are very low (below or near the detection limits of ICP-MS); (2) measuring the recoveries of PGE using different collector (Ni+S) and finding 1.5g of carbonyl nickel is effective for recovering the PGE for 15g samples (recoveries are more than 90%), reducing the inherent blank value due to impurities reagents; (3) direct dissolving nickel button in Teflon bomb and using Te-precipitation, so reducing the loss of PGE during preconcentration process and improving the recoveries of PGE (above 60% for Os and 93.6-106.3% for other PGE, using 2g carbonyl nickel); (4) simplifying the procedure of analyzing Osmium; (5)method detection limits are 8.6, 4.8, 43, 2.4, 82pg/g for 15g sample size ofRu, Rh, Pd, Ir, Pt, respectively. 3. An analytical method is set up to determine the content of ultra-trace PGE in peat samples. The method detection limits are 0.06, 0.1, 0.001, 0.001 and 0.002ng/mL for Ru, Rh, Pd, Ir and Pt, respectively. 4. Distinct anomaly of Pd and Os are firstly found in the peat sampling near the Tunguska explosion site, using the analytical method. 5. Applying the method to the study on the origin of Tunguska explosion and making the following conclusions: (1) these excess elements were likely resulted from the Tunguska Cosmic Body (TCB) explosion of 1908. (2) The Tunguska explosive body was composed of materials (solid components) similar to C1 chondrite, and, most probably, a cometary object, which weighed more than 10~7 tons and had a radius of more than 126 m. 6. The analysis method about ultra-trace PGE in rock samples is successfully used in the study on the characteristic of PGE in Kudi ophiolite suite and the following conclusions are made: (1) The difference of the mantle normalization of PGE patterns between dunite, harzburgite and lherzolite in Kudi indicates that they are residual of multi-stage partial melt of the mantle. Their depletion of Ir at a similar degree probably indicates the existence of an upper mantle depleted Ir. (2) With the evolution of the magma produced by the partial melt of the mantle, strong differentiation has been shown between IPGE and PPGE; and the differentiation from pyroxenite to basalt would have been more and more distinct. (3) The magma forming ophiolite in Kudi probably suffered S-saturation process.

孤南-三合村洼陷含油气系统研究

The development petroleum geology has made people from studying and studying and predicting in statically and respectively the pool-forming conditions of an area such as oil source bed, reservoir, overlying formation, migration, trap and preservation, etc. to regarding these conditions as well as roles of generation, reservation and accumulation as an integrated dynamic evolution development system to do study .Meanwhile apply various simulating means to try to predict from quantitative angle. Undoubtedly, the solution of these questions will accumulate exploration process, cut down exploration cost and obtain remarkable economic and social benefits. This paper which take sedimentology ,structural geology and petroleum geology as guides and take petroleum system theory as nucleus and carry out study thinking of beginning with static factor and integration of point and face as well as regarding dynamic state factor as factor and apply study methods of integration of geology, Lab research and numerical modeling proceed integrated dissect and systematic analysis to GuNan-SanHeCun depression. Also apply methods of integration of sequence stratigraphy, biostratigraphy, petrostratigraphy and seismic data to found the time-contour stratigraphic framework and reveal time-space distribution of depositional system and meantime clarify oil-source bed, reservoir and overlying distribution regular patterns. Also use basin analysis means to study precisely the depositional history, packed sequences and evolution. Meanwhile analyze systematically and totally the fracture sequence and fault quality and fault feature, study the structural form, activity JiCi and time-space juxtaposion as well as roles of fault in migration and accumulation of oil and gas of different rank and different quality fault. Simultaneously, utilize seismic, log, analysis testing data and reservoir geology theory to do systematic study and prediction to GuNan-SanHeCun reservoir, study the reservoir types macroscopic distribution and major controlling factors, reservoir rock, filler and porosity structural features as well as distribution of reservoir physical property in 3D space and do comprehensive study and prediction to major controlling and influential factors of reservoir. Furthermore, develop deepingly organic geochemistry comprehensive study, emphasis on two overlaps of oil source rock (ESI, ES3) organic geochemistry features, including types, maturity and spatial variations of organic matter to predict their source potential .Also apply biological marks to proceed oil-to-source correlation ,thereby establish bases for distribution of petroleum system. This study recover the oil generation history of oil source rocks, evaluate source and hydrocarbon discharge potential ,infer pool-forming stages and point out the accumulation direction as well as discover the forming relations of mature oil-source rock and oil reservoir and develop research to study dynamic features of petroleum system. Meanwhile use systematic view, integrate every feature and role of pool forming and the evolution history and pool-forming history, thereby lead people from static conditions such as oil source bed, reservoir, overlying formation, migration, trap and preservation to dynamically analyzing pool-forming process. Also divide GuNan-SanHeCun depression into two second petroleum system, firstly propose to divide second petroleum system according to fluid tress, structural axis and larger faults of cutting depression, and divide lower part of petroleum system into five secondary systems. Meanwhile establish layer analysis and quantitative prediction model of petroleum model, and do quantitative prediction to secondary petroleum system.

古潜山油藏非均质三维地质建模

The discovery of the highly productive Renqiu buried hill reservoir in Bohai Bay Basin in 1975 started the high tide of finding buried hill reservoirs in China and their research. As the advance of E&P technologies, the study of buried hill reservoir in China had a qualitative leap. The reservoir description and some other aspects of development have reached or approached to the international leading level. However, some core techniques for reservoir study such as structure & faulting system study, formation prediction and connection study and heterogeneous model's construction could not completely carry out the quantitative or accurate reservoir description, e. g. the areal distribution of porosity, permeability and oil saturation. Especially, the modeling for reservoir simulation is still wandering in the stage of simplicity. The inaccurate understanding of geology could not derive 3D heterogeneous geological model that can reveal the actual underground situation thus could not design practical and feasible oilfield development plan. Therefore, the problems of low oil recovery rate, low recovery factor and poor development effectiveness have not been solved. The poor connection of the reservoir determined that waterflooding could not get good development effect and the production had to depend on the reservoir elastic energy, and this will bring big difficulty for development modification and improvement of oil recovery. This study formed a series of techniques for heterogeneous model research that can be used to construct heterogeneous model consistent with the reservoir geology. Thus the development effectiveness, success ratio of drilling and percent of producing reserves can be enhanced. This study can make the development of buried hill reservoir be of high recovery rate and high effect. The achievements of this study are as follows: 1. Evaluated the resources, summarized the geological characteristics and carried out the reservoir classification of the buried hill reservoirs in Shengli petroliferous area; 2. Established the markers for stratigraphical correlation and formed the correlation method for complex buried hill reservoirs; 3. Analyzed the structural features of the buried hill reservoirs, finished the structure interpretation and study of faulting system using synthetic seismograms, horizontal slices and coherent analysis, and clarified structural development history of the buried hill reservoirs in Shengli petroliferous area; 4. Determined the 3 classes and 7 types of pore space and the main pore space type, the logging response characteristics and the FMI logging identified difference between artificial and natural fractures by the comprehensive usage of core analysis, other lab analyses, conventional logging, FMI logging and CMR logging; 5. Determined the factors controlled the growth of the fractures, vugs and cavities, proposed the main formation prediction method for buried hill reservoir and analyzed their technical principium and applicability, and formed the seismic method and process for buried hill reservoir description; 6. Established the reserve calculation method for buried hill reservoirs, i. e. the reserves of fractures and matrix are calculated separately; the recoverable reserves are calculated by decline method and are classified by the SPE criteria; 7. Studied restraining barriers and the sealing of the faults thus clarified the oil-bearing formations of the buried hill reservoirs, and verified the multiple reservoir forming theory; 8. Formed reasonable procedure of buried hill reservoir study; 9. Formed the 3 D modeling technology for buried hill reservoirs; 10. Studied a number of buried hill blocks on the aspects of reservoir description, reservoir engineering and development plan optimization based on the above research and the profit and social effect are remarkable.

Photodissociation of o-bromotoluene at 266 nm

The photodissociation of o-bromotoluene at 266 nm has been investigated using the universal crossed laser-molecular beam technique. The angle-resolved time-of-flight (TOF) spectra corresponding to Br photofragment are measured at different lab angles. The observed translational energy distribution and anisotropy parameters of the Br photofragment indicate that o-bromotoluene dissociates via two channels. In the first channel, the anisotropy parameter beta is determined to be 0.5 +/- 0.2 and the average translational energy is only 9% of the available energy. In the other photofragmentation channel, beta is determined to be - 0.4 +/- 0.2 and 44% of the available energy is assigned to translational energy. Possible mechanisms are discussed. (C) 1999 Elsevier Science B.V. All rights reserved.

Mini-electrochemical detector for microchip electrophoresis

This paper presents the development of a mini-electrochemical detector for microchip electrophoresis. The small size (3.6 x 5.0 cm(2), W x L) of the detector is compatible with the dimension of the microchip. The use of universal serial bus (USB) ports facilitates installation and use of the detector, miniaturizes the detector, and makes it ideal for lab-on-a-chip applications. A fixed 10 M Omega feedback resistance was chosen to convert current of the working electrode to voltage with second gain of 1, 2, 4, 8, 16, 32, 64 and 128 for small signal detection instead of adopting selectable feedback resistance. Special attention has been paid to the power support circuitry and printed circuit board (PCB) design in order to obtain good performance in such a miniature size. The working electrode potential could be varied over a range of +/-2.5 V with a resolution of 0.01 mV. The detection current ranges from -0.3 x 10(-7) A to 2.5 x 10(-7) A and the noise is lower than 1 pA. The analytical performance of the new system was demonstrated by the detection of epinephrine using an integrated PDMS/glass microchip with detection limit of 2.1 mu M (S/N = 3).