蛇形机器人侧向运动的研究

本文提出了一种新型蛇形机器人机构 ,建立了其空间运动学模型 ,实现了蛇形机器人的两种侧向运动 :侧向蜿蜒运动和侧向滚动 ,前者通过调节两个异相波的频率比 ,实现了任意方向的侧向运动 .后者通过控制运动波的幅值变化 ,实现了各种形式的纯侧向移动 ,当幅值足够大时 ,这种侧向滚动可以跨越障碍

冷轧薄板厂CIMS环境下经营决策系统

本文针对冷轧机薄板生产线的生产特点 ,以鞍钢冷轧机薄板厂为具体背景 ,讨论了CIMS环境下三种为同生产驱动方式的优化经营决策方法 .(1)订单方式驱动 ;(2 )市场预测方式驱动 ;(3)订单和市场预测混合方式驱动 .对于企业的冷轧厂来说 ,非常有实用价值 .

冷轧生产线机组作业计划过程中的投料混合比算法

为了实现冷轧生产线的均衡生产,提出了机组排产作业计划过程中的投料混合比算法。在该算法中,首先根据各道工序机组的生产能力、产品类型、故障和生产过程中的随机干扰等,计算在生产计划期内依概率平均的最佳缓冲区库存量,该库存量能够使机组实现均衡生产;其次,在现有在制库存条件下,考虑生产机组的生产能力和生产的产品类型,提出了本工序机组负荷平衡的机组排产作业计划在线生成方法;最后,结合上述两种方法,利用程序迭代搜索方式求解,既保证本道工序机组负荷平衡,也保证下道工序最佳库存的优化投料混合比,保证了冷轧生产线均衡生产的可行性。

冷轧MES机组作业计划过程中的任务分配法

基于鞍钢新轧集团股份有限公司冷轧薄板厂MES工程的实际情况,介绍了机组排产作业计划过程中的任务分配方法。该方法以机组与生产任务的最佳匹配、机组的负荷平衡为性能指标,采用了实时最小负荷分配规则,科学地解决了冷轧生产线CIMS环境下机组排产作业计划的在线生成问题,实现了生产线上的生产路径优化控制,从而提高了生产质量和设备利用率。

鞍钢冷轧厂制造执行系统研究

鞍钢新轧钢股份有限公司冷轧厂制造执行系统(MES)覆盖了从接收用户合同到产品发货的整个生产经营活动。接收用户合同后,系统自动生成优化的主生产计划、要料计划和机组作业计划,在生产过程中,系统对生产状况进行全面跟踪,对出现的异常情况进行合理调度,并且,冷轧MES与上游厂、公司ERP、过程控制系统和厂级管理系统连成一体,协同工作。该软件在实际应用中取得了令人满意的效果。

细粒沉积物多组分粒度特征及其成因机制研究

By using high-resolution laser grain size instrument Mastersizer 2000, the grain size distribution of windblown depositions (loess and sandy dunes), aqueous sediments (lake, river, riverside and foreshore sand), weathering crust, sloping materials and other fine-grain sediments are systemically measured. The multimodal characteristics of grain size distribution of these sediments are carefully studied. The standard patterns and their grain size characteristics of various sediments are systemically summarized. The discrepancies of multimodal distribution among windblown depositions, aqueous sediments and other sediments are concluded and the physical mechanisms of grain size multimodal distribution of various sediments are also discussed in this paper. The major conclusions are followed: 1. The multimodal characteristic of grain size distribution is a common feature in all sediments and results from properties of transportation medium, dynamic intensity, transportation manner and other factors. 2. The windblown depositions are controlled by aerodynamic forcing, resulting in that the median size of the predominant mode gradually decreases form sandy dunes to loess. Similarly, the aqueous sediments are impacted by dynamic forces of water currents and the median grain size of the predominant mode decreases gradually from river to lake sediments. Because the kinetic viscidity of air is lower than of water, the grain size of modes of windblown depositions is usually finer than that of corresponding modes of aqueous sediments. Typical characteristics of sediments grain size distribution of various sediments have been summarized in the paper: (1) Suspended particles which diameters are less than 75μm are dominant in loess and dust. There are three modes in loess’ grain size distribution: fine, median and coarse (the median size is <1μm、1-10μm、10-75μm, respectively). The coarse mode which percentage is larger than that of others is controlled by source distance and aerodynamic intensity of dust source areas. Some samples also have a saltation mode which median size is about 300-500μm. Our analysis demonstrates that the interaction of wind, atmospheric turbulence, and dust grain gravity along the dust transportation path results in a multimodal grain size distribution for suspended dust. Changes in the median sizes of the coarse and medium modes are related to variation in aerodynamic forcing (lift force related to vertical wind and turbulence) during dust entrainment in the source area and turbulence intensity in the depositional area. (2) There is a predominant coarse saltation mode in grain size distribution of sandy dunes, which median size is about 100-300μm and the content is larger than that of other modes. The grain size distribution curve is near axis symmetric as a standard logarithm normal function. There are some suspended particles in some samples of sandy dunes, which distribution of the fine part is similar to that of loess. Comparing with sandy samples of river sediments, the sorting property of sandy dunes is better than of river samples although both they are the saltation mode. Thus, the sorting property is a criterion to distinguish dune sands and river sands. (3) There are 5~6 modes (median size are <1μm, 1-10μm, 10-70μm, 70-150μm, 150-400μm, >400μm respectively) in grain size distribution of lacustrine sediments. The former 4 modes are suspensive and others are saltated. Lacustrine sediments can be divided into three types: lake shore facies, transitional facies and central lake facies. The grain size distributions of the three facies are distinctly different and, at the same time, the transition among three modes is also clear. In all these modes, the third mode is a criteria to identify the windblown deposition in the watershed. In lake shore sediments, suspended particles are dominant, a saltation mode sometimes occurs and the fourth mode is the most important mode. In the transitional facies, the percentage of the fourth mode decreases and that of the second mode increases from lake shore to central lake. In the central lake facies, the second mode is dominant. A higher content of the second mode indicates its position more close to the central lake. (4) The grain size distribution of river sediments is the most complex. It consist of suspension, saltation and rolling modes. In most situations, the percentage of the saltation mode is larger than that of other modes. The percentage of suspension modes of river sediments is more than of sandy dunes. The grain size distribution of river sediments indicates dynamic strength of river currents. If the fourth mode is dominant, the dynamic forcing of river is weaker, such as in river floodplain. If the five or sixth mode is dominant, the water dynamic forcing of rivers is strong. (5) Sediments can be changed by later forcing in different degree to form some complicated deposition types. In the paper, the grain size distribution of aqueous sediments of windblown deposition, windblown sediments of aqueous deposition, weathering crust and slope materials are discussed and analyzed. 3. The grain size distribution characteristics of different sediments are concluded: (1) Modal difference: Usually there are suspended and saltation modes in the windblown deposition. The third mode is dominant in loess dust and the fifth mode is predominant in sandy dunes. There are suspended, saltation and rolling particles in aqueous sediments. In lacustrine sediments, the second and fourth mode are predominant for central lake facies or lake shore facies, respectively. In river sediments, the fourth, or fifth, or sixth mode is predominant. Suspended modes: the grain size of suspended particles of windblown depositions usually is less than 75μm. The content of suspended particles is lower or none in sandy dunes. However, suspended particles of aqueous sediments may reach 150μm. Difference in grain size of suspended modes represents difference between transitional mediums and the strength of dynamic forcing. Saltation modes: the median size of saltation mode of sandy dunes fluctuates less than that of river sediments. (2) Loess dust and lacustrine sediment: Their suspended particles are clearly different. There is an obvious pit between the second and the third modes in grain size distribution of lacustrine sediments. The phenomenon doesn’t occur in loess dust. In lacustrine sediments, the second mode can be a dominant mode, such as central lake facies, and contents of the second and the third modes change reversely. However, the percentage of the third mode is always the highest in loess dust. (3) Dune Sand and fluvial sand: In these two depositions, the saltation particles are dominant and the median sizes of their saltation modes overlay in distribution range. The fifth mode of dune sand fluctuates is sorted better than that of fluvial sand. (4) Lacustrine and fluvial sediments: In lacustrine sediments, there are 5-6 modes and suspended particles can be predominant. The second mode is dominant in central lake facies and the third mode is dominant in lake shore facies. Saltation or roll modes occurred in central lake facies may indicate strong precipitation events. In fluvial sediments, saltation particles (or rolling particles) usually dominant. 4. A estimation model of lake depth is firstly established by using contents of the second, the third and the fourth modes. 5. The paleoenvironmental history of the eastern part of SongLiao basin is also discussed by analyzing the grain size distribution of Yushu loess-like sediments in Jilin. It was found that there is a tectonic movement before 40ka B.P. in SongLiao basin. After the movement, loess dust deposited in Yushu area as keerqin desert developed. In recent 2000 years, the climate became drier and more deserts activated in the eastern part of Song-Liao basin.

复杂断块油气藏成藏机理和剩余油预测

Complex fault block reservoir is very important type in chinese oilfield.The reservoir have for many years and it has been the important issue of oil-gas exploration and development in china that how to increase reserves and production. Therefore,taking the Pucheng-oil field as an example, the article intensive study the geologic feature of oil pool, correctly recognize the rule of oil-gas accumulation and based on the fine representation of the characteristic of reservoir, research the remaining oil in high developed area,which is important for progressive exploratioon and development and taping the remaining oil. The article multipurpose uses the data of geology,drilling,wellloging, analysis and assay and so on, under the guidance multi-disciplinary theory, intensify the comprehension of the geologic feature of oil pool in high developed oil field. Based on the high-resolution sequence stratigraphic framework ,the article points out that Es_2 upper 2+3 reservoir in the south area of Pucheng oilfield is in the depositional environment of Terminal Fan, which has constant supply of sedimentary source ,and build the sedimentation model. Studies have shown that the major reservoir in work area is the distributary channel sandbody in central Sub-facies of Terminal Fan，secondary is both lateral accretion sandbodies of channel sands，nearby and far away from the channel overflowing sandbodies in front of the fan. The article analyze the effect of depth of burial of the reservoir, sandstone structure, strata pressure and bioturbate structure on control action of physical property for reservoir and indicate that deposition and diagenesis are major controlling factors.By building the model of reservoir heterogeneity, the article show the magnitude of reservoir heterogeneity ,the genesis and identification mark of Interlayer and build the the model of interlayer. in this area the vertical distribution of interlayer is complicated,but the intraed interlayer distribute steady. Thick interlayer is steady and the thin is relatively spreaded. By building models of fault sealing,stress field and fluid potential field of the south of the pucheng oil field, the regular pattern of fluid migration and accumulation runs out. By researching the elements of oil accumulation, migration pathway and accumulation period with quantification and semiquantitative methods,we bulit the oil-gas reservoir-forming mode of the south of the pucheng oil field,which will be the foundation of the rolling exploratory development in the future. We promulgated the master control element and the rule of distribution of the remaining oil with the upside 2+3 oil layer in shaer in the south of the pucheng oil field as an example.In this area, the formation and the distribution of the remaining oil is controled by the sedimentary microfacies, reservoir heterogeneity,fault and reservoir engineering. The remaining oil is concentrated in the vicinity of the gas cap, updip of the fault block and the area with incomplete flooding. Remaining oil saturation in some area can get 50%, so there are many places in which we can enhance oil recovery.

复杂断块油藏形成机制及剩余油预测

The central uplift in the Huimin depression is famous for its large amounts of faults and small-scale fault-block area, and it is the famed typical complicated fault-block group oil & gas field in the whole world. After many years of rolling exploration and exploitation, many complex oil &gas field have been discovered in the central uplift, and won the splendent fruit. With the gradual deepening and development of the rolling exploitation, the exploration faces more and more difficulties. Therefore, it is important to reveal the forming mechanism and distributing rule of the complex fault-block reservoir, and to realize the forecast of the complex fault-block reservoir, sequentially, expedite the exploration step. This article applies the new multi-subject theory, method and technique such as structure geometry, kinematics, dynamics, structural stress field, fluid potential field, well logging record and constrained inversion of seismic records, coherence analysis, the seal mold and seal history of oil-bounded fault etc, and try to reveal the forming mechanism and distributing law of the complex fault-block reservoir, in result, implements the forecast of the fault-block reservoir and the remaining oil distributing. In order to do so, this article synthetically carries out structural estimate, reservoir estimate, fault sealing history estimate, oil-bearing properties estimate and residual. This article also synthetically researches, describes and forecast the complex fault-block in Huimin depression by use of the techniques, e.g. seismetic data post-stack processing technique, multi-component demarcating technique, elaborate description technique for the fault-block structure, technique of layer forecasting, fault sealing analysis technique, comprehensive estimate technique of fault-block, comprehensive analysis and estimate technique of remaining oil etc. The activities of the faults varies dramatically in the Huimin depression, and most of the second-class and the third-class faults are contemporaneous faults, which control the macroscopical distribution of the reservoir in the Huimin depression. The fourth-class faults cause the complication between the oil & gas among the fault-blocks. The multi-period strong activities of the Linyi fracture resulted in the vertical migration of large amount of oil & gas along with the faults. This is the main reason for the long vertical distribution properties near the Linyi fracture in the Huimin depression. The sealing ability of the fault is controlled by the property,size and direction of the main stress, the contact relationship of the both sides of the fault, the shale polluting factor, and the configuration relationship between the fault move period and the migration period of oil & gas. The article suggest four fault-sealing modes in the research zone for the first time, which establishes the foundation for the further forecast of the complex fault-block reservoir. Numerical simulation of the structural stress field reveals the distribution law and the evolvement progress of the three-period stress field from the end of the Dongying period to the Guantao period to nowadays. This article puts forward that the Linyi and Shanghe regions are the low value of the maximum main stress data. This is combined with the fault sealing history estimate, then multi-forming-reservoir in the central uplift is put forward. In the Shanghe oilfield, the article establishes six reservoir geological modes and three remaining oil distributing modes(the plane, the inside layer and the interlayer), then puts forward six increase production measure to enhance the remaining oil recovery ratio. Inducting the exploitation of oilfield, it wins notable economic effects and social effects.

滚石机理及滚石灾害评价研究

Rockfall is a geological evolution process involving detachment of blocks or boulders from a slope face, then their free falls, bouncing, rolling or sliding, and finally deposition near the toe of the slope. Many facts indicate that the rockfall can cause hazards to peoples, and it can be regarded as a geological hazard. A rockfall event may only involve a boulder or rock, and also several ones. When there are peoples, buildings, or other man-made establishments within the scope of rockfall trajectory, losses will be possibly induced in tenns of human lives or damages to these facilities. Researches into mechanism, kinematics, dynamics, hazard assessment, risk analysis, and mitigation measures of rockfalls are extremely necessary and important. Occurrence of rockfall is controlled by a lot of conditions, mainly including topographical, geomorphic, geological ones and triggering factors. The rockfall especially in mountainous areas, has different origins, and occurs to be frequent, unexpected, uncertain, in groups, periodic and sectional. The characterization and classification of the rockfalls not only increase knowledge about rockfall mechanism, but also can instruct mitigation of the hazards. In addition, stability of potential rockfalls have various sensitivity to different triggering factors and changes of geometrical conditions. Through theoretical analyses, laboratory experiments and field tests, the author presents some back-analysis methods for friction coefficients of sliding and rolling, and restitution coefficients. The used input data can be obtained economically and accurately in the field. Through deep studies on hazard assessment methods and analysis of factors influencing rockfall hazard, this paper presents a new assessment methodology consisting of preliminary assessment and detailed one. From the application in a 430 km long stretch of the Highway, which is located between Paksho and Nyingtri in Tibet, the methodology can be applicable for the rockfall hazard assessment in complex and difficult terrains. In addition, risk analyses along the stretch are conducted by computing the probability of encountering rockfalls and life losses resulting from rockfall impacts. Rockfall hazards may be mitigated by avoiding hazardous areas, clearness of dangerous rocks, reinforcement, obstructing the rockfalls, leading the rockfalls, warning and monitoring for rockfalls, etc. Seen from present remedial level of rockfall hazards, different mitigation measures, economical and effective buffering units, monitoring tecliniques and consciousness of environmental protection for rockfall mitigations should be further developed.