一种可变形移动机器人协同构形变换方法

提出了一种可变形移动机器人AMOEBA-I的协同构形变换方法,建立了机器人系统的数学模型,对各个模块之间的协同变换及运动特性进行了分析.研究了机器人3个模块在协同变换过程中的电流变化情况,实现了3种特殊构形之间的变换.通过理论分析和实验比较了协同构形变换方法的特点,实验验证了在多种地面条件下机器人协同构形变换方法的有效性.

可变形机器人协同转向运动研究

可变形机器人AMOEBA-I具有多种构形和多种转向方式.为实现机器人转向性能的优化,提出了可变形机器人的协同转向方法,并建立了相应的数学模型,对不同构形下的协同转向方式进行了理论分析.设定了机器人三个模块在协同转向过程中的运动关系,在此基础上给出了可变形机器人协同转向性能的评价指标.通过理论和实验比较了不同构形下的协同转向方式,实验验证了协同转向方法的有效性.

移动机器人数学模型近似线性化及反馈镇定

研究了非线性控制理论中的近似线性化方法在移动机器人控制上的应用问题。针对机器人控制领域中多输入多输出(MIMO)仿射非线性系统,研究了一种基于平衡流形的近似线性化算法,并用此算法解决了一类完整约束正交轮式全方位移动机器人(WMR)的镇定问题。仿真分析表明,此方法不仅能够实现系统的镇定,而且降低了因平衡工作点变动给系统稳定性带来的影响,同时也大大地简化了对非线性系统的综合设计过程,具有良好的控制效果和实用性。

“CR-02”AUV无动力下潜运动预报

本文针对“CR- 0 2”AUV海试前的无动力下潜运动进行了预报 .该文在建立 AUV无动力下潜运动数学模型基础上 ,研究分析了其稳态运动的特点 ,提出了下潜深度变化率和纵倾角是描述 AUV无动力下潜运动的重要参数 ,并获得了它们的解析表达式 ,无需使用计算机 ,就能快速、方便、准确地确定上述参数 ,并选取适当的下潜压载 ,以提高下潜速度 ,减少下潜时间 ,该方法具实际应用价值 .

激光拼焊错边产生与预测建模方法

错边是评定激光拼焊质量的一个非常重要的指标,薄板构件错边的控制是激光拼焊中一个难题。针对国内首条全自动激光拼焊设备,对错边的产生以及控制方法进行了深入研究,经过大量试验确定了影响错边大小的几个主要因素,板材自身物理变形、压紧力大小与均匀性、压紧横梁变形、支撑底板平面度误差以及焊接变形的影响。通过分析以上因素对错边的影响以及各个因素之间相互关系,建立了错边预测的数学模型。试验验证了模型的正确性,从而为确定错边产生原因,提高焊接质量提供了一个有效的理论指导。

海底金属矿床充水条件及矿坑突水的断层效应研究

The Xinli mine area of Sanshandao mine is adjacent to the Bohai Sea and its main exploitable ore deposit occurs in the undersea rock mass. The mine is the biggest undersea gold mine of China after production. The mine area faces a latent danger of water bursting, even sudden seawater inrush. There is no mature experience in undersea mining in China so far. The vein ore deposit is located in the lower wall of a fault; its possible groundwater sources mainly include bittern, Quaternary pore water and modern seawater. To ensure the safety of undersea mining, to survey the flooding conditions of the ore deposit using proper measures and study the potential seawater inrush pattern are the key technical problems. With the Xinli mine area as a case study, the engineering geological conditions of the Xinli mine area are surveyed in situ, the regional structural pattern and rock mass framework characteristics are found out, the distribution of the structural planes are modeled by a Monte Carlo method and the connectivity coefficients of rock mass structural planes are calculated. The regional hydro-geological conditions are analyzed and the in-situ hydro-geological investigation and sampling are performed in detail, the hydrochemistry and isotopes testing and groundwater dynamic monitoring are conducted, the recharge, runoff, discharge conditions are specified and the sources of flooding are distinguished. Some indices are selected from the testing results to calculate the proportion of each source in some water discharge points and in the whole water discharge of the Xinli mine area. The temporal and spatial variations of each water source of the whole ore deposit flooding are analyzed. According to the special project conditions in the Xinli mine area, the permeability coefficient tensors of the rock mass in Xinli mine area are calculated based on a fracture geometry measurement method, in terms of the connectivity and a few hydraulic testing results, a modified synthetic permeability coefficient are calculated. The hydro-geological conceptual and mathematical model are established，the water yield of mine is predicted using Visual Modflow code. The spreading law of surrounding rock mass deformation and secondary stress are studied by numerical analysis; the intrinsic mechanism of the faults slip caused by the excavation of ore deposit is analyzed. The results show that the development of surrounding rock mass deformation and secondary stress of vein ore deposit in the lower wall of a fault, is different from that in a thick-big ore deposit. The secondary stress caused by the excavation of vein ore deposit in the lower wall of a fault, is mainly distributed in the upper wall of the fault, one surface subsidence center will occur. The influences of fault on the rock mass movement, secondary stress and hydro-geological structures are analyzed; the secondary stress is blocked by the fault and the tensile stress concentration occurs in the rock mass near the fault, the original water blocking structure is destructed and the permeable structure is reconstructed, the primary structural planes begin to expand and newborn fissures occur, so the permeability of the original permeable structure is greatly enhanced, so the water bursting will probably occur. Based on this knowledge, the possible water inrush pattern and position of the Xinli mine area are predicted. Some computer programs are developed using object-oriented design method under the development platform Visual Studio.Net. These programs include a Monte Carlo simulation procedure, a joint diagrammatizing procedure, a structural planes connectivity coefficient calculating procedure, a permeability tensor calculating procedure, a water chemical formula edit and water source fixture conditions calculating procedure. A new computer mapping algorithm of joint iso-density diagram is raised. Based on the powerful spatial data management and icon functions of Geographic Information System, the pit water discharge dynamic monitoring data management information systems are established with ArcView.

地理信息系统支持下的滑坡灾害空间分析预测-以云南小江流域为例

As a typical geological and environmental hazard, landslide has been causing more and more property and life losses. However, to predict its accurate occurring time is very difficult or even impossible due to landslide's complex nature. It has been realized that it is not a good solution to spend a lot of money to treat with and prevent landslide. The research trend is to study landslide's spatial distribution and predict its potential hazard zone under certain region and certain conditions. GIS(Geographical Information System) is a power tools for data management, spatial analysis based on reasonable spatial models and visualization. It is new and potential study field to do landslide hazard analysis and prediction based on GIS. This paper systematically studies the theory and methods for GIS based landslide hazard analysis. On the basis of project "Mountainous hazard study-landslide and debris flows" supported by Chinese Academy of Sciences and the former study foundation, this paper carries out model research, application, verification and model result analysis. The occurrence of landslide has its triggering factors. Landslide has its special landform and topographical feature which can be identify from field work and remote sensing image (aerial photo). Historical record of landslide is the key to predict the future behaviors of landslide. These are bases for landslide spatial data base construction. Based on the plenty of literatures reviews, the concept framework of model integration and unit combinations is formed. Two types of model, CF multiple regression model and landslide stability and hydrological distribution coupled model are bought forward. CF multiple regression model comes form statistics and possibility theory based on data. Data itself contains the uncertainty and random nature of landslide hazard, so it can be seen as a good method to study and understand landslide's complex feature and mechanics. CF multiple regression model integrates CF (landslide Certainty Factor) and multiple regression prediction model. CF can easily treat with the problems of data quantifying and combination of heteroecious data types. The combination of CF can assist to determine key landslide triggering factors which are then inputted into multiple regression model. CF regression model can provide better prediction results than traditional model. The process of landslide can be described and modeled by suitable physical and mechanical model. Landslide stability and hydrological distribution coupled model is such a physical deterministic model that can be easily used for landslide hazard analysis and prediction. It couples the general limit equilibrium method and hydrological distribution model based on DEM, and can be used as a effective approach to predict the occurrence of landslide under different precipitation conditions as well as landslide mechanics research. It can not only explain pre-existed landslides, but also predict the potential hazard region with environmental conditions changes. Finally, this paper carries out landslide hazard analysis and prediction in Yunnan Xiaojiang watershed, including landslide hazard sensitivity analysis and regression prediction model based on selected key factors, determining the relationship between landslide occurrence possibility and triggering factors. The result of landslide hazard analysis and prediction by coupled model is discussed in details. On the basis of model verification and validation, the modeling results are showing high accuracy and good applying potential in landslide research.

河流-三角洲储层自动对比微相自动识别原理方法和软件系统

Because of the complexity and particularity, especially the result is more depend on the expert' s experience, the calculate method which is based on the simplicity mathematical model can hardly have any effective role in the oilfield .The coalescent method of artificial intelligence and signal manage in the correlation of reservoir use log curve has been put forward.in this paper. Following the principle of "controlled by classification and correlation by deposit gyration ". The system of correlation has been setup, which can identify "standard layer" first by the improved method of gray connection system, and then on the basis of identified "standard layer", interpret the fault, and last identify the layer in the reservoir. A effective method of "the consistent character of a reservoir "has been adopt to solved the puzzle of interpret the fault. On the basis of sedimentary theory and the quantity analysis of log curve shape of different type microfacies, a serial of different type micofacies' s models has been build that use eight optimized parameters, five of eight rationed parameters being used to describe microfacies with log curve, the distribution area of every parameters for the microfacies has been give. Because the classical math can only be used in the areas that principles are very clearly, not be fit for the description of geology character, so The fuzzy math integrate judgment has been adopt in the using log curve to determine microfacies; the accordance ration is 85 percent. A set of software has been programmed which is on the system of Windows. the software has the integration function of data process, auto-contrast reservoir layer, determination of microfacies using log curve, character the connectivity of sandstones and plotting of geology map. Through the application, this system has high precision and has become a useful tool in the study of geology.

青藏高原东部电性结构特征及地球动力学意义

As the largest and highest plateau on the Earth, the Tibetan Plateau has been a key location for understanding the processes of mountain building and plateau formation during India-Asia continent-continent collision. As the front-end of the collision, the geological structure of eastern Tibetan Plateau is very complex. It is ideal as a natural laboratory for investigating the formation and evolution of the Tibetan Plateau. Institute of Geophysics, Chinese Academy of Sciences (CAS) carried out MT survey from XiaZayii to Qingshuihe in the east part of the plateau in 1998. After error analysis and distortion analysis, the Non-linear Conjugate Gradient inversion(NLCG), Rapid Relaxation Inversin (RRI) and 2D OCCAM Inversion algorithms were used to invert the data. The three models obtained from 3 algorithms provided similar electrical structure and the NLCG model fit the observed data better than the other two models. According to the analysis of skin depth, the exploration depth of MT in Tibet is much more shallow than in stable continent. For example, the Schmucker depth at period 100s is less than 50km in Tibet, but more than 100km in Canadian Shield. There is a high conductivity layer at the depth of several kilometers beneath middle Qiangtang terrane, and almost 30 kilometers beneath northern Qiangtang terrane. The sensitivity analysis of the data predicates that the depth and resistivity of the crustal high conductivity layer are reliable. The MT results provide a high conductivity layer at 20~40km depth, where the seismic data show a low velocity zone. The experiments show that the rock will dehydrate and partially melt in the relative temperature and pressure. Fluids originated from dehydration and partial melting will seriously change rheological characteristics of rock. Therefore, This layer with low velocity and high conductivity layer in the crust is a weak layer. There is a low velocity path at the depth of 90-110 km beneath southeastern Tibetan Plateau and adjacent areas from seismology results. The analysis on the temperature and rheological property of the lithosphere show that the low velocity path is also weak. GPS measurements and the numerical simulation of the crust-mantle deformation show that the movement rate is different for different terranes. The regional strike derived from decomposition analysis for different frequency band and seismic anisotropy indicate that the crust and upper mantle move separately instead of as a whole. There are material flow in the eastern and southeastern Tibetan Plateau. Therefore, the faults, the crustal and upper mantle weak layers are three different boundaries for relatively movement. Those results support the "two layer wedge plates" geodynamic model on Tibetan formation and evolution.

电视广告作品评价的消费行为学研究

The quality of advertising copy is an important component of advertising service. An advertising system with only copy design and production but without evaluation is imperfect. Establishing an evaluation system of television advertising copy is the principal purpose of the present work. In terms of consumer behavior, the work focused on consumers' evaluation-in-general of T commercials. The research consisted of three subprograms. The first subprogrom was associated with the basic factors in the evaluation of television advertising copy. The second one was related to the relative importance of those basic factors. The last one was related to the way in which the consumers' synthetic evaluation of copy under multidimensions. These subprogram composed the evaluation system of television advertising copy. In the study of the first subprogram, by the use of a variaty of "multistage evaluation scale", a survey into consumers' evaluation-in-general of television ads was made, which obtained five factors, namely, credibility, attractiveness, suitability, cognition and affect impact, through factor analysis (Cum.Pct. = 56.2%, α = 0.84). The study of second subprogram acquired their relative weights by a popular method of weight in the area of decision analysis, the result was as followings: credibility-0.27, attractiveness-0.24, suitability-0.18, affect impact-0.16, cognition-0.15; and fanally, under the condition of quasi-experiment, the third studyestablished a mathematical model of the synthetic evaluation of television ad copy, which was expressed as O = ΣF * W, through a "synthetical" method of multidimensional decision making.