仿人机器人腰部机构的动力学建模、控制与仿真

本文介绍的仿人机器人具有差动腰部机构,它除了受自身的动力学影响以外,还受到手臂和车体运动以及外力、外力矩等对腰部机构关节力矩的影响。笔者利用高效牛顿-欧拉算法完成了仿人机器人的整体建模;在不考虑各关节间耦合运动的情况下,对整体动力学模型进行适当简化,得到了腰部机构的动力学模型。简化后的动力学模型既反映了机器人车体、腰部及双臂的动力学关系,又大大地减小了计算量,易于实现基于动力学的控制算法。基于动力学模型,给出了腰部机构PD伺服轨迹跟踪控制算法,并结合计算力矩方法用于补偿腰部机构两关节受到的力矩扰动。仿真分析表明,该控制方法可以明显提高腰部机构的位置跟踪精度,并提高仿人机器人的整体作业精度。

越野移动机器人自动驾驶专家系统的研究

本文研究越野移动机器人驾驶专家系统等有关问题．首先介绍了系统的硬件支持环境，然后阐述了自动驾驶专家系统的总体结构，有关知识库的内容以及使用知识的各功能模块的作用与运行机理．该系统已部分得以应用，能够完全代替驾驶员完成各种驾驶操作，并能进行自主导航、运动规划、自动绕障、动态跟踪目标、原路返回以及示教再现等复杂任务。

基于DSP的视觉焊缝跟踪控制系统的设计

目前，随着科技水平的进步，人们对焊接质量的要求越来越高，为了保证焊接质量，通常配备焊缝自动跟踪系统。视觉传感方式由于其采集信息量大，避免了与工件直接接触，易于实现焊接跟踪智能化，在焊缝跟踪领域得到广泛的应用。由于主动光视觉与被动光视觉相比具有抗干扰能力强等诸多优点，所以本文采用基于主动光视觉的焊缝跟踪系统。 论文第一部分介绍了焊缝跟踪图像采集与处理系统。对本文中所使用的图像传感器、光路系统的结构及获取特征点的图像处理方法进行了说明。 第二部分对焊缝跟踪控制系统的硬件设计进行说明。硬件部分主要是以TMS320F2812数字信号处理器为核心进行外围电路的设计。包括电源模块、串口通信模块、CAN口通信模块、接口电路模块等。为了使跟踪系统达到所需要的精度和快速性，电机是系统组成中一个非常重要的环节，是很关键的组成部件。所以本部分最后对伺服电机的选型过程进行详细说明。 第三部分介绍控制系统的软件结构。控制器软件系统包括初始化模块、串行通信模块、CAN通信模块、指令处理模块、纠偏控制模块等。针对超前检测式跟踪机构的特点，推导出超前偏差公式，实现纠偏控制模块的功能。 最后对控制方法进行仿真研究。针对焊缝跟踪系统的特点，应用MATLAB的Simulink模块进行控制方法的仿真研究。设计了PID控制器和模糊控制器，分别进行仿真研究，并且对仿真结果进行对比分析。

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。

地质导向钻井关键技术及方法

On the basis of analyzing the principle and realization of geo-steering drilling system, the key technologies and methods in it are systematically studied in this paper. In order to recognize lithology, distinguish stratum and track reservoirs, the techniques of MWD and data process about natural gamma, resistivity, inductive density and porosity are researched. The methods for pre-processing and standardizing MWD data and for converting geological data in directional and horizontal drilling are discussed, consequently the methods of data conversion between MD and TVD and those of formation description and adjacent well contrast are proposed. Researching the method of identifying sub-layer yields the techniques of single well explanation, multi-well evaluation and oil reservoir description. Using the extremum and variance clustering analysis realizes logging phase analysis and stratum subdivision and explanation, which provides a theoretical method and lays a technical basis for tracing oil reservoirs and achieving geo-steering drilling. Researching the technique for exploring the reservoir top with a holdup section provides a planning method of wellpath control scheme to trace oil and gas reservoir dynamically, which solves the problem of how to control well trajectory on condition that the layer’s TVD is uncertain. The control scheme and planning method of well path for meeting the demands of target hitting, soft landing and continuous steering respectively provide the technological guarantee to land safely and drill successfully for horizontal, extended-reach and multi-target wells. The integrative design and control technologies are researched based on geology, reservoir and drilling considering reservoir disclosing ratio as a primary index, and the methods for planning and control optimum wellpath under multi-target restriction, thus which lets the target wellpath lie the favorite position in oil reservoir during the process of geo-steering drilling. The BHA (bottomhole assembly) mechanical model is discussed using the finite element method, and the BHA design methods are given on the basis of mechanical analyses according to the shape of well trajectory and the characteristics of BHA’s structure and deformation. The methods for predicting the deflection rate of bent housing motors and designing their assemblies are proposed based on the principle of minimum potential energy, which can clearly show the relation between the BHA’s structure parameters and deflection rate, especially the key factors’ effect to the deflection rate. Moreover, the interaction model between bit and formation is discussed through the process of equivalent formation and equivalent bit considering the formation anisotropy and bit anisotropy on the basis of analyzing the influence factors of well trajectory. Accordingly, the inherence relationship among well trajectory, formation, bit and drilling direction is revealed, which lays the theory basis and technique for predicting and controlling well trajectory.

层析静校正技术研究和应用

Static correction is one of the indispensable steps in the conventional onshore seismic data processing, particularly in the western part of China; it is theoretically and practically significant to resolve the issue of static correction. Conventional refraction static correction is put forward under the assumption that layered medium is horizontal and evenly distributed. The complicated nature of the near surface from western part of China is far from the assumption. Therefore, the essential way to resolve the static correction problem from the complex area is to develop a new theory. In this paper, a high-precision non-linear first arrival tomography is applied to solve the problem, it moved beyond the conventional refraction algorithm based on the layered medium and can be used to modeling the complex near surface. Some of the new and creative work done is as follows: One. In the process of first arrival tomographic image modeling, a fast high-order step algorithm is used to calculate the travel time for first arrival and ray path and various factors concerning the fast step ray tracing algorithm is analyzed. Then the second-order and third-order differential format is applied to the step algorithm which greatly increased the calculation precision of the ray tracing and there is no constraint to the velocity distribution from the complex areas. This method has very strong adaptability and it can meet the needs of great velocity variation from the complicated areas. Based on the numerical calculation, a fast high-order step is a fast, non-conditional and stable high-precision tomographic modeling algorithm. Two, in the tomographic inversion, due to the uneven fold coverage and insufficient information, the inversion result is unstable and less reliable. In the paper, wavelet transform is applied to the tomographic inversion which has achieved a good result. Based on the result of the inversion from the real data, wavelet tomographic inversion has increased the reliability and stability of the inversion. Three. Apply the constrained high-precision wavelet tomographic image to the static correction processing from the complex area. During tomographic imaging, by using uphole survey, refraction shooting or other weathering layer method, weathering layer can be identified before the image. Because the group interval for the shot first arrival is relatively big, there is a lack of precision for the near surface inversion. In this paper, an inversion method of the layer constraint and well constraint is put forward, which can be used to compensate the shallow velocity of the inversion for the shot first arrival and increase the precision of the tomographic inversion. Key words: Tomography ，Fast marching method，Wavelet transform, Static corrections, First break

渤海海域河流相油藏精细描述技术及应用研究

Aiming at the character of Bohaii Sea area and the heterogeneity of fluvial facies reservoir, litho-geophysics experiments and integrated research of geophysical technologies are carried out. To deal with practical problems in oil fields of Bohai area, such as QHD32-6, Southern BZ25-1 and NP35-2 et al., technology of reservoir description based on seismic data and reservoir geophysical methods is built. In this dissertation, three points are emphasized: ①the integration of multidiscipline; ②the application of new methods and technologies; ③the integration of quiescent and dynamic data. At last, research of geology modeling and reservoir numerical simulation based on geophysical data are integrated. There are several innovative results and conclusion in this dissertation: (1)To deal with problems in shallow sea area where seismic data is the key data, a set of technologies for fine reservoir description based on seismic data in Bohai Sea area are built. All these technologies, including technologies of stratigraphic classification, sedimentary facies identification, structure fine characterization, reservoir description, fluid recognition and integration of geological modeling& reservoir numerical simulation, play an important role in the hydrocarbon exploration and development. In the research of lithology and hydrocarbon-bearing condition, petrophysical experiment is carried out. Outdoors inspection and experiment test data are integrated in seismic forward modeling& inversion research. Through the research, the seismic reflection rules of fluid in porosity are generated. Based on all the above research, seismic data is used to classify rock association, identify sedimentary facies belts and recognition hydrocarbon-bearing condition of reservoir. In this research, the geological meaning of geophysical information is more clear and the ambiguity of geophysical information is efficiently reduced, so the reliability in hydrocarbon forecasting is improved. The methods of multi-scales are developed in microfacies research aiming at the condition of shallow sea area in Bohai Sea: ① make the transformation from seismic information to sedimentary facies reality by discriminant analysis; ②in research of planar sedimentary facies, make microfacies research on seismic scale by technologies integration of seismic multi-attributes analysis& optimization, strata slicing and seismic waveform classification; ③descript the sedimentary facies distribution on scales below seismic resolution with the method of stochastic modeling. In the research of geological modeling and reservoir numerical simulation, the way of bilateral iteration between modeling and numerical simulation is carried out in the geological model correction. This process include several steps: ①make seismic forward modeling based on the reservoir numerical simulation results and geological models; ②get trend residual of forward modeling and real seismic data; ③make dynamic correction of the model according to the above trend residual. The modern integration technology of reservoir fine description research in Bohai Sea area, which is developed in this dissertation, is successfully used in (1)the reserve volume evaluation and development research in BZ25-1 oil field and (2)the tracing while drilling research in QHD32-6 oil field. These application researches show wide application potential in hydrocarbon exploration and development research in other oil fields.

中国东部沙地物源示踪及地质意义

Heavy mineral assemblages, chemical compositions of diagnostic heavy minerals such as garnet and tourmaline, and U-Pb ages and Hf isotopic compositions of zircons are very effective means to determine sediment provenance. An integrated application of the above provides insight on the lithologies, crystallization ages and crustal formation ages of the parent magma of sediment source areas. As a result, the locations and characteristics of potential source areas can be constrained and contributions of different source regions may be evaluated. In addition, the study provides evidence for the magmatic and tectonic history of source areas using a novel approach. The heavy mineral assemblages, and chemical compositions of detrital garnets and tourmalines, U-Pb ages and Hf isotopic compositions of zircons for sand and loess samples deposited since the Last Glacial Maximum (LGM) from the Hulunbeier, Keerqin and Hunshandake sandlands were analyzed and compared to those of central-southern Mongolia, the central Tarim and surrounding potential source areas, the Central Asian Orogenic Belt (CAOB) and North China Craton (NCC). The following remarks on provenance and tectonic history can be made: 1. The source compositional characteristics of the Hulunbeier, Keerqin and Hunshandake sandlands are similar. They are derived from the CAOB and NCC whose contributions for the Keerqin and Hunshandake sandland are about 50%. For the Hulunbeier sandland it is somewhat less, about 40%. 2. Loesses around of the sandlands have the identical source signiture as the sands, implying that they are sorted by the same wind regime. 3. The source characteristics of the present and LGM sands are the same, providing direct evidence that the present sands originated from the reworking of LGM sands. 4. The provenance characteristics of the three sandlands differ from those of the Tarim. As a result, the possibility that the three eastern sandlands were sourced from the Taklimakan desert can be ruled out. 5. The source compositions of sand samples derived from the CAOB indicate that the occurrence of Archean and Paleoproterozoic metamorphic basement rocks is limited and continuous subduction-accretion events from the Neoproterozoic to the Mesozoic occurred. This implies that the CAOB is a orogenic collage belt similar to the present day southwest-Pacific, and formed by the amalgamation of small forearc and backarc ocean basins occurring between island arcs and microcontinents during continuous collision and accretion. The Hf isotopic signitures of detrital zircons indicate that large amounts of juvenile mantle materials were added to the CAOB crust during the Phanerozoic.

地震数据波动方程反演方法研究

Geophysical inversion is a theory that transforms the observation data into corresponding geophysical models. The goal of seismic inversion is not only wave velocity models, but also the fine structures and dynamic process of interior of the earth, expanding to more parameters such as density, aeolotropism, viscosity and so on. As is known to all, Inversion theory is divided to linear and non-linear inversion theories. In rencent 40 years linear inversion theory has formed into a complete and systematic theory and found extensive applications in practice. While there are still many urgent problems to be solved in non-linear inversion theory and practice. Based on wave equation, this dissertation has been mainly involved in the theoretical research of several non-linear inversion methods: waveform inversion, traveltime inversion and the joint inversion about two methods. The objective of gradient waveform inversion is to find a geologic model, thus synthetic seismograms generated by this geologic model are best fitted to observed seismograms. Contrasting with other inverse methods, waveform inversion uses all characteristics of waveform and has high resolution capacity. But waveform inversion is an interface by interface method. An artificial parameter limit should be provided in each inversion iteration. In addition, waveform information will tend to get stuck in local minima if the starting model is too far from the actual model. Based on velocity scanning in traditional seismic data processing, a layer-by-layer waveform inversion method is developed in this dissertation to deal with weaknesses of waveform inversion. Wave equation is used to calculate the traveltime and derivative (perturbation of traveltime with respect to velocity) in wave-equation traveltime inversion (WT). Unlike traditional ray-based travetime inversion, WT has many advantages. No ray tracing or traveltime picking and no high frequency assumption is necessary and good result can be got while starting model is far from real model. But, comparing with waveform inversion, WT has low resolution. Waveform inversion and WT have complementary advantages and similar algorithm, which proves that the joint inversion is a better inversion method. And another key point which this dissertation emphasizes is how to give fullest play to their complementary advantages on the premise of no increase of storage spaces and amount of calculation. Numerical tests are implemented to prove the feasibility of inversion methods mentioned above in this dissertation. Especially for gradient waveform inversion, field data are inversed. This field data are acquired by our group in Wali park and Shunyi district. Real data processing shows there are many problems for waveform inversion to deal with real data. The matching of synthetic seismograms with observed seismograms and noise cancellation are two primary problems. In conclusion, on the foundation of the former experiences, this dissertation has implemented waveform inversions on the basis of acoustic wave equation and elastic wave equation, traveltime inversion on the basis of acoustic wave equation and traditional combined waveform traveltime inversion. Besides the traditional analysis of inversion theory, there are two innovations: layer by layer inversion of seimic reflection data inversion and rapid method for acoustic wave-equation joint inversion.

Pg震相走时的各向异性影响及各向异性结构成像

As the first arrival of seismic phase in deep seismic sounding, Pg is the important data for studying the attributes of the sedimentary layers and the shape of crystalline basement because of its high intensity and reliable detection. Conventionally, the sedimentary cover is expressed as isotropic, linear increasing model in the interpretation of Pg event. Actually, the sedimentary medium should be anisotropic as preferred cracks or fractures and thin layers are common features in the upper crust, so the interpretation of Pg event needs to be taken account of seismic velocity anisotropy. Traveltime calculation is the base of data processing and interpretation. Here, we only study the type of elliptical anisotropy for the poor quality and insufficiency of DSS data. In this thesis, we first investigate the meaning of elliptical anisotropy in the study of crustal structure and attribute, then derive Pg event’s traveltime-offset relationship by assuming a linear increasing velocity model with elliptical anisotropy and present the invert scheme from Pg traveltime-offset dataset to seismic velocity and its anisotropy of shallow crustal structure. We compare the Pg traveltime calculated by our analytic formula with numerical calculating method to test the accuracy. To get the lateral variation of elliptical anisotropy along the profiling, a tomography inversion method with the derived formula is presented, where the profile is divided into rectangles. Anisotropic imaging of crustal structure and attribute is efficient method for crust study. The imaging result can help us interprete the seismic data and discover the attribute of the rock to analyze the interaction between layers. Traveltime calculation is the base of image. Base on the ray tracing equations, the paper present a realization of three dimension of layer model with arbitrary anisotropic type and an example of Pg traveltime calculation in arbitrary anisotropic type is presented. The traveltime calculation method is complex and it only adapts to nonlinear inversion. Perturbation method of travel-time calculation in anisotropy is the linearization approach. It establishes the direct relation between seismic parameters and travetime and it is fit for inversion in anisotropic structural imaging. The thesis presents a P-wave imaging method of layer media for TTI. Southeastern China is an important part of the tectonic framework concerning the continental margin of eastern China and is commonly assumed to comprise the Yangtze block and the Cathaysia block, the two major tectonic units in the region. It’s a typical geological and geophysical zone. In this part, we fit the traveltime of Pg phase by the raytracing numerical method. But the method is not suitable here because the inefficiency of numerical method and the method itself. By the analytic method, we fit the Pg and Sg and get the lateral variation of elliptical anisotropy and then discuss its implication. The northeastern margin of Qinghai-Tibetan plateau is typical because it is the joint area of Eurasian plate and Indian plate and many strong earthquakes have occurred there in recent years．We use the Pg data to get elliptical anisotropic variation and discuss the possible meaning.

地球化学场的多重分形分析与分解

Geochemical and Geophysical anomaly play an important role in mineral exploration，their spatial structure character include singularity and self－similar。The singularity of an anomaly reflects the enrichment characters of the geochemical element ,The anomaly separation by multifractal model is useful in mineral anomaly assessment。In recent years, The continuous multifractal mode of the geochemical fields was studied ,it can be separated into the simple continuous multifractal mode and the high concentration multifractal mode, and the C－A、C－D、 S－A、MSDV、W－A method to decompose the anomaly were presented。Those are succeeded in interpretation of Geochemical and Geophysical anomaly。 This study makes a summarization to these method， we present a multifractal method based on wavelet transform to analyze the multifractal fields 。The singularity and spectrum are calculated through tracing the wavelet maximum modulus in different measure，and then the fields can be decomposed by the characters of the singularity。 It is demonstrated to be useful in interpretation of Au anomaly in Gekou－Shicheng region Rushang Shandong Province 。 Based on the multifractal theory , Using the concentration—area（C—A）method ,We study two geochemical fields in Chifeng area , Inner Mongolia。The results show that the geochemical fields have three different multifractal modes。Based on these ,we discuss the enrichment mode of the geochemical elements and their distributions in space and get the anomaly lower limit ,then the geochemical backgrounds、regional anomalies and local anomalies are distinguished

井间地震速度层析成像方法与软件系统

Crosshole Seismic tomography has been broadly studied and applied in the fields of resource exploration and engineering exploration because of its special observing manner and better resolution than normal seismic exploration. This thesis will state the theory and method of Crosshole Seismic tomography. Basing on the previous studies，the thesis studied the initial velocity model，ray-tracing method, and developed the three-dimension tomography software. All the cells that a ray passes through are of the same velocities if the paths from transmitters to receivers are straight. The cells that the each ray passes through are recorded, and rays that pass through each cell are calculated. The ray average velocity which passes through a cell is set as the cell velocity. Analogously we can make a initial node velocity model because the velocity sum is calculated on the all cells which own to a certain node, and the cell number is summed about each nodes，the ratio of the velocity sum to the all cells number is set as the node velocity. The inversion result from the initial node velocity model is better than that of the average velocity model. Ray-bending and Shortest Path for Rays (SPR) have shortcomings and limitations respectively. Using crooked rays obtained from SPR rather than straight lines as the starting point can not only avoid ray bending converging to the local minimum travel time path, but also settle the no smooth ray problem obtained by SPR. The hybrid method costs much computation time, which is roughly equal to the time that SPR expends. The Delphi development tool based on the Object Pascal language standard has an advantage of object-oriented. TDTOM (Three Dimensions Tomography) was developed by using Delphi from the DOS version. Improvement on the part of inversion was made, which bring faster convergence velocity. TDTOM can be used to do velocity tomography from the first arrival travel time of the seismic wave, and it has the good qualities of friendly user interface and convenient operation. TDTOM is used to reconstruct the velocity image for a set of crosshole data from Karamay Oil Field. The geological explanation is then given by comparing the inversion effects of different ray-tracing methods. High velocity zones mean the cover of oil reservoir, and low velocity zones correspond to the reservoir or the steam flooding layer.

旋转轴对称弱各向异性介质模型的射线追踪方法

Ray tracing is a rapid and effective method for wave field calculation. Not only in the field of seismic-wave theory, but also in the field of seismic inversion and migration imaging,the seismic ray tracing method has become one of the most important methods. In anisotropic media, group velocity and phase velocity have different propagation directions. The seismic wave propagates along the direction of group velocity , it does not depend on the direction of phase velocity. Ray angle is a complex function with respect to phase angle, it is difficult to measure and calculate. But most rocks are weak anisotropic, so the expression of phase velocity can be simplified greatly. Based on the approximate expression of phase velocity this thesis for rotating axisymmetric weak anisotropic media deduces an expression of the partial derivative of phase velocity and an expression of group velocity with the method of linear approximation. This paper uses the fourth order Runge-Kutta method together with the two-dimensional interpolation and linear interpolation to obtain the parameters of the physical locations. At last the paths of seismic wave in rotating axisymmetric weak anisotropic media are computed. According to the analysis of the computational results, it indicates that the method developed in this paper has strong adaptability, high computational efficiency and high accuracy for rotating axisymmetric weak anisotropic media.

离散裂缝诱导各向异性粘弹性地震波模拟与特征分析

The real media always attenuate and distort seismic waves as they propagate in the earth. This behavior can be modeled with a viscoelastic and anisotropic wave equation. The real media can be described as fractured media. In this thesis, we present a high-order staggered grid finite-difference scheme for 2-D viscoelastic wave propagation in a medium containing a large number of small finite length fractures. We use the effective medium approach to compute the anisotropic parameters in each grid cell. By comparing our synthetic seismogram by staggered-grid finite-difference with that by complex-ray parameter ray tracing method, we conclude that the high-order staggered-grid finite-difference technique can effectively used to simulate seismic propagation in viscoelastic-anisotropic media. Synthetic seismograms demonstrate that strong attenuation and significant frequency dispersion due to viscosity are important factors of reducing amplitude and delaying arrival time varying with incidence angle or offset. On the other hand, the amount of scattered energy not only provides an indicator of orientation of fracture sets, but can also provide information about the fracture spacing. Analysis of synthetic seismograms from dry- and fluid-filled fractures indicates that dry-filled fractures show more significant scattering on seismic wavefields than fluid-filled ones, and offset-variations in P-wave amplitude are observable. We also analyze seismic response of an anticlinal trap model that includes a gas-filled fractured reservoir with high attenuation, which attenuates and distorts the so-called bright spot.

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.