一种新的移动机器人全局路径规划算法

提出了一种新的移动机器人全局路径规划算法.该算法不需要对环境中的障碍物特征做任何假设,也不需要建立障碍物的连通图模型,有效地克服了传统路径规划算法因为搜索而带来的计算复杂性问题,提高了算法的适应性和实时性.仿真结果证明了算法的有效性.

基于模型的位姿估计中优化方法研究

介绍了基于模型的位姿估计中所使用的一些优化方法。为了提高位姿估计的精度,摄像机的标定参数必须足够精确,这就对标定过程的非线性优化算法提出了很高的要求,采用了一种新的优化目标函数,用来最小化控制点间的三维重建误差,从而使标定参数是全局最优;在双像机位姿估计中,引入了实时遗传算法进行全局搜索,加快了算法的收敛速度。最后的实验证明了这些方法的正确性并显示出这些方法在精度上比传统方法有了较大程度的提高。

大射电望远镜精调Stewart平台工作空间分析

针对大射电望远镜精调Stewart平台的五自由度运动特性,采用快速极坐标搜索法确定了五自由度大射电望远镜精调Stewart平台的工作空间.通过实例分析验证了所提出的工作空间分析方法的有效性.为大射电望远镜馈源轨迹跟踪实现和精调Stewart平台的设计奠定了坚实的基础.

一种基于遗传线性搜索算法的关节手模型匹配方法

提出了一种可替代传统搜索算法的改进型模型匹配算法 这种算法将遗传算法 (GeneticAlgorithm ,GA)和经典的线性搜索算法 (LineSearch ingAlgorithm ,LSA)相结合 它能保证匹配解是全局最优的并且运算是近乎实时的

A QUASI-SIMPLEX METHOD FOR STRICTLY CONVEX QUADRATIC PROGRAMMING

本文提出一个不用 Kuhn- Tucker条件而直接搜索严格凸二次规划最优目标点的鲁棒方法 .在搜索过程中 ,目标点沿约束多面体边界上的一条折线移动 .这种移动目标点的思想可以被认为是线性规划单纯形法的自然推广 ,在单纯形法中 ,目标点从一个顶点移到另一个顶点。

一个面向异构多UUV协作任务的分层式控制系统

针对异构多UUV协作任务,提出了基于多智能体系统的分层式体系结构(MAHA).在个体层面,将UUV智能体的思维状态分为社会心智和个体心智两个层次分别实现,更加符合人类社会协作模式;在群体层面,提出了复杂海洋环境下UUV群体结构的评价准则,并据此将MAHA与现有结构进行了对比分析.此外,利用面向对象的Petri网理论建立了系统的协作模型,有效降低了系统建模的复杂性.最后,水下多目标搜索使命的实例研究表明,MAHA能够保证异构UUV之间进行有效的协作.

面向多目标搜索的多UUV协作机制及实现方法研究

由不同功能UUV组成的异构系统能够实现对水下多个目标的探测和识别，多台UUV的协作机制已经成为当前水下机器人领域的一个热点课题。论文的研究工作依托国家863计划“基于弱通信的多机器人协调控制关键技术研究”等多项课题，面向水下多目标搜索应用背景，针对水下声学通信以及探测、导航传感器的局限性，研究弱通信条件下异构多UUV系统协作机制及实现方法，具体研究内容包括如下几个方面： (1) 构建了异构多UUV系统的体系结构：提出了基于多智能体角色联盟的UUV群体体系结构，使其能够适应多重的使命需求，具有开放性。设计了基于智能体思维结构的UUV个体体系结构，将UUV智能体的思维状态分为个体心智和社会心智两个层次分别实现，更加符合人类社会思维模式。基于面向对象Petri网理论对角色联盟进行建模，能够对角色内部控制逻辑和角色之间协作逻辑进行描述。 (2) 设计了多UUV系统的编队搜索策略：面向多目标搜索应用设计了编队搜索策略，保证搜索区域的连续性，采用基于大地坐标系的队形结构，更易于转弯时的队形控制。提出了基于思维层规划的队形控制方法，将跟随领航者法集成到队形控制任务的规划中，方便在不同任务间的切换，具有通用性。此外，设计了多UUV系统的队形重规划策略。 (3) 研究了多UUV系统的任务分配方法：针对同步搜索中的分布式任务分配问题，提出了动态熟人网方法，该方法对传统熟人网方法进行了改进和扩充，能够满足弱通信条件下任务分配的响应时间、执行时间、可靠性和负载均衡等性能要求，将动态熟人网方法应用于目标识别任务分配问题，仿真结果表明动态熟人网相比传统熟人网具有更好的性能。针对异步搜索中的多目标优化任务分配问题，提出了多蚁群系统（MACS）算法，该算法针对多个目标的不可公度性，对现有蚁群系统（ACS）算法进行了扩展，将MACS方法应用于多目标优化任务分配问题，仿真结果显示MACS算法相比加权法ACS具有更好的性能。 (4) 研究了多UUV系统低成本自主导航方法：提出了基于移动双信标的协作导航方法，采用两台携带高精度导航传感器的主UUV，为数量不限的携带低精度导航传感器的从UUV提供导航信息。设计了基于扩展卡尔曼滤波器的从UUV位置估计算法，该方法能够有效提高从UUV的导航精度，并且适应弱通信条件。 多UUV仿真平台的实验结果验证了本文提出的协作机制及实现方法是正确有效的，能够满足弱通信条件下多目标搜索的实际需求。

分布计算环境中实现对象互操作的联邦交易模型

本文依据分布计算环境（ＤＣＥ）中所提供的目录服务并结合开放分布处理（ＯＤＰ）所提供的交易服务（ＴｒａｄｉｎｇＳｅｒｖｉｃｅｓ），提出了实现分布计算环境中对象互操作的联邦交易模型。给出了该交易模型在ＤＣＥ中的实现结构模型。

PUMA760基于红外接近觉控制与编程实验系统

本文介绍 PUMA760 工业机器人基于红外接近觉传感器信号控制与编程实验系统。提出了搜索信号极值确定基准相对位置的方法,在位置控制系统中加入了基于传感器信号控制的指令,使 PUMA760完成了快速寻找、接近、定位和抓取非完全固定方位和高度的工件的动作.

汉字微机数据库及其在东北电力系统中的应用

汉字微机数据库的最大缺点是速度太慢,因此难以实用化。本文提出了一种新的汉字检索方法——标志域法,解决了这个关键问题,使查找速度提高了近十倍;再采用单层连续提问等一系列措施,还可节省相当多的存储空间,扩大了微型机的应用范围。本数据库非常适合于“最终用户”使用,即使是不懂计算机的人,也能在一、两分钟内学会使用它。

一种新型并联机器人工作空间分析

对一种新型并联机器人的工作空间问题作了讨论,基于运动学逆解,通过极限边界数值搜索算法求取了并联机器人工作空间,并通过MATLAB仿真得到了该并联机器人工作空间的实体模型。

渤海湾盆地前第三系构造演化与煤成气成藏研究

The disequilibrium between supply and demand the east part of North China accelerated natural gas exploration in Bohai bay basin. Exploration practice showed that coal-derived gas is important resource. In searching of big to middle scaled coal derived gas field, and realize successive gas supply, the paper carried out integrated study on structural evolution of Pre-Tertiary and evaluation of reservoir forming condition of coal-derived gas. Study work of the paper was based on the following condition: available achievement in this field at present, good understanding of multiphase of tectonic movement. Study work was focused on geological evolution, source rock evaluation and dissection key factors controlling reservoir forming. Based on analysis of seismic data, drilling data, tectonic style of Pre-Tertiary was subdivided, with different tectonic style representing different tectonic process. By means of state of the art, such as analysis of balanced cross section, and erosion restoration, the paper reestablished tectonic history and analyzed basin property during different tectonic phase. Dynamic mechanism for tectonic movement and influence of tectonic evolution on tectonic style were discussed. Study made it clear that tectonic movement is intensive since Mesozoic including 2 phase of compressional movement (at the end of Indo-China movement, and Yanshan movement), 2 phase of extensional movement (middle Yanshan movement, and Himalayan movement), 2 phase of strike slip movement, as well as 2 phase of reversal movement (early Yanshan movement, and early Himalayan movement). As a result, three tectonic provinces with different remnant of strata and different tectonic style took shape. Based on afore mentioned study, the paper pointed out that evolution of Bohai bay basin experienced the following steps: basin of rift valley type (Pt2+3)-craton basin at passive continental margin (∈1－2)-craton basin at active continental margin (∈3- O)-convergent craton basin (C-T1+2)-intracontinental basin (J＋K). Superposition of basins in different stage was discussed. Aimed at tectonic feature of multiple phases, the paper put forward concept model of superposition of tectonic unit, and analyzed its significance on reservoir forming. On basis of the difference among 3 tectonic movements in Mesozoic and Cenozoic, superposition of tectonic unit was classified into the following 3 categories and 6 types: continuous subsidence type (I), subsidence in Mesozoic and uplift for erosion in Cenozoic (II1), repeated subsidence and uplift in Mesozoic and subsidence in Cenozoic (II2), repeated subsidence and uplift in Mesozoic and uplift for erosion in Cenozoic (II3), uplift for erosion in Mesozoic and subsidence in Cenozoic (II4), and continuous uplift (III). Take the organic facies analysis as link, the paper established relationship between sedimentary environment and organic facies, as well as organic facies and organic matter abundance. Combined information of sedimentary environment and logging data, the paper estimated distribution of organic matter abundance. Combined with simulation of secondary hydrocarbon generation, dynamic mechanism of hydrocarbon generation, and thermal history, the paper made static and dynamic evaluation of effective source rock, i.e. Taiyuan formation and Shanxi formation. It is also pointed out that superposition of tectonic unit of type II2, type II4, and type I were the most favorable hydrocarbon generation units. Based on dissection of typical primary coal-derived gas reservoir, including reservoir forming condition and reservoir forming process, the paper pointed out key factors controlling reservoir forming for Carboniferous and Permian System: a. remnant thickness and source rock property were precondition; b. secondary hydrocarbon generation during Himalayan period was key factor; c. tectonic evolution history controlling thermal evolution of source rock was main factor that determine reservoir forming; d. inherited positive structural unit was favorable accumulation direction; e. fault activity and regional caprock determined hydrocarbon accumulation horizon. In the end, the paper established reservoir forming model for different superposition of tectonic units, and pointed out promising exploration belts with 11 of the first class, 5 of the second class and 6 of the third class.

均衡重力异常计算与综合解释——以黄海地区为例

Petroleum and Natural Gas is an important strategic resources. The reserves of Petroleum and Natural Gas can’t meet the need of our country, which also blocks the development of economy and threatens the safety of national. Therefore, it makes a great sense to bring “the second round of oil & gas exploration” into effect and study the exploration of oil and gas of Pre-Cenozoic residual basins in China. The integrated geophysical exploration is the main way to research the Pre-Cenozoic residual basins. Gravity exploration is one of the most important exploration methods, which has played an important role in oil and gas prospecting, such as compartmentalizing geotectonic elements, delineating the distribution range of sedimentary basins, searching oil and gas structure, abstracting oil and gas information, and so on, from its naissance. The isostatic gravity anomalies is significant for exploration, which can help us research deep crustal structure, the equilibrium state of earth, the geologic structure of shallow crust, the basement shape of sedimentary basins and the genetic evolution of sedimentary basins. In the paper, we stress the implication and physical meanings systemically, and discuss the calculation theory. On the basis of previous work, we test different isostatic compensation models and parameters to find out their influences to the result of isostatic gravity anomalies. In addition, we improve the method of isostatic gravity anomalies calculation and give a system of isostatic gravity anomalies calculation which is proved has satisfying effect. From the research above, we find that the results of Platt model and Airy model are consistent, which have similar form and almost the same value. However, by contrast, the Airy model is proved has better adaptability than Platt model. The two main parameters——crust thickness and density difference of crust and mantle, both have influence to the isostatic gravity anomalies, but the latter have more. Finally, we adopt the regional field extending edge method to make the result more of actual geologic condition. On the methods above, we calculate the isostatic gravity anomalies field in Yellow Sea area from the Bouguer gravity anomalies and the water depth and altitude data. And then the isostatic gravity anomalies character is analyzed and the integrated geological-geophysical interpretation is made on the basis of summarizing the previous research result systemically and analyzing other geophysical data and geological information. From the research, we find that the Yellow Sea area belongs to continental type crust equilibrium regions, where the isostatic gravity anomalies field is placid and has less fluctuation values, which implies that the area is in equilibrium state to different extends.

基于匹配追踪方法的地震信号时频分析研究

Seismic signal is a typical non-stationary signal, whose frequency is continuously changing with time and is determined by the bandwidth of seismic source and the absorption characteristic of the media underground. The most interesting target of seismic signal’s processing and explaining is to know about the local frequency’s abrupt changing with the time, since this kind of abrupt changing is indicating the changing of the physical attributes of the media underground. As to the seismic signal’s instantaneous attributes taken from time-frequency domain, the key target is to search a effective, non-negative and fast algorithm time-frequency distribution, and transform the seismic signal into this time-frequency domain to get its instantaneous power spectrum density, and then use the process of weighted adding and average etc. to get the instantaneous attributes of seismic signal. Time-frequency analysis as a powerful tool to deal with time variant non-stationary signal is becoming a hot researching spot of modern signal processing, and also is an important method to make seismic signal’s attributes analysis. This kind of method provides joint distribution message about time domain and frequency domain, and it clearly plots the correlation of signal’s frequency changing with the time. The spectrum decomposition technique makes seismic signal’s resolving rate reach its theoretical level, and by the method of all frequency scanning and imaging the three dimensional seismic data in frequency domain, it improves and promotes the resolving abilities of seismic signal vs. geological abnormal objects. Matching pursuits method is an important way to realize signal’s self-adaptive decomposition. Its main thought is that any signal can be expressed by a series of time-frequency atoms’ linear composition. By decomposition the signal within an over completed library, the time-frequency atoms which stand for the signal itself are selected neatly and self-adaptively according to the signal’s characteristics. This method has excellent sparse decomposition characteristics, and is widely used in signal de-noising, signal coding and pattern recognizing processing and is also adaptive to seismic signal’s decomposition and attributes analysis. This paper takes matching pursuits method as the key research object. As introducing the principle and implementation techniques of matching pursuits method systematically, it researches deeply the pivotal problems of atom type’s selection, the atom dictionary’s discrete, and the most matching atom’s searching algorithm, and at the same time, applying this matching pursuits method into seismic signal’s processing by picking-up correlative instantaneous messages from time-frequency analysis and spectrum decomposition to the seismic signal. Based on the research of the theory and its correlative model examination of the adaptively signal decomposition with matching pursuit method, this paper proposes a fast optimal matching time-frequency atom’s searching algorithm aimed at seismic signal’s decomposition by frequency-dominated pursuit method and this makes the MP method pertinence to seismic signal’s processing. Upon the research of optimal Gabor atom’s fast searching and matching algorithm, this paper proposes global optimal searching method using Simulated Annealing Algorithm, Genetic Algorithm and composed Simulated Annealing and Genetic Algorithm, so as to provide another way to implement fast matching pursuit method. At the same time, aimed at the characteristics of seismic signal, this paper proposes a fast matching atom’s searching algorithm by means of designating the max energy points of complex seismic signal, searching for the most optimal atom in the neighbor area of these points according to its instantaneous frequency and instantaneous phase, and this promotes the calculating efficiency of seismic signal’s matching pursuit algorithm. According to these methods proposed above, this paper implements them by programmed calculation, compares them with some open algorithm and proves this paper’s conclusions. It also testifies the active results of various methods by the processing of actual signals. The problems need to be solved further and the aftertime researching targets are as follows: continuously seeking for more efficient fast matching pursuit algorithm and expanding its application range, and also study the actual usage of matching pursuit method.

消除采集脚印的处理方法研究

Seismic technique is in the leading position for discovering oil and gas trap and searching for reserves throughout the course of oil and gas exploration. It needs high quality of seismic processed data, not only required exact spatial position, but also the true information of amplitude and AVO attribute and velocity. Acquisition footprint has an impact on highly precision and best quality of imaging and analysis of AVO attribute and velocity. Acquisition footprint is a new conception of describing seismic noise in 3-D exploration. It is not easy to understand the acquisition footprint. This paper begins with forward modeling seismic data from the simple sound wave model, then processes it and discusses the cause for producing the acquisition footprint. It agreed that the recording geometry is the main cause which leads to the distribution asymmetry of coverage and offset and azimuth in different grid cells. It summarizes the characters and description methods and analysis acquisition footprint’s influence on data geology interpretation and the analysis of seismic attribute and velocity. The data reconstruct based on Fourier transform is the main method at present for non uniform data interpolation and extrapolate, but this method always is an inverse problem with bad condition. Tikhonov regularization strategy which includes a priori information on class of solution in search can reduce the computation difficulty duo to discrete kernel condition disadvantage and scarcity of the number of observations. The method is quiet statistical, which does not require the selection of regularization parameter; and hence it has appropriate inversion coefficient. The result of programming and tentat-ive calculation verifies the acquisition footprint can be removed through prestack data reconstruct. This paper applies migration to the processing method of removing the acquisition footprint. The fundamental principle and algorithms are surveyed, seismic traces are weighted according to the area which occupied by seismic trace in different source-receiver distances. Adopting grid method in stead of accounting the area of Voroni map can reduce difficulty of calculation the weight. The result of processing the model data and actual seismic demonstrate, incorporating a weighting scheme based on the relative area that is associated with each input trace with respect to its neighbors acts to minimize the artifacts caused by irregular acquisition geometry.