基于摇臂-转向架结构月球车的越障能力判断准则

对轮式移动系统进行越障分析时,常以垂直越障作为评价标准。但是,月球车在凹凸不平的月面上行驶时,垂直越障模型不具有一般性。为此,本文对基于摇臂-转向架结构月球车在任意路面的越障进行了研究。一般情况下,由于任意路面越障模型相对复杂,可以建立的独立平衡方程数目少于未知变量数,因此无法得到越障能力与路面参数的函数关系式。针对上述问题,文中将最大有效牵引力假设引入越障模型中,得到了一种任意路面越障能力的判断准则。通过算例分析,表明了所提方法的有效性。

基于网络直角坐标机器人视觉伺服系统研究

为了实现定位抓取任务,提出基于网络的直角坐标机器人视觉控制系统。针对机器人运动控制的非线性与强耦合特性,采用神经网络控制器,构建了图像偏差与运动控制量之间的对应关系。通过对图像增强、边缘提取、特征提取等图像处理方法的综合分析,提出了一套优化组合图像处理法。在计算机网络环境下,采用自定义协议实现图像处理器与运动控制器协调控制,并将远程监控应用到机器人控制中。实验结果表明,该系统能够在视野范围内自动实现定位抓取动作。

松辽盆地南部岩性油藏成藏模式与分布规律

According to the basic geologic conditions, the paper is directed by the modem oil-gas accumulation theory and petroleum system in which typical oil pools are analyzed and the shape of lithologic trap and geologic factors are pointed out. The process during which oil and gas migrate from source rock to lithologic trap is rebuilt, and the accumulation model of oil pool is set up. With the comprehensive application of seismic geologic and log data and paying attention to the method and technology which is used to distinguish lithologic accumulation. Promising structural-lithofacies zones are got and the distribution rule of various lithologic accumulation is concluded. With making use of the biologic mark compound, different reservoirs are compared. As a result, the oil and gas in HeiDimiao come from Nenjiang Group's source rocks; in SaErTu from QingShenkou Group's and Nenjiang Group's, and in PuTaohua. GaoTaizi and FuYang from QingShankou Group's. According to the development and distribution of effective source rock, oil distribution and the comparison in the south of SongLiao basin, the characteristic of basin structure and reservoir distribution is considered, and then the middle-upper reservoir of SongLiao basin south are divided into two petroleum system and a complex petroleum system. Because of the characteristic of migration and accumulation, two petroleum systems can furtherly be divided into 6-7 sub-petroleum systems,20 sub-petroleum systems in all. As a result of the difference of the migration characteristic, accumulation conditions and the place in the petroleum system, the accumulation degree and accumulation model are different. So three accumulation mechanism and six basic accumulation model of lithologic trap are concluded. The distribution of lithologic pools is highly regular oil and gas around the generation sag distribute on favorable structural-lithofacies zones, the type of lithological pool vary regularly from the core of sandstone block to the upper zone. On the basic of regional structure and sedimentary evolution, main factors which control the form of trap are discovered, and it is the critical factor method which is used to discern the lithologic trap. After lots of exploration, 700km~2 potential trap is distinguished and 18391.86 * 10~4 tons geologic reserves is calculated. Oil-water distribution rule of pinch-out oil pool is put up on plane which is the reservoirs can be divided into four sections. This paper presented the law of distribution of oil and water in updip pinch-out reservoir, that is, hydrocarbon-bearing formation in plane can be divided into four zones: bottom edge water zone, underside oil and water zone, middle pure oil zone and above residual water zone. The site of the first well should be assigned to be middle or above pure oil zone, thus the exploration value of this type of reservoir can be recognized correctly. In accordance with the characteristics of seism and geology of low permeability thin sandstone and mudstone alternation layer, the paper applied a set of reservoir prediction technology, that is: (1)seism multi-parameter model identification; (2) using stratum's absorbing and depleting information to predict reservoir's abnormal hydrocarbon-bearing range. With the analysis of the residual resource potential and the research of two petroleum system and the accumulation model, promising objective zones are predicted scientifically. And main exploration aim is the DaRngZi bore in the west of ChangLin basin, and YingTai-SiFangZi middle-upper assembly in Honggang terrace.

Time-dependent wavepacket approach to the influence of intense fields on the population of molecular excited states

The influence of laser-field parameters, such as intensity and pulse width, on the population of molecular excited state is investigated by using the time-dependent wavepacket method. For a two-state system in intense laser fields, the populations in the upper and lower states are given by the wavefunctions obtained by solving the Schrodinger equation through split-operator scheme. The calculation shows that both the laser intensity and the pulse width have a strong effect on the population in molecular excited state, and that as the common feature of light-matter interaction (LMI), the periodic changing of the population with the evolution time in each state can be interpreted by Rabi oscillation and area-theorem. The results illustrate that by controlling these two parameters, the needed population in excited state of interest can be obtained, which provides the foundation of light manipulation of molecular processes. (C) 2005 Elsevier B.V. All rights reserved.