移动机器人运动目标跟踪系统设计

利用SONYEV-D31摄像机和自主研发的摄像机控制模块,构建了一套主动视觉子系统,并将该子系统应用于RIRA-II型移动机器人上,实现了移动机器人运动目标自动跟踪功能。RIRA-II移动机器人采用了由一组分布式行为模块和集中命令仲裁器组成的基于行为的分布式控制体系结构。各行为模块基于领域知识通过反应方式产生投票,由仲裁器产生动作指令,机器人完成相应的动作。在设置了障碍、窄通道以及模拟墙体的复杂环境下进行运动目标跟踪实验,实验表明运动目标跟踪系统运行可靠,具有较高的鲁棒性。

双足爬壁机器人壁面凹过渡步态规划研究

针对腿足式爬壁机器人在壁面过渡时的步态规划问题,以一种真空吸附式双足爬壁机器人为研究对象,在步态分析的基础上,基于有限状态机建立了机器人的步态模型,进而提出了基于加权插值和BP神经网络的双足爬壁机器人壁面凹过渡在线步态规划算法,为提高机器人壁面过渡的自主控制能力奠定了基础.仿真分析和实验结果表明,该步态规划算法对于实际的机器人系统是有效的和可行的.

高邮凹陷陈堡及陈堡东地区油气成藏规律研究

With the development of petroleum exploration in Gaoyou Depression, both old and new areas have been the active exploration targets, so the study of petroleum accumulation is significant to the petroleum exploration in the study area and the integrated oil and gas accumulation theory. Based on hydrocarbon accumulation theory and systematical research methods and combined with the structural characteristics of Gaoyou Depression, Chenbao and East of Chenbao were selected as the study areas in this dissertation, oil and gas migration pathways, accumulation periods, as well as accumulation models were studied, and favorable exploration targets were proposed. There develop three sets source rocks, which are Tai-2 Member, Fu-2 Member and Fu-4 Member respectively. Tai-2 Member is the predominant source rock in the eastern part. Fu-2 Member mainly occurs in the northern slope, while Fu-4 Member develops in the deep depression. In the study area, oil mainly comes from Fu-2 Member of Liuwushe subsag. The lower limit of TOC is 0.4%, and active source rock mostly distributed in the south fault-step zone. The source rock in Liuwushe subsag began to generate hydrocarbon in the late of Dainan depositional stage and the threshold was 2300m. The macro and micro characteristics of reservoirs and the reservoir heterogeneity characteristics of the Fu-1 Member were studied systematicly. The results show that Fu-1 Member, which has better reservoir properties, are medium porosity-medium permeability reservoir. The reservoir permeability has good correlation with porosity connectivity. The reservoirs have strong dissolution, pores are mainly thin to medium throat, and throat radii are distributed concentratedly, the sorting is good and pore structures are homogeneous. Sandstone reservoirs whether in the plan view, interlayer or in layers have a certain degree of heterogeneity, in particular, the heterogeneity in layers directly affect and control the oil and gas migration and accumulation. By analyzing the lithology correlation of the fault walls, shale smear, cross section stress, the configuration of fracture active periods and hydrocarbon generation and expulsion periods and fuzzy comprehensive evaluation, the main faults sealing were evaluated. The results show that the faults in Chenbao and East of Chenbao had poor sealing properties in Sanduo period and could be used as the migration pathways at that time. After Sanduo period, the tectonic stress fields in the area changed largely, and, consequently, the fault properties converted from tensional shear to compressive shear, the faults changed progressively from close to open, so the faults sealing became better and were conducive to the preservation of oil and gas reservoirs. According to the seismic event suspension modes and profile configurations above and under the unconformities, combined with tectonic evolutions of the study areas, the unconformity types can be classified into truncation unconformity, overlapped unconformity and parallel unconformity and the distribution characteristics of unconformities in the plan view was also studied. The unconformity structure was divided into basal conglomerate, weathered clay and semi-weathered layer vertically in the study area and this kind of structure make unconformities to be effective oil and gas migration pathways and is significant to hydrocarbon accumulation in a parts of areas. With the analyses of typical oil and gas reservoirs in the study area, combined with the research results of pathway systems, hydrocarbon accumulation models were established and the oil and gas accumulation laws in Chenbao and East of Chenbao analyzed. The oil and gas came from Liuwushe subsag and Liuliushe subsag. The oil and gas from Liuwushe subsag mainly migrated from the structural high parts into the fault-step zone along strata in northeast direction, a part of them migrated upward into the fault-step zone and the Wubao low uplift along Wu-1 Fault in northeast direction. The oil and gas from Liuliushe subsag mainly migrated into the upper reservoirs through Wu-2 fault, and lesser oil and gas migrated into the fault-step zone because of the controls of cross-section orientation, depression center and the hydrocarbon formation tendency. The favorable exploration targets in Chenbao and East of Chenbao have been concluded: the southern fault-step zone is a favorable oil and gas accumulation zone of Liuwushe subsag, and they are fault block reservoirs where fault acted as the barriers, the main target intervals are Fu-1 Member and Fu-3 Member in palaeocene; Oil and gas in the middle and northern fault-step zone mainly laterally migrated from the south areas, and the main target interval is Fu-3 Member in palaeocene; Fu-1 Member and the reserviors above the Wubao subsag are still the focuses in future explorations. The results of this study have important guiding significance for the future oil and gas exploration.

油气运聚动力学的模拟分析——以准噶尔盆地为例

The petroleum migration, happening in the geologic past, is the very important and complex dynamic processes in the petroleum systems. It plays a linking role among all static factors in a system. The accumulation is in fact the result of the petroleum migration. For the petroleum geology, the dynamics research of the petroleum migration refers to the mechanism and process research, as well as the use of the quantitative methods. In this thesis, combining with the qualitative analysis and quantitative modeling, the author manages to discuss theoretically some key problems dealing with migration processes, which have not been solved yet, and to apply the studied results in petroleum system analysis in actual basins. The basin analysis offers the base of the numerical modeling for geological phenomena occurring in sedimentary basins, that consists of the sedimentary facies analysis, the section reconstructing technique, eroded thickness estimating, etc. The methods to construct the geologic model, which is needed in the research of oil and gas migration and accumulation, are discussed. The basin analysis offers also the possibility for the latter modeling works to get and select the parameters, such as stratum's thickness, age, stratigraphy etc. Modeling works were done by using two basin modeling softwares: Basin_Mod and TPC_Mod. The role of compaction during the secondary migration and the heterogeneity of migrating paths within the clastic carrier are modeled. And the conclusions were applied in the migration studies in the Jungaer Basin, lying on the Northwest part of the China. To construct a reliable migration model, the author studied the characteristics of the sedimentation, the pore fluid pressure evolution, as well as the distribution and the evolution of fluid potential, following the tectonic evolution of the Jungaer Basin. The geochemical prospecting results were used to evidence and to calibrate the migration processes: the oil-source correlation, the distribution of the properties of oil, gas and water. Finally, two important petroleum systems, Permian one and Jurassic one were studied and identified, according, principally, to the studies on the petroleum migration within the Jungaer Basin. Since the oil, as well as the gas, moves mainly in separate phase during the secondary migration, their migrating behaviors would be determined by the dynamics conditions of migration, including the driving forces and pathways. Based on such a consideration, the further understandings may be acquired: the roles played by permeable carriers and low-permeable source rock would be very different in compaction, overpressure generation, petroleum migration, and so on. With the numerical method, the effect of the compaction on the secondary migration was analyzed and the results show that the pressure gradient and the flux resulted from compaction are so small that could be neglected by comparing to the buoyancy of oil. The main secondary migration driving forces are therefore buoyancy and capillary within a hydrostatic system. Modeling with the commercial software-Basin_Mod, the migration pathways of petroleum in clastic carriers seem to be inhomogeneous, controlled by heterogeneity of the driving force, which in turn resulted from the topography of seals, the fabrics and the capillary pressure of the clastic carriers. Furthermore, the direct and indirect methods to study fault-sealing properties in the course of migration were systemically summarized. They may be characterized directly by lithological juxtaposition, clay smear and diagenesis, and indirectly the comparing the pressures and fluid properties in the walls at two apartments of a fault. In Jungaer Basin, the abnormal pressures are found in the formations beneath Badaowan or Baijantan Formation. The occurrence of the overpressure seems controlled by the stratigraphy. The rapid sedimentation, tectonic pressuring, clay sealing, chemical diagensis were considered as the principal pressuring mechanisms. The evolution of fluid pressure is influenced differently at different parts of the basin by the tectonic stresses. So the basin appears different pressure evolution cycles from each part to another during the geological history. By coupling the results of thermal evolution, pressure evolution and organic matter maturation, the area and the period of primary migration were acquired and used to determine the secondary migration time and range. The primary migration in Fengcheng Formation happened from latter Triassic to early Jurassic in the main depressions. The main period of lower-Wuerhe Formation was at latter Jurassic in Changji, Shawan and Pen-1-jing-xi Depression, and at the end of early Cretaceous in Mahu Depression. The primary migration in Badaowan and Sangonghe Formation is at the end of early-Cretaceous in Changji Depression. After then, the fluid potential of oil is calculated at the key time determined from area and time of the primary migration. Generally, fluid potential of oil is high in the depressions and low at the uplifts. Synthetically, it is recognized that the petroleum migration in the Jungaer Basin is very complex, that leads us to classify the evolution of petroleum systems in Northwestern China as a primary stage and a reformed one. The remigration of accumulated petroleum, caused by the reformation of the basin, results in the generation of multiple petroleum systems. The faults and unconformities are usually the linkers among the original petroleum systems. The Permian petroleum system in Jungaer Basin is such a multiple petroleum system. However, the Jurassic petroleum system stays still in its primary stage, thought the strong influences of the new tectonic activities.

溶蚀岩体渗透水力学特性研究

Seepage control in karstic rock masses is one of the most important problems in domestic hydroelectric engineering and mining engineering as well as traffic engineering. At present permeability assessment and leakage analysis of multi-layer karstic rock masses are mainly qualitative, while seldom quantitative. Quantitative analyses of the permeability coefficient and seepage amount are conducted in this report, which will provide a theoretical basis for the study of seepage law and seepage control treatment of karstic rocks. Based on the field measurements in the horizontal grouting galleries of seepage control curtains on the left bank of the Shuibuya Hydropower Project on the Qingjiang river, a hydraulic model is established in this report, and the computation results will provide a scientific basis for optimization of grouting curtain engineering. Following issues are addressed in the report. (1) Based on the in-situ measurements of fissures and karstic cavities in grouting galleries, the characteristics of karstic rock mass is analyzed, and a stochastic structural model of karstic rock masses is set up, which will provide the basis for calculation of the permeability and leakage amount of karstic rock mass. (2) According to the distribution of the measured joints in the grouting galleries and the stochastic results obtained from the stochastic structural model of karstic rock mass between grouting galleries, a formula for computation of permeability tensor of fracturing system is set up, and a computation program is made with Visual Basic language. The computation results will be helpful for zoning of fissured rock masses and calculation of seepage amount as well as optimization of seepage control curtains. (3) Fractal theory is used to describe quantitatively the roughness of conduit walls of karstic systems and the sinuosity of karstic conduits. It is proposed that the roughness coefficient of kastic caves can be expressed by both fractal dimension Ds and Dr that represent respectively the extension sinuosity of karstic caves and the roughness of the conduit walls. The existing formula for calculating the seepage amount of karstic conduits is revised and programmed. The seepage amount of rock masses in the measured grouting galleries is estimated under the condition that no seepage control measures are taken before reservoir impoundment, and the results will be helpful for design and construction optimization of seepage curtains of the Shuibuya hydropower project. This report is one part of the subject "Karstic hydrogeology and the structural model and seepage hydraulics of karstic rock masses", a sub-program of "Study on seepage hydraulics of multi-layer karstic rock masses and its application in seepage control curtain engineering", which is financially supported by the Hubei Provincial key science and technology programme.