连续型联想细胞神经网络局部指数稳定性研究

由于细胞神经网络的潜在应用前景 ,它现已成为神经网络研究的新热点。首先给出连续型联想细胞神经网络的数学模型 ,得到了连续型细胞神经网络平衡点局部指数稳定的充要条件及平衡点指数吸引域的估计 ,研究表明对平衡点的指数吸引域的估计 ,只要计算平衡点处的导算子矩阵的对数范数即可。该研究对连续型联想细胞神经网络的设计和应用均有重要的作用。

小型自治水下机器人运动控制系统研究

以主推加舵控制的小型自治水下机器人为研究对象,建立了水下机器人的数学模型并进行了分析。根据机器人结构的特点,对模型进行了必要的简化。设计了机器人的运动控制系统。通过湖试验正控制器的性能。

螺旋桨驱动UUV推进系统研究

为了实现水下机器人(UUV,Unmanned Underwater Vehicle)的高精度控制,深入研究了螺旋桨驱动UUV推进系统各个环节运行机理,并建立了它们各自的数学模型,包括PWM模块、直流永磁电机、螺旋桨、舵的数学模型。多功能仿真试验和湖试试验的系统响应曲线基本吻合,一方面表明本文建立的推进系统模型的正确性,另一方面体现了在多功能仿真平台上调试的控制策略和控制器参数具有很大的可信度。

“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 .

基于模糊神经网络的多移动机器人自学习协调系统

研究多移动机器人的运动规划问题．针对机器人模型未知或不精确以及环境的动态变化，提出一种自学习模糊控制器（ＦＬＣ）来进行准确的速度跟踪．首先通过神经网络的学习训练构造ＦＬＣ，再由再励学习算法来在线调节ＦＬＣ的输出，以校正机器人运动状态，实现安全协调避撞

基于专家系统的多移动机器人模糊自校正协调系统

研究多移动机器人的运动规划问题，在实时运动规划专家系统的基础上提出了一种串级模糊控制器，以校正实际工作环境下各机器人的运动状态与理想情况下可能产生的误差，使各机器人正确调整各自运动状态，达到协调工作的目的。

一种新的机器人自适应控制方式

本文提出了一种新的、有效的机器人自适应控制方式,克服了其他方法由于模型不准或计算量大等所带来的一系列问题。本文首先将 Lagrange 运动方程转化为 ARMA 模型,并用虚拟噪声补偿模型误差(即由于线性化、解耦、观测不准和干扰等误差).然后利用改进的 Kalman 自适应滤波算法在线进行参数辨识和状态估计,将获得的参数用于机器人控制系统自适应控制器的设计.最后给出了该算法的仿真结果并对此进行了讨论。

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。

基于整车配送的多仓库开路VRPTW问题的研究与实现

以整车销售物流为背景,探讨多仓库带时窗约束的车辆路线安排问题的解决方法.提出了更为复杂的基于现实的细节性要求的多配送中心开路VRPTW问题模型,并将遗传算法产生部分解和评估完整解的优化解决方法和涌现交叉算子MX1引入到带时窗的多仓库VRP问题优化中,实现了快速全局优化.提出的开路混合配送方法有利于提高车辆满载率,降低回程空载率.同时实现了运输资源的优化配置,提高车辆利用率.计算机仿真实验证明了算法的可行性.

非均质储层叠前地震反演技术研究及应用

(1) I research on the relationship between elastic parameters, lithology and liquid. It is a physical base for pre-stack seismic inversion. I research all kinds of approximate expressions of Zoeppritz function. Then the relation of all kinds of approximate expressions can be confirmed. The geological model of water sand and gas sand in different depth was designed. Moreover I research on precision of all kinds of approximate expressions. (2) In process of seismic data which aim at amplitude recovery and apply in pre-stack seismic inversion, I advance to adopt double flow chart for different aim. Pre-stack noise elimination, real amplitude recovery and NMO correction of long offset are the key taches. (3) I made a systemic expatiate for the thinking and applicability about all kinds of expressions of elastic impedance. And mathematical model was applied to compare the precision with all kinds of expressions of elastic impedance. I propose a new pre-stack simultaneous inversion which is based on the Zoppritz function and simulated annealing algorithm. This method can ensure calculation precision of reflection coefficient from different incident angle and get a global optimum solution. Therefore this method improves the precision of pre-stack seismic inversion. (4) The object function of P-S wave pre-stack simultaneous inversion was established. I compared the precision and convergence between simultaneous inversion and P-wave inversion. And the results show that simultaneous inversion is superior to P-wave inversion. Through the study of AVO event of transformed wave, AVO characters of different kinds of gas sand were analyzed. (5) I carried out the study work of pre-stack seismic inversion for carbonate reservoir in middle of Tarim basin and sand shale reservoir in Sulige Area of Erdos Basin. The method and technology in this paper was applied to practical work. And I made a prediction for heterogeneous reservoir. Moreover it acquires a good application effect. Key Word: reflection coefficient， amplitude recovery， pre-stack seismic inversion， Heterogeneous reservoir，prediction.

降雨条件下碎石土滑坡稳定性研究

Debris Landslide is one of the types of landslides with the widest distribution, largest quantity, and the closest relationship with engineering construction. It is also one of the most important types of landslides that can cause disaster. This kind of landslide often occurs in the loose slopes which are made up of loose congeries formed by earth filling, residual soil, slope wash, dilapidation, landslide or full weathered material of hard rock. Rainfall is always the chief inducing factor of debris Landslide. Therefore, to research stability of debris Landslide during rainfall not only has important theoretical significance for understanding developing law and deformation and failure mechanism of debris landslide, but also has important practical significance for investigating, appraising, forecasting, preventing and controlling debris landslides. This thesis systematically summarized the relationships between rainfall and landslide, the method to survey water table in the landslides, the deformation and failure mechanism of debris landslide, and the progress in the stability analysis of landslides based on the analyses of data collected widely at home and abroad. The problems in the study of the stability of debris landslide during rainfall was reviewed and discussed. Due to the complicated geological conditions and the random rainfall conditions, the research on the landslides' stability must be based on engineering geological qualitative analysis. Through the collection of the data about the Panxi region and the Three Gorges Reservoir region, the author systematically summarized the engineering geological conditions, hydro-geological condition, distribution characteristics of stress field in the slope, physical and mechanical properties and hydro-mechanical properties of debris. In the viewpoint of dynamics of soil water and hydromechanics, physical process of rainfall to supply groundwater of debris landslides can be divided into two phases, i.e. non-saturated steady infiltrating phase and saturated unsteady supplying phase. The former can be described by mathematical model of surface water infiltration while the latter can be described by equivalent continuous medium model of groundwater seepage. With regard to specific hydrological geology system, we can obtain the dynamic variation law of water content, water table, landslide stability of rock and soil mass, along with quantity and duration of rainfall after the boundary condition on hydrological geology has been ascertained. This is a new way to study the response law of groundwater in the landslides during rainfall. After wet face of rock and soil mass connects with ground water table, the raising of water table will occur due to the supply of rainfall. Then interaction between ground water and rock and soil mass will occur, such as the action of physics, water, chemistry and mechanics, which caused the decrease of shearing strength of sliding zone. According to the action of groundwater on rock and soil mass, a concise mechanical model of debris landslide’s deformation was established during rainfall. The static equilibrium condition of landslide mass system was achieved according to the concise mechanical model, and then the typical deformation and failure process and failure mode of debris landslide during rainfall were discussed. In this thesis, the former limiting equilibrium slice method was modified and improved based on shearing strength theory of , a stability analysis program of debris landslide was established and developed taking account of the saturated-unsaturated seepage, by introducing the shearing strength theory of unsaturated soil mass made by (1978). The program has reasonable data storage and simple interface and is easy to operate, and can be perfectly used to carry out sensitivity analysis of influencing factors of landslides' stability, integrated with the program of Office Excel. The design of drainage engineering are always bases on empirical methods and is short of effective quantitative analysis and appraise, therefore, the conception of critical water table of debris landslide was put forward. For debris landslides with different kinds of slide face in the engineering practice, a program to search the critical water table of debris landslide was developed based on native groundwater table. And groundwater table in the slope should be declined below the critical water table in the drainage works, so the program can be directly used to guide drainage works in the debris landslide. Taking the slope deformation body in the back of former factory building of Muli Shawan hydroelectric power station as an example, a systematic and detailed research on debris landslides' stability during rainfall was researched systematically, the relationship among quantity of rainfall, water table and stability of slope was established, the debris landslides' stability in process of rainfall from dynamic viewpoint was analyzed and researched.

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.

温度、压力耦合背景下多相流体运移的数学模型研究

The Mathematical modeling of multiphase fluid flow is an important aspect of basin simulation, and also is a topic of geological frontier. Based on coupling relation of temperature, pressure and fluid flow, this dissertation discusses the modeling which conform to geological regularities of fluid migration. The modeling that is multi-field and multiphase includes heat transport equation, pressure evolvement equation, solution transport equation and fluid transport equation. The finite element method is effective numerical calculation methods. Author applies it to solve modeling and implements the finite element program, and the modeling is applied to Ying-Qiong Basin. The channels of fluid vertical migration are fault, fracture and other high penetrability area. In this thesis, parallel fracture model and columnar channel model have been discussed, and a characteristic time content and a characteristic space content been obtained to illustrate the influences of stratigraphic and hydrodynamic factors on the process. The elliptoid fracture model is established and its approximately solution in theory is gotten. Three kinds of modeling are applied to analyze the transient variation process of fluid pressure in the connected permeable formations. The elliptoid fracture model is the most similar geology model comparing with the other fracture models so the research on this fracture model can enhance the understanding to fluid pressure. In the non-hydrodynamic condition, because of the difference between water density and nature gas density, nature gas can migrate upon by float force. A one-dimension mathematical model of nature gas migration by float force is established and also applied to analyze the change in the saturation of gas. In the process of gas migration its saturation is non-continuous. Fluid flow is an important factor which influences the distribution of the temperature-field, the change of temperature can influence fluid property (including density, viscidity, and solubility),a nd the temperature field has coupling relations to the fluid pressure field. In this dissertation one-dimension and two-dimension thermal convection modeling is developed and also applied to analyze convective and conductive heat transfer. Author has established one-dimension and two-dimension mathematical modeling in which fluid is a mixture of water and nature gas based on the coupling relation between temperature and pressure, discussed mixture fluid convection heat transfer in different gas saturation, and analyzed overpressure form mechanism. Based on geothermal abnormity and pore pressure distribution in Dongfong 1-1, Yinggehai Basin, South China Sea, one-dimension mathematical modeling of coupling temperature and pressure is established. The modeling simulates the process that fluid migrates from deep to shallow and overpressure forms in shallow. When overpressure is so large that fractures appear and overpressure is released. As deep fluid flow to shallow, the high geothermal then forms in shallow. Based on the geological characteristics in Ya13-1, two-dimension mathematical modeling of coupling temperature and pressure is established. Fluid vertically flows in fault and then laterally migrates in reservoir. The modeling simulates the geothermal abnormity and pore pressure distribution in reservoir.

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.

胜利油田低渗透砂岩油藏非均质地质建模

Guided by geological theories, the author analyzed factual informations and applied advanced technologies including logging reinterpretation, predicting of fractal-based fracture network system and stochastic modeling to the low permeable sandstone reservoirs in Shengli oilfield. A new technology suitable for precious geological research and 3D heterogeneity modeling was formed through studies of strata precious correlation, relation between tectonic evolution and fractural distribution, the control and modification of reservoirs diagenesis, logging interpretation mathematical model, reservoir heterogeneity, and so on. The main research achievements are as follows: (1) Proposed four categories of low permeable reservoirs, which were preferable, general, unusual and super low permeable reservoir, respectively; (2) Discussed ten geological features of the low permeable reservoirs in Shengli area; (3) Classified turbidite fan of Es_3 member of the Area 3 in Bonan oilfield into nine types of lithological facies, and established the facies sequences and patterns; (4) Recognized that the main diagenesis were compaction, cementation and dissolution, among which the percent compaction was up to 50%~90%; (5) Divided the pore space in ES_3 member reservoir into secondary pores with dissolved carbonate cement and residual intergranular pores strongly compacted and cemented; (6) Established logging interpretation mathematical model guided by facies- control modeling theory; (7) Predicted the fracture distribution in barriers using fractal method; (8) Constructed reservoir structural model by deterministic method and the 3D model of reservoir parameters by stochastic method; (9) Applied permeability magnitudes and directions to describe the fractures' effect on fluid flow, and presented four different fractural configurations and their influence on permeability; (10) Developed 3D modeling technology for the low permeable sandstone reservoirs. The research provided reliable geological foundation for the establishment and modification of development plans in low permeable sandstone reservoirs, improved the development effect and produced more reserves, which provided technical support for the stable and sustained development of Shengli Oilfield.