轮式移动机器人与地形交互运动仿真研究

分析了轮式移动机器人(WMR)在不平坦的三维地形上运动的运动学模型.利用速度投影法,得到了WMR运动模型的一种新形式.基于虚拟现实技术,利用VC++OpenGL实现了WMR虚拟漫游系统.该系统具有较强的交互性和实时性,为星球探测机器人的虚拟导航、遥操作等提供了验证平台.

基于非线性修正的多线阵像机的空间定位

介绍了一种基于多线阵像机构成的视觉空间定位系统.该系统利用线阵像机的快速性与高分辨率的特点,采用了非平行空间投影面相交定位的基本原理,利用几何投影关系定位求解的方法,实现了多线阵像机视觉系统的空间定位.并提出了多线阵像机的神经网络非线性修正方法,使修正后的PSD能在较宽的位置范围内输出高线性度的信号.实验结果表明,基于非线性修正的多线阵像机位姿测量系统简化了立体视觉空间定位计算的复杂性,在定位精度、定位范围和采样速度上均达到了良好效果.

一种基于投影矩阵M的机器人手眼标定线性化方法

提出了一种基于投影矩阵M的机器人手眼标定方法,即将AX=XB转换为MY=M′YB求解形式,避免了矩阵分解.同时,采用矩阵直积运算和矩阵特征向量运算相结合的方法,将传统的非线性问题转换成线性问题,构成了可利用最小二乘法求解运算的解析形式,提高了机器人手眼标定的精度和稳定性.通过实验验证了该方法的可行性.

一种基于线性模型的机器人手眼标定新方法

针对基于传统手眼标定模型AX=XB的标定问题,引入了由摄像机投影矩阵M构成的数学模型MY=M'YB,并针对该模型提出了一种新解法。该方法运用矩阵直积和特征向量理论,将关于机器人手眼关系矩阵X的问题描述转换成关于关联矩阵Y的线性方程,运用最小二乘法求得线性闭解。该方法消除了传统方法多次分解摄像机传感器系统的内外参数而引入的摄像机传感器系统的固有误差和随机误差的影响。实验表明该方法可以提高手眼系统标定精度。

可重构星球探测机器人的运动学建模及轨迹规划

提出了可重构星球探测机器人的概念,对系统中子机器人的研究进行了重点论述.通过设计恰当的子机器人连杆坐标系,利用Denavit Hartenberg方法完成了子机器人的运动学建模,并直接给出了子机器人的运动学正解模型.由于使用单一的求解算法不能求出工作空间的封闭解,因此综合利用代数法、几何法原理及空间投影关系,结合子机器人的结构特殊性推导出了运动学逆解,从而得到了工作空间内的所有解.在此基础上,考虑结构间的约束关系,给出了子机器人的工作空间及轨迹规划方法.最后,使用OpenGL对设计的子机器人系统进行了运动学仿真实验,实验以末端操作器的直线运动为例,充分考虑空间几何的关系,其结果有效地证明了建模及轨迹规划的正确性.

基于神经网络的三维物体姿态测定

利用单幅图象中物体的三条边与模型中的三条对应边,可求出三维物体姿态,但解不唯一,通过将这些可能姿态所产生的图象与实际图象匹配,可求出唯一正确姿态.二维图象特征对应问题是个NP完全问题,存在组合爆炸的困难,为此,我们把特征对应问题看作一个组合优化问题,利用Hopfield网络成功解决这一组合优化问题.该算法通用性强,而且适合于并行实现。文中给出了在Ⅵ-COM图象处理系统上对人造图象和实际图象进行的实验结果。

基于点集曲面投影算法的自由曲面匹配

测量数据的精确定位是实现复杂曲面加工检测的关键,针对测量点云数据与NURBS表示的CAD自由曲面模型匹配中求最近点计算方面存在的问题,提出了一种简单、有效的寻找最近点的方法。该方法与由测量点集评估给定曲面上的最近点的传统算法相反,采用点集曲面(point set surface,PSS)投影算法,对给定自由曲面模型上有限个点与不附加任何几何和拓扑信息的散乱点集之间进行粗匹配获得初始位置,进而以最近点迭代算法(ICP)完成测量数据定位的精确调整,达到全局及局部最优的目标。实验结果表明,采用PSS投影算法法寻找最近点不仅效率高,而且能得到全局匹配结果,可以为精匹配提供较好的计算初值,减少了ICP算法进行二次匹配时,迭代次数及执行时间并且精度得到了较大提高。

一种基于多特征融合的汽车变速箱螺栓在线视觉检测系统

本文根据汽车变速箱装配线螺栓检测的要求,结合检测现场的实际图像特点,采用融合灰度投影与颜色直方图两种特征的方法,利用相似性测度的计算方法,设计了一种变速箱螺栓在线装配质量检测系统,该系统用于实现螺栓的的缺失及漏拧检测,试验结果表明,方法具有良好的实用性,取得了比较理想的效果。

油气勘探风险评价与决策技术研究

PetroChina and other national petroleum incorporations need rigorous procedures and practical methods in risk evaluation and exploration decision at home and abroad to safeguard their international exploration practice in exploration licence bidding, finding appropriate ratio of risk sharing with partners, as well as avoiding high risk projects and other key exploration activities. However, due to historical reasons, we are only at the beginning of a full study and methodology development in exploration risk evaluation and decision. No rigorous procedure and practical methods are available in our exercises of international exploration. Completely adopting foreign procedure, methods and tools by our national incorporations are not practical because of the differences of the current economic and management systems in China. The objective of this study is to establish a risk evaluation and decision system with independent intellectual property right in oil and gas exploration so that a smooth transition from our current practice into international norm can take place. The system developed in this dissertation includes the following four components: 1. A set of quantitative criteria for risk evaluation is derived on the basis of an anatomy of the parameters from thirty calibration regions national wide as well as the characteristics and the geological factors controlling oil and gas occurrence in the major petroleum-bearing basins in China, which provides the technical support for the risk quantification in oil and gas exploration. 2. Through analysis of existing methodology, procedure and methods of exploration risk evaluation considering spatial information are proposed. The method, utilizing Mahalanobis Distance (MD) and fuzzy logic for data and information integration, provides probabilistic models on the basis of MD and fuzzy logic classification criteria, thus quantifying the exploration risk using Bayesian theory. A projection of the geological risk into spatial domain provides a probability map of oil and gas occurrence in the area under study. The application of this method to the Nanpu Sag shows that this method not only correctly predicted the oil and gas occurrence in the areas where Beibu and Laoyemiao oil fields are found in the northwest of the onshore area, but also predicted Laopu south, Nanpu south and Hatuo potential areas in the offshore part where exploration maturity was very low. The prediction of the potential areas are subsequently confirmed by 17 exploration wells in the offshore area with 81% success, indicating this method is very effective for exploration risk visualization and reduction. 3. On the basis of “Methods and parameters of economic evaluation for petroleum exploration and development projects in China”, a ”pyramid” method for sensitivity analysis was developed, which meets not only the need for exploration target evaluation and exploration decision at home, but also allows a transition from our current practice to international norm in exploration decision. This provides the foundation for the development of a software product “Exploration economic evaluation and decision system of PetroChina” (EDSys). 4. To solve problem in methodology of exploration decision, effort was made on the method of project portfolio management. A drilling decision method was developed employing the concept of geologically risked net present value. This method overcame the dilemma of handling simultaneously both geological risk and portfolio uncertainty, thus casting light into the application of modern portfolio theory to the evaluation of high risk petroleum exploration projects.

改善三维波动方程叠前深度偏移处理效果的方法研究

3D wave equation prestack depth migration is the effective tool for obtaining the exact imaging result of complex geology structures. It's a part of the 3D seismic data processing. 3D seismic data processing belongs to high dimension signal processing, and there are some difficult problems to do with. They are: How to process high dimension operators? How to improve the focusing? and how to construct the deconvolution operator? The realization of 3D wave equation prestack depth migration, not only realized the leap from poststack to prestack, but also provided the important means to solve the difficult problems in high dimension signal processing. In this thesis, I do a series research especially for the solve of the difficult problems around the 3D wave equation prestack depth migration and using it as a mean. So this thesis service for the realization of 3D wave equation prestack depth migration for one side and improve the migration effect for another side. This thesis expatiates in five departs. Summarizes the main contents as the follows: In the first part, I have completed the projection from 3D data point area to low dimension are using de big matrix transfer and trace rearrangement, and realized the liner processing of high dimension signal. Firstly, I present the mathematics expression of 3D seismic data and the mean according to physics, present the basic ideal of big matrix transfer and describe the realization of five transfer models for example. Secondly, I present the basic ideal and rules for the rearrange and parallel calculate of 3D traces, and give a example. In the conventional DMO focusing method, I recall the history of DM0 process firstly, give the fundamental of DMO process and derive the equation of DMO process and it's impulse response. I also prove the equivalence between DMO and prestack time migration, from the kinematic character of DMO. And derive the relationship between DMO base on wave equation and prestack time migration. Finally, I give the example of DMO process flow and synthetic data of theoretical models. In the wave equation prestak depth migration, I firstly recall the history of migration from time to depth, from poststack to prestack and from 2D to 3D. And conclude the main migration methods, point out their merit and shortcoming. Finally, I obtain the common image point sets using the decomposed migration program code.In the residual moveout, I firstly describe the Viterbi algorithm based on Markov process and compound decision theory and how to solve the shortest path problem using Viterbi algorithm. And based on this ideal, I realized the residual moveout of post 3D wave equation prestack depth migration. Finally, I give the example of residual moveout of real 3D seismic data. In the migration Green function, I firstly give the concept of migration Green function and the 2D Green function migration equation for the approximate of far field. Secondly, I prove the equivalence of wave equation depth extrapolation algorithms. And then I derive the equation of Green function migration. Finally, I present the response and migration result of Green function for point resource, analyze the effect of migration aperture to prestack migration result. This research is benefit for people to realize clearly the effect of migration aperture to migration result, and study on the Green function deconvolution to improve the focusing effect of migration.

东海榴辉岩向斜长角闪岩的转化过程

The Ultrahigh Pressure Metamorphic (UHPM) eclogite, which was resulted from deep subduction of crustal continent, is very significant due to its continental dynamic implications. Further more, this kind of rocks experienced great P-T, fluid and stresses changes during its forming and exhumation, causing mineral reactions occur intensively, which resulted in a lot of fantastic micro-texture. The micro-texture was preserved duo to a rapid exhumation of the eclogite. This PhD dissertation takes such micro-textures in 10 Donghai eclogite samples South Sulu UHPM terrene, as research object to reveal the transformation of the eclogite to amphibolite. Microscope and Scanning Electron Microscope were employed to observe the micro-texture. Basing on microprobe analysis of minerals, the ACF projections and iso-con analysis were used to uncover the mineral reactions during the transformation. Micro-texture observation (both of Microcopy and Electron Scanning Microscope), demonstrated: l.The peak mineral assemblage of the researched Donghai eclogites is garnet + omphacite + rutile (+ kyanite + aptite +coesite). 2.The transformation of the Donghai eclogite to amphibolite can be divided into two stages: The earlier one is Symplectization, resulting in the forming of diopside + albite (+magnetite) symplectite that occurred only along the boundary between two adjacent omphacite grains. Other minerals were not involved in such reaction. The latter stage is Fluid-Infiltration of the eclogite, which was caused by fluid-intrusion. The infiltration is demonstrated by amphibolization of the symplectite, decomposition of garnet and the forming of some hydrous minerals such as phengite and epidote, and resulted in an amphibole + plagioclase + phengite + epidote or ziosite assemblage. Basing on microprobe analysis of the minerals, ACF projections indicated: In the ACF diagrams, the two joint lines of peak Grt + Omp and Dio + Ab crossed at Omp projection-point, indicating that the garnet had not taken part in the forming reaction of the Dio + Ab symplectite, just like that had been pointed out by micro-texture observation. In the ACF diagrams, the hornblende + plagioclase + epidote + phengite quadrilateral intersected with Dio + Ab + Grt triangle, demonstrating that the hydrous mineral assemblage was formed by fluid infiltration through garnet, diopside and albite. Iso-con (mass-balance) analysis of the symplectization and infiltration reveals: 1.The symplectization of the omphacite has a very complex mass exchange: Some symplectite gained only silicon from its surroundings; and some one requires Ca, but provides Na to its surroundings; while other symplectite provides Ca, Mg and Fe to its surroundings. 2.The infiltration cause variable mass exchanges occurring among the garnet, diopside and albite: In some eclogite sample, no mass, except H2O, exchange occurred during the infiltration. Meanwhile, there was not any hydrous mineral except hornblende formed in the sample accordingly. In some samples, the mass exchange among the three minerals is complex: amphibolization of the diopside in a symplectite gained Al from garnet, and provided Si and Ca to its surrounding, resulting in a Si, Ca and Al-rich fluid. Correspondingly, there was a lot of phengite and ziosite occurred in the sample. In other samples, the amphibolization of a symplectite provided Fe and Mg besides Si and Ca to its surrounding while gained Al. In such kind of sample, epidote occurred within the hydrous mineral assemblage. Synthesizing the micro-texture observation, ACF analysis and iso-con analysis, we deduced the transformation procedure as following: 1. A symplectite after an omphacite was resulted by one, or two, or all of following mineral reactions together: Jd (Ca-Tsch) +SiO2=Ab (An) (1) 4NaA IS i.A+CaO=2NaAlS i308+Na20+CaAl2S 1208 (2) 2NaAlSi2OB (Jd in Omp)+CaMgSi;,0B(Dio in Omp)-2NaAlSi:,O"(Ab)+Ca0+Mg0 (3) 2(CaAl2Si0fi) (Ca-tsch in Omp)+CaFeSi2O6(Hed in 0mp)-H>2CaAl2Si208(An)+Ca0 + FeO (4) A CO2-rich fluid is suggested as cataclysm for the above reactions, which largely increased the mobility of Ca, Mg and Na resulted from reaction (2), (3) and (4). The immobile product Fe2* combined with rutile to form ilmenite, resulting in rutile + ilmenite symplectite. Or, the Fe was precipitated as hematite locally. A procedure of the fluid infiltration as following is suggested: I .A hydrous fluid intruded into the eclogite, and reacted first with garnet to form hornblende and extra Al, resulting in a hornblende film around the garnet grain and an Al-rich fluid. 2.The Al-rich fluid infiltrated through the symplectite, OH" and part of the Al in the fluid combined with Dio while some Si and Ca in the Dio were dissolved made the Dio transferred to amphibole. Meanwhile, plagioclase-type cation exchange occurred between the fluid and plagioclase in the symplectite, making the plagioclase have a higher An-content. 3.Above infiltration and cation exchange resulted in an Al, Si, Ca (and K, providing the primary hydrous fluid contain K)-rich fluid. 4.Under suitable conditions, the solute in the fluid precipitated to form phengite firstly. After the K element in the fluid was consumed up, ziosite or epidote was formed. If the fluid did not contain any K. element, only ziosite or epidote was precipitated. For those eclogites, where all omphacite had been replaced by symplectite before infiltration, neither element exchange occurred, nor did phengite or epidote form during the infiltration. At the last stage, the garnet was oxidized and breakdown: garnet + H2O = epidote + hornblende + hematite, due to more and more fluid intruding into the eclogite. At this time, all the peak minerals were replaced by amphibolite-phase ones, and the eclogite transformed to an amphibolite completely. Tentative pressure calculation indicates that the infiltration occurred at 3-6kbar (about 10-20km depth), where the deformation mechanics transformed from brittle to ductile yield. At such depth, the surface water can permeate the rocks through fault system, causing a rapid cooling.