虚拟现实辅助机器人遥操作技术研究

本文以水下机器人的遥操作作业为应用背景 ,提出并实现了虚拟现实技术和视觉感知信息辅助机器人遥操作实验系统 .该系统使用了 CAD模型和立体视觉信息完成遥操作机器人及其作业环境的几何建模和运动学建模 ,实现了虚拟作业环境的生成和实时动态图形显示 .采用了基于立体视觉的虚拟环境与真实环境的一致性校正、图形图像叠加、作业体与环境位姿关系建立、基于网络的监控通讯等关键技术 .在这个实验系统中 ,操作人员可利用所生成的虚拟环境 ,在多视点、多窗口作业状态图形和图像显示帮助下 ,实时动态地进行作业观测与机器人遥操作与运动规划 ,为先进遥操作机器人系统的实现提供了经验和关键技术 .

复杂仪器仪表盘面背景中目标字符的提取与识别

提出了一套针对复杂仪器仪表盘面图像背景的拟人化的目标字符提取和识别的技术方案.该方案综合了多种图像处理和分割方法,取长补短,综合优化,排除了复杂图像背景中的各种干扰因素,对图像变化有一定的自适应能力.该方案在给定的图像样本中取得了很好的识别效果,达到了实用化的水平.仪器仪表盘面的图像处理与识别是非电子设备与现代电子设备的接合点之一,因而这一具有指导意义的技术方案有广阔的应用背景.

基于遗传算法的单机提前/拖期调度方法研究

针对对工件有不同交货期要求 ,并对提前 /拖期工件进行惩罚的一类单机调度问题 ,提出了基于遗传算法的优化方法 .提出一种基于“非”一致次序交叉算子的遗传算法 ,用于排序优化 ;在分析了惩罚函数性质的基础上 ,给出了最优开工时间算法 .对不同规模的调度问题 ,应用本文提出的算法与其它算法进行了比较 ,结果表明该方法具有优良的性能 .

一个先进的工业机器人计算机控制系统——ARCS

随着工业机器人及其应用的不断发展,要求一个强有力的计算机系统来控制它的工作,并具有灵活、方便的机器人编程语言.本文系统地介绍了我们自行设计并实现的一个先进的机器人控制系统——ARCS.该系统主要包括两部分:(1)一个实时多任务的机器人控制软件SVAL系统,该系统支持一种通用性较强的机器人编程语言——SVAL语言.(2)一个支持该软件系统工作的、具有开放式结构的硬件环境.ARCS系统具有良好的实时性、可扩展性及基于外部传感器信号进行控制的能力.由于该系统的开放式结构.使其根据不同要求可方便地增删其功能,并可控制不同类型的机器人.我们已成功地实现对PUMA760机器人的控制,并在其上引入了力觉与接近觉的传感器,采样时间可缩短到16ms.一年多的运行结果证明,该系统稳定可靠,性能良好,现在正向产品转化.

水资源分配的决策模型及应用

水资源规划是一个复杂的系统规划问题,所以,在水资源规划中,含有大量的不精确的统计数据和模糊关系。由于这些特点,水资源规划必须用特殊的方法来解决。 本文将层次分析法(AHP)和模糊规划(Fuzzy Programming)方法相结合,形成了一种多目标规划的求解方法,并应用于大凌河流域水资源规划研究的课题中,通过实际分析可以看到,这种方法具有较好的实用性。

成批生产计划调度的集成建模与优化

针对多品种批量生产类型,建立了调度约束的生产计划与调度集成优化模型。模型的目标函数是使总调整费用、库存费用及生产费用之和最小,约束函数包括库存平衡约束和生产能力约束,同时考虑了调度约束,即工序顺序约束和工件在单机上的加工能力约束,保证了计划可行性。该模型为两层混合整数规划模型,对其求解综合运用了遗传算法和启发式规则,提出了混合启发式求解算法。最后,针对某机床厂多品种批量生产类型车间进行了实例应用,对车间零件月份作业计划进行分解,得到各工段单元零件周作业计划,确定了零件各周生产批量与投产顺序。

一种基于可靠性的软件构架描述视图

　提出一种针对软件可靠性估算的描述软件构架的方法构件状态转移概率视图.该方法可以描述出使用基于构架的软件可靠性模型估算构架可靠性所需要的大量信息.在估算构架可靠性的过程中使用该方法可以大大简化工作量,而又可保持原有精度.

基于CAN总线的分布式数据采集与控制系统

随着电子技术和计算机技术的不断发展，工业生产过程的控制系统正在向着智能化、数字化和网络化的方向发展。传统的集散控制方式和计算机分层控制方式已经开始让位于智能终端与网络结合的总线网络控制方式。当今，在工厂中过程控制环境下的分布式自动化系统变得越来越复杂，尤其系统内部的各设备之间需要快速交换大量的信息，以便实现对被控系统更为精确的控制和提供一些辅助的评价函数。这就意味着要不断增加带宽和提高通信速率以满足网络通信的需要。在现有的多种可利用网络设备中，CAN总线以其清晰的定义、极高的可靠性及其独特的设计，被认为是最能有效地解决这一问题的途径之一。而且市场上基于通信技术的产品中，就实时性考虑，由于CAN总线采用的非表意性的通信方式，因此其结构更为简单，实时性更好。基于此背景，我们以CAN总线作为通信媒介，将分布于各控制现场的传感器、执行器和控制器有序地连接起来，构成了一个基于CAN总线的分布式局域网络控制系统。本文首先介绍了基于CAN总线的分布式数据采集与控制系统的总体结构。然后从硬件方面描述了基于CAN总线的通信协议转换单元、数据采集单元和输出控制单元的功能、硬件配置及各单元功能的具体实现过程，给出了各单元的性能指标。软件方面，以C语言作为平台，开发了基于CAN总线的上位计算机管理与监控软件，实现了对整个网络设备的系统管理和系统控制功能。对于该总线系统，作者运用了PID控制和模糊控制算法实现了对水箱液位的控制，达到了理想的效果。基于CAN总线的控制系统很好地解决了集散控制系统难以解决的难题，模糊控制的应用能很好地把总线控制系统应用到具有非线性、大时滞和难于获得精确模型的控制系统中。

胜利勘探数据中心及勘探辅助决策系统研究

In the paper through extensive study and design, the technical plan for establishing the exploration database center is made to combine imported and self developed techniques. By research and repeated experiment a modern database center has been set up with its hardware and network having advanced performance, its system well configured, its data store and management complete, and its data support being fast and direct. Through study on the theory, method and model of decision an exploration decision assistant schema is designed with one decision plan of well location decision support system being evaluated and put into action. 1. Study on the establishment of Shengli exploration database center Research is made on the hardware configuration of the database center including its workstations and all connected hardware and system. The hardware of the database center is formed by connecting workstations, microcomputer workstations, disk arrays, and those equipments used for seismic processing and interpretation. Research on the data store and management includes the analysis of the contents to be managed, data flow, data standard, data QC, data backup and restore policy, optimization of database system. A reasonable data management regulation and workflow is made and the scientific exploration data management system is created. Data load is done by working out a schedule firstly and at last 200 more projects of seismic surveys has been loaded amount to 25TB. 2. Exploration work support system and its application Seismic data processing system support has the following features, automatic extraction of seismic attributes, GIS navigation, data order, extraction of any sized data cube, pseudo huge capacity disk array, standard output exchange format etc. The prestack data can be accessed by the processing system or data can be transferred to other processing system through standard exchange format. For supporting seismic interpretation system the following features exist such as auto scan and store of interpretation result, internal data quality control etc. the interpretation system is connected directly with database center to get real time support of seismic data, formation data and well data. Comprehensive geological study support is done through intranet with the ability to query or display data graphically on the navigation system under some geological constraints. Production management support system is mainly used to collect, analyze and display production data with its core technology on the controlled data collection and creation of multiple standard forms. 3. exploration decision support system design By classification of workflow and data flow of all the exploration stages and study on decision theory and method, target of each decision step, decision model and requirement, three concept models has been formed for the Shengli exploration decision support system including the exploration distribution support system, the well location support system and production management support system. the well location decision support system has passed evaluation and been put into action. 4. Technical advance Hardware and software match with high performance for the database center. By combining parallel computer system, database server, huge capacity ATL, disk array, network and firewall together to create the first exploration database center in China with reasonable configuration, high performance and able to manage the whole data sets of exploration. Huge exploration data management technology is formed where exploration data standards and management regulations are made to guarantee data quality, safety and security. Multifunction query and support system for comprehensive exploration information support. It includes support system for geological study, seismic processing and interpretation and production management. In the system a lot of new database and computer technology have been used to provide real time information support for exploration work. Finally is the design of Shengli exploration decision support system. 5. Application and benefit Data storage has reached the amount of 25TB with thousand of users in Shengli oil field to access data to improve work efficiency multiple times. The technology has also been applied by many other units of SINOPEC. Its application of providing data to a project named Exploration achievements and Evaluation of Favorable Targets in Hekou Area shortened the data preparation period from 30 days to 2 days, enriching data abundance 15 percent and getting information support from the database center perfectly. Its application to provide former processed result for a project named Pre-stack depth migration in Guxi fracture zone reduced the amount of repeated process and shortened work period of one month and improved processing precision and quality, saving capital investment of data processing of 30 million yuan. It application by providing project database automatically in project named Geological and seismic study of southern slope zone of Dongying Sag shortened data preparation time so that researchers have more time to do research, thus to improve interpretation precision and quality.

基于独立分量分析的地震属性分析方法研究

Conventional seismic attribute analysis is not only time consuming, but also has several possible results. Therefore, seismic attribute optimization and multi-attribute analysis are needed. In this paper, Fuyu oil layer in Daqing oil field is our main studying object. And there is much difference between seismic attributes and well logs. So under this condition, Independent Component Analysis (ICA) and Kohonen neural net are introduced to seismic attribute optimization and multi-attribute analysis. The main contents are as follows: (1) Now the method of seismic attribute compression is mainly principal component analysis (PCA). In this article, independent component analysis (ICA), which is superficially related to PCA, but much more powerful, is used to seismic reservoir characterizeation. The fundamental, algorithms and applications of ICA are surveyed. And comparation of ICA with PCA is stydied. On basis of the ne-entropy measurement of independence, the FastICA algorithm is implemented. (2) Two parts of ICA application are included in this article: First, ICA is used directly to identify sedimentary characters. Combined with geology and well data, ICA results can be used to predict sedimentary characters. Second, ICA treats many attributes as multi-dimension random vectors. Through ICA transform, a few good new attributes can be got from a lot of seismic attributes. Attributes got from ICA optimization are independent. (3) In this paper, Kohonen self-organizing neural network is studied. First, the characteristics of neural network’s structure and algorithm is analyzed in detail, and the traditional algorithm is achieved which has been used in seism. From experimental results, we know that the Kohonen self-organizing neural network converges fast and classifies accurately. Second, the self-organizing feature map algorithm needs to be improved because the result of classification is not very exact, the boundary is not quite clear and the velocity is not fast enough, and so on. Here frequency sensitive principle is introduced. Combine it with the self-organizing feature map algorithm, then get frequency sensitive self-organizing feature map algorithm. Experimental results show that it is really better. (4) Kohonen self-organizing neural network is used to classify seismic attributes. And it can be avoided drawing confusing conclusions because the algorithm’s characteristics integrate many kinds of seismic features. The result can be used in the division of sand group’s seismic faces, and so on. And when attributes are extracted from seismic data, some useful information is lost because of difference and deriveative. But multiattributes can make this lost information compensated in a certain degree.

植物对环境污染的磁学响应机理研究

With development of industry and acceleration of urbanization, problems of air quality as well as their influences on human health have recently been regarded highly by current international communities and governments. Generally, industrializations can result in exhausting of a lot of industry gases and dusts, while urbanization can cause increasing of modern vehicles. Comparing with traditional chemical methods, magnetic method is simple, rapid, exact, low-cost and non-destructive for monitoring air pollution and has been widely applied in domestic and international studies. In this thesis, with an aim of better monitoring air pollution, we selected plants (highroad-side perennial pine trees (Pinus pumila Regel) along a highroad linking Beijing City and the Capital International Airport, and tree bark and tree ring core samples (willow, Salix matsudana) nearby a smelting industry in northeast Beijing) for magnetic studies. With systemic magnetic measurements on these samples, magnetic response mechanism of contamination（e.g. tree leaves, tree ring）to both short- and long-term environmental pollution has been constructed, and accordingly the pollution range, degree and process of different time-scale human activities could be assessed. A series of rock magnetic experiments of tree leaves show that the primary magnetic mineral of leaf samples was identified to be magnetite, in pseudo-single domain (PSD) grain size range of 0.2-5.0 μm. Magnetite concentration and grain size in leaves are ascertained to decrease with increasing of sampling distance to highroad asphalt surface, suggesting that high magnetic response to traffic pollution is localized within a distance of about 2 m away from highroad asphalt surface. On the other hand, highroad-side trees and rainwater can effectively reduce the concentration of traffic pollution-induced particulate matters (PMs) in the atmosphere. This study is the first time to investigate the relationship of smelting factory activities and vicissitudes of environment with tree rings by magnetic methods. Results indicate that magnetic particles are omnipresent in tree bark and trunk wood. Magnetic techniques including low-temperature experiment, successive acquisition of IRM, hysteresis loops and SIRM measurements suggest that magnetic particles are predominated by magnetite in pseudo-single domain state. Comparison of magnetic properties of tree trunk and branch cores collected from different directions and heights implies that collection of magnetic particles depends on both sampling direction and height. Pollution source-facing tree trunk wood contains significantly more magnetic particles than other sides. These indicate that magnetic particles are most likely intercepted and collected by tree bark first, then enter into tree xylem tissues by translocation during growing season, and are finally enclosed in a tree ring by lignifying. Correlation between magnetic properties such as time-dependent SIRM values of tree ring cores and the annual steel yields of the smelting factory is significant. Considering the dependence of magnetic properties in sampling directions, heights, and ring cores, we proposed that magnetic particles in the xylem cannot move between tree rings. Accordingly, the SIRM and some other magnetic parameters of tree ring cores from the source-facing side could be contributed to historical study of atmospheric pollution produced by heavy metal smelting activities, isoline diagrams of SIRM values of all the tree rings indicate that air pollution is increasing worse. We believed that a synthetic rock magnetic study is an effective method for determining concentration and grain size of ferromagnets in the atmospheric PMs, and then it should be a rapid and feasible technique for monitoring atmospheric pollution.

末次冰盛期以来中国东部沙地空间分布特征及环境记录

The latest two extreme scenarios of last glacial maximum and Holocene climatic optimum marked extreme situations in China. This paper aims to reconstruct the fossil extensions and paleoclimate of deserts in eastern China during this typical period. Aeolian sequence responds the climate change by virtue of alternation of aeolian sand layer and sandy soil layer, which correspond aridity and humidity, respectively. There is a set of contrastive deposits made up of loose sand layer and overlying dark sandy soil below land surface. This developed soil and underlying deep aeolian sand respond to H.O. and late last glacial, i.e. LGM. The typical bottom sand layers of about 50 profiles of Hulun Buir Desert, Horqin Desert and Otindag Desert were dated using OSL to confirm that they did deposid in LGM. Based on the locations of these LGM sand, distrution of gobi-desert-loess and landform control, the distribution in LGM of the three deserts were reconstructed. For the block of eastern mountain, the extreme eastern boundary of Hulun Buir Desert and Otindag Desert are not just functioned by climate background. The east of Horqin Desert is plain, hence eastern boundary of this desert is maily controlled by climate. It is considered that quite a lot of aeolian sand of LGM origined from fluvial deposit by observing regional distribution of river and SEM of sand grains. The environment alternation of of LGM-H.O. is featured by extensive expanse of active dune in LGM and grassland in H.O. Combined grain-size, susceptibility, TOC, colour and SEM measurement, the OSL chronology of relatively continued profiles since LGM of the three deserts are divided into four periods: eolian sand (15-10ka)- sandy soil (10-5ka)- alternation of black sand and yellow sand- reworking of LGM sand as destroy of soil.

塔里木盆地塔中—巴楚地区早二叠世岩浆岩地球化学特征及其成因

Tazhong-Bachu region is located in the Western Tarim basin.The early Permian magmatic rocks occur in the earth surface of Tazhong-Bachu region are mainly distributed in Kepintag,Mazhartag and Wajilitag region. There are a lot of wells, in which researchers found the early Permian magmatic rocks,in desert cover area.Most magmatic rocks are basic rocks, a few of which are ultrabasic rocks and intermediate-acid magmatic rocks.The ultrabasic rocks are are mainly occur in the Cryptoexplosive Breccia Pipes ,which is located in the volcanic complex body of Wajilitag region.The basic rocks can be divided into three rock types：The first type of the magmatic rocks in Tazhong-Bachu region is volcanic rock ,which occurs in the Lower Permian Kupukuziman Formation and Kaipaizileike Formation. Most Volcanic rocks are basalts,a few of which are volcanic breccias and pyroclastic rocks.The basalts are distributed in stratiform occurrences and interbeded the clastic rocks in Kepintag region.The attitudes of the basalts are nearly horizontal.Columnar Joints, gas pore textures and amygdaloidal structure are to develop in basalts.The second type of the magmatic rocks in Tazhong-Bachu region is diabase,which occurs in Mazhartag region.Diabase dike swarms occur in the stratums of Silurian, Devonian, Carboniferous and Lower Permian.They make from NNW direction to SSE direction, the obliquity of stratum is greater than 60°, and the dike thickness is form several cm to several meters. Diabasic texture is found in the rocks .The first type of the magmatic rocks in Tazhong-Bachu region are gabbro- pyroxenite rocks ,which occur in the Wajilitag igneous complex body. The intermediate-acid magmatic rocks, which are mainly syenites, are located in Mazhartag and Wajiltag region. But they are small in the whole Tazhong-Bachu region.There are intermediate-acid magmatic rocks,which are mainly dacite,in the northeast part of the wells in Tazhong-Bachu region.But ,it is not found in earth surface.Through systematical geochemical research of early Permian magmatic rocks,which are distributed in Kepintag,Mazhartag, Wajilitag region and the wells such as F1 well、Z1 well、Z13 well、TZ18 well、H3 well、H4 well et al., the focus on the geochronologic characteristics, the main element,trace element and REE geochemistry, the mineralogic characteristics, the Sr-Nd and Pb isotopic characteristics are put forward. The main points are: 1、A combined study of CL imaging and LA-ICP-MS U-Pb dating were carried out for zircon grains of the magmatic rocks in the Tazhong-Bachu region from the Tarim basin.The results of the systematic zircon LA-ICP-MS U-Pb dating reveal 272±6Ma to 291±10Ma for the magamatic rocks. It indicated that Early Permian is an important period of magmatic acvivity in the Tazhong-Bachu region. 2、There are a big hunch in the curves of primitive mantle-normalized trace element concentrations in the early Permian magmatic rocks from Kepintag, Mazhartag, Wajilitag region and the 14 wells. Light rare earth elements are comparatively rich and heavy rare earth elements are comparatively poor. The slope rates are same between light rare erath elements and heavy rare earth elements. It is not like the curves of the basalts in the convergent margin of plate , in which the slope rates of light rare erath elements is bigger than the alope rates of heavy rare erath elements, and the curves of heavy rare earth elements are comparatively flat. The magmatic rocks of Tazhong-Bachu region rarely have the characteristics of the basalts in the convergent margin of plate, which is that Tantalum, Niobium and Titanium are much poor, and Zirconium, Hafnium and Phosphorus are moderately poor. The magamatic rocks are mostly alkaline, which is indicated by the dots of the (Na2O+K2O)-SiO2 identification diagram. All of these indicate that the early Permian magmatic rocks were formed in an extension environment of intraplate. 3、The Thorium abundance is high and Tantalum abundance is low in most magmatic rocks from Tazhong-Bachu reguion, which is formed for crustal contamination.In the Th/Yb-Ta/Yb identification diagram，most dots are in the region, which means active continental margin, but a few dots are in the region, which means mantle source. It indicated the feeding of continental crust materials. 4、The magnesium content of the olvines from Wagilitag region is richest, and the olvines from Kepintag region is poorest in the tree region. 5、Through the the Sr-Nd and Pb isotopic study of the basalts and diabases from the F1 well core, Z1 well core, Z13 well core,TZ18 well core, and the basalts，gabbros, diabases(diabase-prophyrites) and pl-peridotites from Kepintag,Mazhartag, Wajilitag region , it indicated that all isotopic data is similar and close to enriched mantle.

黄土-红粘土化学风化与晚新生代气候变化——甘肃平凉白水剖面为例

Late Cenozoic has witnessed a series of climate-environmental change which ends with a transitional shift from greenhouse to icehouse conditions. In last two decades, scientists began to employ the tectonic uplift and its weathering effect to interpret the climatic changes during the late Cenozoic. However, this endeavor has partly been restricted by the lacking of regional and global chemical weathering data. The loess-red clay deposit in the Loess Plateau may record the weathering features of the detritus material from the wide range upwind of the Loess Plateau. Therefore geochemistry of the loess-plaeosol and red clay sequences may provide insights into the regional chemical weathering regime and the connection between the chemical weathering and the late Cenozoic climate-environmental change Here we selected 319 samples from the Baishui section near the Pingliang City, Gansu Province, and analyzed them with X-ray fluorescence. Based on the result, we reconstruct the chemical weathering history of the Baishui section since 6Ma. We chose CIA as the proxy for chemical weathering intensity. The CIA ratio in soil units is higher than in adjacent loess horizons, but lower than in the red clay, in good agreement with the field observation. The CIA ratios of the Baishui section correlates well with the global ice volume fluctuations, indicating that the global cooling may contribute a lot to the chemical weathering variations in Chinese Loess Plateau. There are at least 3 million-year time scale variations that can be identified in the chemical weathering intensity curve, i.e., between 3.3 to 2.1 Ma, 1.7 to 0.9 Ma and from 0.9Ma. We think these may reflect the combined effect of the tectonic uplift and ice sheets on monsoon intensity. Other time scale variations can be also observed. In the period between 2.4 and 0.8 Ma, the CIA record display the 400,000 years cycle, which may be resulted from the Tibetan uplift during the Pliocene-early Pleistocene which have significantly amplified the monsoon response sensitivity to the orbital-scale variations in insolation. From 1.2 Ma, the 100,000 years period became intensifying, and particularly after 0.8 Ma, the earlier monsoon response at 400,000 year periodicity was overwhelmed by the ice sheet forcing at 100,000 year periodicity. These may indicate that the expansions of the Northern Hemisphere ice sheets may have crossed a threshold, which enforce the monsoon responding at the 100,000 year periodicity.

基于量子蒙特卡罗的地震波反演方法

The primary approaches for people to understand the inner properties of the earth and the distribution of the mineral resources are mainly coming from surface geology survey and geophysical/geochemical data inversion and interpretation. The purpose of seismic inversion is to extract information of the subsurface stratum geometrical structures and the distribution of material properties from seismic wave which is used for resource prospecting, exploitation and the study for inner structure of the earth and its dynamic process. Although the study of seismic parameter inversion has achieved a lot since 1950s, some problems are still persisting when applying in real data due to their nonlinearity and ill-posedness. Most inversion methods we use to invert geophysical parameters are based on iterative inversion which depends largely on the initial model and constraint conditions. It would be difficult to obtain a believable result when taking into consideration different factors such as environmental and equipment noise that exist in seismic wave excitation, propagation and acquisition. The seismic inversion based on real data is a typical nonlinear problem, which means most of their objective functions are multi-minimum. It makes them formidable to be solved using commonly used methods such as general-linearization and quasi-linearization inversion because of local convergence. Global nonlinear search methods which do not rely heavily on the initial model seem more promising, but the amount of computation required for real data process is unacceptable. In order to solve those problems mentioned above, this paper addresses a kind of global nonlinear inversion method which brings Quantum Monte Carlo (QMC) method into geophysical inverse problems. QMC has been used as an effective numerical method to study quantum many-body system which is often governed by Schrödinger equation. This method can be categorized into zero temperature method and finite temperature method. This paper is subdivided into four parts. In the first one, we briefly review the theory of QMC method and find out the connections with geophysical nonlinear inversion, and then give the flow chart of the algorithm. In the second part, we apply four QMC inverse methods in 1D wave equation impedance inversion and generally compare their results with convergence rate and accuracy. The feasibility, stability, and anti-noise capacity of the algorithms are also discussed within this chapter. Numerical results demonstrate that it is possible to solve geophysical nonlinear inversion and other nonlinear optimization problems by means of QMC method. They are also showing that Green’s function Monte Carlo (GFMC) and diffusion Monte Carlo (DMC) are more applicable than Path Integral Monte Carlo (PIMC) and Variational Monte Carlo (VMC) in real data. The third part provides the parallel version of serial QMC algorithms which are applied in a 2D acoustic velocity inversion and real seismic data processing and further discusses these algorithms’ globality and anti-noise capacity. The inverted results show the robustness of these algorithms which make them feasible to be used in 2D inversion and real data processing. The parallel inversion algorithms in this chapter are also applicable in other optimization. Finally, some useful conclusions are obtained in the last section. The analysis and comparison of the results indicate that it is successful to bring QMC into geophysical inversion. QMC is a kind of nonlinear inversion method which guarantees stability, efficiency and anti-noise. The most appealing property is that it does not rely heavily on the initial model and can be suited to nonlinear and multi-minimum geophysical inverse problems. This method can also be used in other filed regarding nonlinear optimization.