remote attestation for custom-built software

Huazhong Univ Sci & Technol, Natl Tech Univ Ukraine, Huazhong Normal Univ, Harbin Inst Technol, IEEE Ukraine Sect, I& M/CI Joint Chapter

基于QNX实时系统的行为辅助机器人控制系统

论文设计研制了行为辅助机器人验证平台,以此平台为基础可以针对行为辅助机器人进行力控制研究。针对机器人力控制的实际要求,设计了行为辅助机器人柔性关节结构,辨识了系统参数。基于QNX实时操作系统设计了控制系统软件。机器人控制系统软件主要包括传感器数据采集和控制算法两部分,可以满足柔性关节控制需求。

Multi-sensors data acquisition and information fusion for manned submersible vehicle

本文介绍了一种用于载人潜水器的导航传感器的数据采集及信息融合技术。航行控制计算机通过基于工业以太网的数据通信系统对各传感器进行数据采集,采用卡尔曼滤波器完成对各传感器数据信息的融合,以便提高数据的精度和控制系统的性能,并将结果送给监控计算机,用于载人潜水器的姿态显示。

基于以太网技术的ARCNET数据采集系统设计

为了解决ARCNET网络与以太网不兼容的问题,针对目前ARCNET网络设备监控管理系统存在的缺陷,提出了一种基于嵌入式TCP/IP协议的ARCNET数据采集与传输系统。分析了该数据采集系统的原理与结构,给出了系统的硬件设计方案,完成了数据采集与传输的软件结构设计和嵌入式TCP/IP协议栈的建立。对系统的实时性、可靠性和应用效果等进行了测试,结果证明,系统使用方便,性能稳定,具有良好的实时性和可靠性,综合性能优于现有的ARCNET数据采集系统。

三维VSP技术的研究及应用

Today, because of high petroleum consumption of our country, society steady development and difficulty increase in new resources exploration, deep exploitation of the existing oilfield is needed. More delicate reservoir imaging and description, such as thin layer identification, interlayer exploitation monitoring, subtle structure imaging, reservoir anisotropy recognition, can provide more detail evidence for new development adjustment scheme and enhanced oil recovery. Now, the people have already realized the 3D VSP technique more effective than the general methods in solving these aspects. But VSP technique especially 3D VSP develop slowly due to some reasons. Carrying out the research of VSP technique, it will be very useful to the EOR service. 3D VSP techniques include acquisition、data processing and interpretation. In this paper, the author carried out some researches around acquisition and processing. The key point of acquisition is the survey design, it is critical to the quality of the data and it will influence the reservoir recognition as follows. The author did detailed researches on the layout pattern of shot point and geophone. Some attributes relate to survey design such as reflectivity, incidence angle, observation area, reflection points distribution, fold, minimum well source distance, azimuth angle and so on are studied seriously. In this geometry design of 3D-VSP exploration in deviated wells, the main problems to be solved are: determining the center position of shots distribution, the effect of shots missing on coverage areas and coverage times，locating the shots and receivers of multi-wells. Through simulating and analyzing, the above problems are discussed and some beneficial conclusions are drawn. These will provide valuable references to actual survey design. In data processing, researches emphasize on those relatively key techniques such as wavefield separation, VSP-CDP imaging, the author carried out deep researches around these two aspects. As a result, variant apparent slowness wavefield separation method developed in this article suit the underground variant velocity field and make wavefield separation well, it can overcome reflection bending shortage aroused by conventional imaging method. The attenuateion range of underground seismic wave is very important for amplitude compensation and oil/gas identification.In this paper, seismic wave attenuateion mechanism is studied by 3D-VSP simulateion and Q-inversion technique. By testing with seismic data, the method of VSP data attenuateion and relationship of attenuateion attribute variant with depth is researched. Also the software of survey design and data processing is developed, it fill the gap of VSP area in our country. The technique developed applied successfully in SZXX-A Oilfield、QKYY-B Oilfield、A area and B area. The good results show that this research is valuable, and it is meaningful to the VSP technique development and application of offshore oil industry and other areas in our country.

泥岩裂缝储层地震识别的理论和方法

During the exploration of fractured reservoirs, worldwide difficult problems will be encountered: how to locate the fractured zones, how to quantitatively determine the azimuth, density, and distribution of the fractures, and how to compute the permeability and porosity of the fractures. In an endeavor to solve these problems, the fractured shale reservoir in SiKou area of ShengLi oil field was chosen as a study area. A study of seismic predictive theory and methods for solving problems encountered in fractured reservoir exploration are examined herein. Building on widely used current fractured reservoir exploration techniques, new seismic theories and methods focusing on wave propagation principles in anisotropic medium are proposed. Additionally, integrated new seismic data acquisition and processing methods are proposed. Based on research and application of RVA and WA methods from earlier research, a new method of acoustic impedance varying with azimuth (IPVA) creatively is put forth. Lastly combining drilling data, well log data, and geologic data, an integrated seismic predictive method for cracked reservoir bed was formed. A summary of the six parts of research work of this paper is outlined below. In part one, conventional geologic and geophysical prediction methods etc. for cracked reservoir exploration are examined, and the weaknesses of these approaches discussed. In part two, seismic wave propagation principles in cracked reservoirs are studied. The wave equation of seismic velocity and attenuation factor in three kinds of fracture mediums is induced, and the azimuth anisotropy of velocity and attenuation in fracture mediums is determined. In part three, building on the research and application of AVA and WA methods by a former researcher, a new method of acoustic impedance creatively varying with azimuth (IPVA) is introduced. A practical software package utilizing this technique is also introduced. In part four, Base on previously discussed theory, first a large full azimuth 3d seismic data (70km~2) was designed and acquired. Next, the volume was processed with conventional processing sequence. Then AVA, WA, and IPVA processing was applied, and finally the azimuth and density of the fractures were quantitatively determined by an integrated method. Predictions were supported by well data that indicate the approach is highly reliable. in part five, geological conditions contributing to cracked reservoir bed formation are analyzed in the LuoJia area resulting in the discovery that the main fractured zones are related to fault distribution in the basin, that also control the accumulation of the oil and gas, the generation mechanisms and types of fractured shale reservoirs are studied. Lastly, by using full 3D seismic attributes, azimuth and density of cracked reservoir zones are successfully quantitative predicted. Using an integrated approach that incorporates seismic, geologic and well log data, the best two fractured oil prospects in LouJia area are proposed. These results herein represent a break through in seismic technology, integrated seismic predictive theory, and production technology for fractured reservoirs. The approach fills a void that can be applied both inside China, and internationally. Importantly, this technique opens a new exploration play in the ShengLi oil field that while difficult has substantial potential. Properly applied, this approach could play an important role toward stabilizing the oil field' production. In addition, this technique could be extended fracture exploration in other oil fields producing substantial economic reward.

DAS24-3B数据采集系统控制系统软件的研制与开发

Under the auspices of the 'knowledge-Innovation Program' of CAS, Institute of Geology and Geophysics has established the Broadband Seismic Laboratory. A new kind of 24-bit high-resolution seismograph DAS24-3B has been designed and manufactured in an effort of developing China's own technology of seismic array. Since these instruments will primarily be used in field operation, there is a need to optimize the system software of data acquisition system (DAS) to enhance its stability, compatibility and maintenance. The design ideas of the system software of DAS24-3B are partly learned from the advanced DAS 72A-08. In this system there are two exclusive communication programs DNAPI-COM1 and DNAPI-LPT1, which are suitable for all standard industrial computers with ECP parallel port and serial port. By these exclusive parallel and serial communication interface the system software is split into three parts, acquisition program, user's control program and graphical display program, which can function well in separate units and can run correctly in whole. The three parts of DAS24-3B's system software possess different functions and advantages. The function of acquisition program is to control the process of seismic data acquisition. DAS24-3B system reduced its power and harddisk read-write disturbance by using the extended memory attached to its CPU, which functions as enlarging the data buffer of system and lessening the times of harddisk read-write operations. Since GPS receiver of DAS is strongly sensitive to the around environment and has the possibility of signal loss the acquisition program has been designed with the ability to automatically trail the GPS locked time. The function of user's controlling program is to configure the system's work environment, to inform the user's commands to DAS, to trail the status of DAS in real-time. The function of graphical display program is to illustrate data in figures, to convert data file into some common formatted file, to split data file in parts and combine data files into one. Both user's control program and graphical display program are API (Application Programming Interface) in window 95/98 system. Both possess the features of clearness and friendship by use of all kind of window controls, which are composed by menu, toolbar, statusbar, dialogue box, message box, edit box, scrollbar, time control, button and so on. Two programs of systemic exception handles are provided to treat the trouble in field. The DAS24-3B DAS has been designed to be easier to use-better ability, more stable and simpler. It has been tested in field and base station and has been proved more suitable for field operation of seismic array than other native instruments.

地震反射系数成像方法研究

Reflectivity sequences extraction is a key part of impedance inversion in seismic exploration. Although many valid inversion methods exist, with crosswell seismic data, the frequency brand of seismic data can not be broadened to satisfy the practical need. It is an urgent problem to be solved. Pre-stack depth migration which developed in these years becomes more and more robust in the exploration. It is a powerful technology of imaging to the geological object with complex structure and its final result is reflectivity imaging. Based on the reflectivity imaging of crosswell seismic data and wave equation, this paper completed such works as follows: Completes the workflow of blind deconvolution, Cauchy criteria is used to regulate the inversion(sparse inversion). Also the precondition conjugate gradient(PCG) based on Krylov subspace is combined with to decrease the computation, improves the speed, and the transition matrix is not necessary anymore be positive and symmetric. This method is used to the high frequency recovery of crosswell seismic section and the result is satisfactory. Application of rotation transform and viterbi algorithm in the preprocess of equation prestack depth migration. In equation prestack depth migration, the grid of seismic dataset is required to be regular. Due to the influence of complex terrain and fold, the acquisition geometry sometimes becomes irregular. At the same time, to avoid the aliasing produced by the sparse sample along the on-line, interpolation should be done between tracks. In this paper, I use the rotation transform to make on-line run parallel with the coordinate, and also use the viterbi algorithm to complete the automatic picking of events, the result is satisfactory. 1. Imaging is a key part of pre-stack depth migration besides extrapolation. Imaging condition can influence the final result of reflectivity sequences imaging greatly however accurate the extrapolation operator is. The author does migration of Marmousi under different imaging conditions. And analyzes these methods according to the results. The results of computation show that imaging condition which stabilize source wave field and the least-squares estimation imaging condition in this paper are better than the conventional correlation imaging condition. The traditional pattern of "distributed computing and mass decision" is wisely adopted in the field of seismic data processing and becoming an obstacle of the promoting of the enterprise management level. Thus at the end of this paper, a systemic solution scheme, which employs the mode of "distributed computing - centralized storage - instant release", is brought forward, based on the combination of C/S and B/S release models. The architecture of the solution, the corresponding web technology and the client software are introduced. The application shows that the validity of this scheme.

油气藏自然电位异常与油气赋存的相关性研究

The Stack Spontaneous Potential (SSP) is a direct hydrocarbon location technology and a new hydrocarbon detection method with independent intellectual property. A subsurface hydrocarbon accumulation associated with the upward hydrocarbon micro seepage induces a relatively strong negative potential abnormal zone, of which the anomaly can be measured on the surface with specially designed instruments through careful field measuring procedures. With special software programmed according to a unique geochemical and geophysical model, the original data are analyzed, processed and interpreted on the computer, and then on a series of resulting anomaly distribution maps and/or profiles, the favorable surface locations of the hydrocarbon accumulations can be easily identified. The study of the SSP has been started since 1989, and especially from 1996 to 1997, both profile and area tests were conducted in the Daqing Oilfield. On the testing line of 15kms, there are 6 wells in total, among which some are oil-producing wells, and some are water-producing wells. The final matching ratio of the favorable oil well locations and the possible water well locations predicted by the SSP to those of known wells was up to 83 percent. In the area test, of which the acreage is 800 km2, the matching ratio compared with the existing wells was 87 percent; furthermore, regarding to wells subsequently drilled after the test, the matching ratio was 85 percent. The matching ratio in the development area is more about 10 percent than those of in exploration area. The reason is that, comparing the exploration area, the development area acreage is less and the container rocks are more simplex. In development area there is not so much interference of SSP also. Since 1997 the SSP has been tested and applied all over China to a number of hydrocarbon bearing basins and known oil fields, including the Daqing, Jiangsu, Changqing, Shengli, Nanyang, Jianghan and Zhongyuan Oilfields, only to name a few. The SSP surveys in total areas of over 10,000km2 in more than 30 regions in China so far have been completed in various exploration and development stages, the satisfactory outcomes of which have further evidenced that the dependence between the SP anomaly and abundance of hydrocarbon. Up to date, a substantial amount of successful tests and actual surveys finished in exploration and development practices have evidenced that the SSP is significantly more reliable in comparison with any other similar direct hydrocarbon indication technique generally known to the oil industry, such as the Redox. The SSP can be applied to search for almost all kinds of hydrocarbon accumulations, regardless of the type of traps, such as structural, stratigraphic, buried hill traps, and so on; however, it is interesting to be noted that the SSP seems to be particularly effective in detecting the stratigraphic oil traps according to our practices. On the other hand, there is virtually no surface geographical constrains in terms of field data acquisition, except for those water covered areas, because of the inherent characteristics of the technology itself. Furthermore, utilizing the SSP requires no special considerations to subsurface geological conditions in regard to formation resistivity, since the SSP measurements will not be influenced by either overly high or overly low resistivity of formations lying above the hydrocarbon accumulations. There are two kind of theory, of which, as we know one is called hypbyssal theory such as "Redox"[61 the other is call plutonic theory such as cracking of hydrocarbon [8][9] and natural polarization [3], to describe the mechanism of SP anomaly of oil reservoir and to indicate that the dependence between the SP abnormality and abundance of hydrocarbon has be existed theoretically/The quantitative dependence, which has not been founded due to the complicity of container rocks, be discovered during the exploration and development practices is the crux to the quantitative analysis of SP Anomaly processing. Based on the thorough study of the complex of collector rocks, every kind of thickness of collector rock can be conversed to be a standard effective thickness; the thickness is called apparent effective thickness (AET). The conversation coefficient (ai, 1=1,2,3) could be determined by the variety of every collector rock storability (CRS). The discoveration of quantitative: dependence between AET and the amplitude of SSP, in the practices of exploration and development, is a promotion for the SSP supplied in the oil exploration, and make the data analysis forward to the quantitative stage.

宽频带地震数据采集系统的研制

The seismic data acquisition system is the most important equipment for seismic prospecting. The geophysicists have been paying high attention to the specification of the equipment used in seismic prospecting. Its specification and performance are of great concerned to acquire precisely and accurately seismic data, which show us stratum frame. But, by this time, limited by the technology, most of the Broad-band Seismic Recorder (BSR) for lithosphere research of our country were bought from fremdness which were very costliness and maintained discommodiously. So it is very important to study the seismic data acquisition system.The subject of the thesis is the research of the BSR, several items were included, such as: seismic data digitizer and its condition monitor design.In the first chapter, the author explained the significance of the implement of BSR, expatiated the requirement to the device and introduced the actuality of the BSR in our country.In the second chapter, the collectivity architecture of the BSR system was illustrated. Whereafter, the collectivity target and guideline of the performance of the system design were introduced. The difficulty of the system design and some key technology were analyzed, such as the Electro Magnetic Compatibility (EMC), system reliability technology and so on.In the third chapter, some design details of BSR were introduced. In the recorder, the former analog to digital converter (ADC) was separated from the later data transition module. According to the characteristic of seismic data acquisition system, a set high-resolution 24-bit ADC chip was chosen to the recorder design scheme. As the following part, the noise performance of the seismic data channel was analyzed.In the fourth chapter, the embedded software design of each board and the software design of the workstation were introduced. At the same time the communication protocol of the each module was recommendedAt the last part of this thesis, the advantages and the practicability of the BSR system design were summarized, and the next development items were suggested.