基于多Agent可重构机器人控制方法的研究

根据多 Agent理论中的协商、合作机制和可重构机器人结构的分布性 ,将集中式的机器人控制分配到一组关节 Agent中 ,每个 Agent控制机器人的一个关节 ,使用这种分布式方法 ,得到了一种新的通用机器人控制方法 ,即将关节机器人的复杂控制转换为多个简单子系统的控制 ,该方法可应用于具有不同构型的机器人系统 ,特别适用于可重构模块化机器人的控制。利用微分运动理论提出了一种新的决策方法 ,便于 Agent之间的合作与协商。仿真实验结果表明该方法是一种可行的机器人控制方法

载人潜水器信息显示与存储技术

本文介绍了基于工业以太网的载人潜水器的信息显示与存储技术。详细地描述了该系统的软件结构及各相关模块的特点,并对系统中数据信息流的传递显示与存储做了详细的介绍。目前,该系统已在水池中进行了实验,实验效果良好。

多UUV协作系统的研究现状与发展

介绍了多UUV(Unmanned Underwater Vehicle)协作系统的结构和特点,分析了其未来应用前景,并对国外多UUV系统的应用现状进行了综述.在此基础上,着重分析了系统涉及的导航、通信、控制和能源等技术的研究现状并展望了其未来的发展方向.

载人潜水器信息显控系统

本文介绍了基于工业以太网的载人潜水器的信息综合显控系统。详细地描述了该系统的软件结构及各相关模块的特点,并对系统中各部分所实现的功能进行了详细的介绍。目前,该系统已在实验室进行了实验,实验效果良好。

载人潜水器数据采集与监控系统

介绍了基于工业以太网的载人潜水器的数据采集与监控系统。简要地阐述了载人潜水器的重要性。详细地描述了该系统的硬件结构及各智能节点的特点,并对系统中各层所实现的功能进行了详细的介绍。目前,该系统已在实验室进行了实验,实验效果良好。

加氢反应器壁原子氢分布的在线、实时、无损检测新技术

为了在线、实时、无损检测高温高压条件下运行的加氢反应器的多层器壁中原子氢的渗透速率和在任何指定剖面上的体浓度分布，发展了一种新型的检测技术．介绍了检测仪的结构设计及其特征。

动态系统结构与分形公司

传统的静态企业结构不能适应快速变化的环境，企业需要可以快速重构的动态结构，以内部变化来适应外部变化。系统的构成单元应该具有决策智能、自组织、协商合作和自治能力。本文研究了企业动态结构的需求与特点，同时介绍了分形公司的动态结构思想。

混合模式识别系统研究

讨论基于多种分类方法的模块组合实现的混合模式识别系统，它不同于利用多分类器输出结果表决的集成系统．提出两个系统：一个面向印刷体汉字文本识别，另一个面向自由手写体数字识别．利用多种特征和多种分类方法的组合、部分识别信息控制混淆字判别策略以及提出的动态模板库匹配后处理方法，使系统的性能与传统单一分类器系统比较，获得明显改善．实验表明：多方法多策略混合是解决复杂和增强系统鲁棒性的一条途径

微机控制的红热钢板动态测长仪

本文叙述了微机控制的红热钢板动态测长仪的原理、工程公式的导出、软件功能及其特点。

手写体数字识别装置

本文叙述一种采用飞点扫描管沿字周边扫描的技术,和如何把得到的模拟文字信息按文字的高和宽以及光点运动的方向分成4×5格子和八个方向。这样就能够从大量的信息中提取出十七种用于特征描述的基本信息量。当然选择这一“模拟——数字”信息压缩的依据和数量是由特征抽取确定的。本文还讨论了筹划特征法分类的实践,着眼点是找出能代表被分类诸对象的特征(圆弧、线段等),在此基础上用得到的60个特征来描述被分类的诸对象。理想的情况下用这些特征去描述某个数字应当是唯一的,由于手写体变化较大,扫描结果部分失真,因此在分类逻辑中,还要依据大量实践的结果加上一些所谓技巧性的逻辑,才能组成一个合理的分类逻辑。本文叙述的方法和实践已用于沈阳市信函自动分拣样机上。

卷绕式海绵材料真空磁控溅射镀膜设备的研制

本文介绍了海绵卷绕真空磁控溅射镀膜设备的结构及其特点,采用独特的传动机构,靶极结构及控制方式实现了海绵连续卷绕真空磁控溅射镀膜。

松辽盆地长岭断陷火山岩储层识别与勘探目标评价

Changling fault depression is the biggest fault subsidence in south of Songliao Basin. In its Lower Cretaceous Yingcheng and Shahezi formations developed thick source rocks of deep lake facies and developed poly-phase volcanic rock reservoirs as well. In recent years, significant breakthroughs have been obtained in hydrocarbon exploration of volcanic rock reservoir in the different fault depressions in Songliao basin. Lately, I have been involved in hydrocarbon exploration in the Changling rift depression, especially volcanic rock reservoirs and exploration targets research, participating in the deployment of well Yaoshen 1 which gained over 40 × 104m3 natural gas flow. As quick changes of lithology and facies in Changling area in the south of Songliao basin, and the volcanic rock interludes distribution in continental clastic rock and shale in 3D space, so the identification of volcanic rock types and distribution become a difficult problem. Thus, based on the integrated research of the wild outcrop observation, gravity, magnetic and seismic data, geophysical logging, drilling and coring, laboratory test, this paper carried out the reservoir identification, description and prediction of volcanic rocks in Changling fault depression. In this area, this paper analyzed the volcanic rocks litho-facies, the eruption period, and characteristics of cycles. At the same time, tried to know how to use logging, seismic data to separate volcanic rocks from sandstone and shale, distinguish between volcanic reservoir and non-reservoir, distinguish between intermediate-basic and acidic volcanic rocks, and how to identify traps of volcanic rocks and its gas-bearing properties, etc. Also it is summarized forming conditions and distribution of traps, and possible gas-bearing traps were optimized queuing management. Conclusions as follows: There are two faulted basements in Changling fault depression, granite basement in the southeast and upper paleozoic epimetamorphic basement in the northwest. The main volcanic reservoirs developed in Yingcheng period, which was the intermediate-basic and acidic volcanic eruptions, from the south to north by the intermediate-basic to acid conversion. The volcanic vents are gradually young from south to north. According to information of the re-processing 3D seismic data and gravity-magnetic data, the large volcanic vent or conduit was mainly beaded-distributed along the main fault. The volcanic rocks thickness in Yingcheng formation was changed by the deep faults and basement boundary line. Compared with the clastic rocks, volcanic rocks in Changling area are with high resistance and velocity (4900-5800), abnormal Gamma. All kinds of volcanic rocks are with abnormal strong amplitude reflection on the seismic stacked section except tuff. By analyzing the seismic facies characteristics of volcanic rocks, optimizing seismic attributes constrained by logging, using seismic amplitude and waveforms and other attributes divided volcanic rocks of Yingcheng formation into four seismic zones in map. Currently, most volcanic gas reservoirs are fault-anticline and fault-nose structure. But the volcanic dome lithologic gas reservoirs with large quantity and size are the main gas reservoir types to be found.

中国东部沙地物源示踪及地质意义

Heavy mineral assemblages, chemical compositions of diagnostic heavy minerals such as garnet and tourmaline, and U-Pb ages and Hf isotopic compositions of zircons are very effective means to determine sediment provenance. An integrated application of the above provides insight on the lithologies, crystallization ages and crustal formation ages of the parent magma of sediment source areas. As a result, the locations and characteristics of potential source areas can be constrained and contributions of different source regions may be evaluated. In addition, the study provides evidence for the magmatic and tectonic history of source areas using a novel approach. The heavy mineral assemblages, and chemical compositions of detrital garnets and tourmalines, U-Pb ages and Hf isotopic compositions of zircons for sand and loess samples deposited since the Last Glacial Maximum (LGM) from the Hulunbeier, Keerqin and Hunshandake sandlands were analyzed and compared to those of central-southern Mongolia, the central Tarim and surrounding potential source areas, the Central Asian Orogenic Belt (CAOB) and North China Craton (NCC). The following remarks on provenance and tectonic history can be made: 1. The source compositional characteristics of the Hulunbeier, Keerqin and Hunshandake sandlands are similar. They are derived from the CAOB and NCC whose contributions for the Keerqin and Hunshandake sandland are about 50%. For the Hulunbeier sandland it is somewhat less, about 40%. 2. Loesses around of the sandlands have the identical source signiture as the sands, implying that they are sorted by the same wind regime. 3. The source characteristics of the present and LGM sands are the same, providing direct evidence that the present sands originated from the reworking of LGM sands. 4. The provenance characteristics of the three sandlands differ from those of the Tarim. As a result, the possibility that the three eastern sandlands were sourced from the Taklimakan desert can be ruled out. 5. The source compositions of sand samples derived from the CAOB indicate that the occurrence of Archean and Paleoproterozoic metamorphic basement rocks is limited and continuous subduction-accretion events from the Neoproterozoic to the Mesozoic occurred. This implies that the CAOB is a orogenic collage belt similar to the present day southwest-Pacific, and formed by the amalgamation of small forearc and backarc ocean basins occurring between island arcs and microcontinents during continuous collision and accretion. The Hf isotopic signitures of detrital zircons indicate that large amounts of juvenile mantle materials were added to the CAOB crust during the Phanerozoic.

青岛晚白垩世岩石圈结构特征：劈石口晚白垩世基性脉岩及其捕虏体提供的证据

The occurrence of Late Cretaceous mafic dykes and their entrained peridotite and granulite xenoliths as well as clinopyroxene xenocrysts in the Qingdao region provide us a precious opportunity to unveil the nature and characteristics of the Late Mesozoic lithospheric mantle and lower crust beneath the Jiaodong region, and the change of the magma sources. These studies are of important and significant for understanding the lithospheric evolution in the eastern North China Craton. There were two periods of magma activities in Late Mesozoic in Qingdao Laoshan region, one was around 107Ma in the Early Cretaceous and the other around 86Ma in the Late Cretaceous according to the whole rock K-Ar age determination. The Early Cretaceous mafic dykes and the Late Cretaceous mafic dyke (i.e. Pishikou mafic dike) have completely different geochemical characteristics. The Early Cretaceous mafic dykes are enriched in LILE, strongly depleted in HFSE (Nb, Ta, Zr, Hf) and characterized by the highly radiogenic Sr and Nd isotopic compositions. These geochemical features indicate that the Early Cretaceous mafic dykes were derived from an enriched lithospheric mantle. In contrast, the Late Cretaceous mafic dyke is enriched in LILE, without HFSE depletion (Nb, Ta, Zr, Hf) and has less radiogenic Nd and Sr isotopic compositions. These geochemical features indicate that the Late Cretaceous mafic dyke was derived from the asthenosphere modified by subducted pelagic sediment contamination. The intrusive age of the Late Cretaceous mafic dyke provides further information for the termination of the lithosphere thinning for the eastern North China Crtaon. Pishikou Late Cretaceous mafic dyke contains abundant peridotitic xenoliths, granulite xenoliths and clinopyroxene xenocrysts. The peridotitic xenoliths can be divided into two types: high Mg# peridotites and low Mg# peridotites, according to their textural and mineral features. The high-Mg# peridotites have high Fo (up to 92.2) olivines and high Cr# (up to 55) spinels. The clinopyroxenes in the high# peridotites are rich in Cr2O3 and poor in Al2O3. The low-Mg# peridotites are typified by low Mg# (Fo <90) in olivines and low Cr# (Cr# <0.14) in spinels. The clinopyroxenes in the low-Mg# peridotites are rich in Al2O3 and Na2O and poor in Cr2O3. These two type peridotites have similar equilibrated temperatures of 950C-1100C. The Clinopyroxenes in the high-Mg# peridotites generally have high and variable REE contents (REE = 5.6-84 ppm) and LREE-enriched chondrite-normalized patterns ((La/Yb)N>1). In contrast, the clinopyroxenes in the low-Mg# peridotites have low REE contents (REE = 12 ppm) and LREE-depleted patterns ((La/Yb)N<1). The textural, mineral and elemental features of the low-Mg# peridotites are similar to those of the low-Mg peridotites from the Junan, representing the newly-accreted lithospheric mantle. However, the mineralogical and petrological features of the high-Mg# peridotites are similar to those of the high-Mg# peridotites from the Junan region, representing samples from the old refractory lithospheric mantle that was strongly and multiply affected by melts of different origins Late Cretaceous mafic dike in the Qingdao region also contains two types of granulite xenoliths according to the mineral constituents: the pyroxene-rich granulites and the plagioclase-rich granulites. Equilibrated temperatures calculated from the cpx-opx geothermometers are in a range of 861C - 910C for the pyroxene-rich granulites and of 847C - 890C for the plagioclase-rich granulites. The equilibrated pressure for the plagioclase-rich granulites is in a range of 9.9-11.7 kbar. Combined with the results of the peridotitic xenoliths, a 40C temperature gap exists between the peridotite and the granulite. The petrological Moho was 33~36 km at depths, broadly consistent with the seismic Moho estimated from the geophysical data. This indicates that there was no obvious crust-mantle transition zone in the Qingdao region in the Late Mesozoic. Pishikou Late Cretaceous mafic dyke entrained lots of clinopyroxene xenocrysts which are characterized by the chemical zoning. According to the zoning features, two types of clinopyroxene xenoliths can be classified, the normal zoning and the revise zoning. The normally-zoned clinopyroxene xenocrysts have LREE-depleted REE patterns in the cores. In contrast, the revisely-zoned clinopyroxenes have LREE-enriched REE patterns in the cores. According to the rim and core compositions of xenocrysts, all the rims are balanced with the host magma. Meanwhile, the origins of the cores were complicated, in which the normally-zoned clinopyroxenes were derived form the lithospheric mantle and some of the reversely-zoned clinopyroxnes were originated from the lower crust. Other revisely-zoned clinopyroxenes had experienced complex geological evolution and need to be further investigated. According to the above results, a simplified lithospheric profile has been established beneath the Qingdao region and a constraint on the nature and characteristics of the lithospheric mantle and lower crust has been made.

济阳坳陷深层地质构造与演化

Based on geophysical and geological data in Jiyang depression, the paper has identified main unconformity surfaces (main movement surfaces) and tectonic sequences and established tectonic and strata framework for correlation between different sags. Based on different sorts of structural styles and characteristics of typical structures, the paper summarized characteristics and distribution of deep structures, discussed evolution sequence of structure, analyzed the relation between tectonic evolution and generation of petroleum. The major developments are as following: Six tectonic sequences could be divided from bottom to top in the deep zone of Jiyang depression. These tectonic sequences are Cambrian to Ordovician, Carboniferous to Permian, lower to middle Jurassic, upper Jurassic to lower Cretaceous, upper Cretaceous and Kongdian formation to the fourth member of Shahejie formation. The center of sedimentation and subsidence of tectonic sequences distinguished from each other in seismic profiles is controlled by tectonic movements. Six tectonic evolution stages could be summarized in the deep zone in Jiyang depression. Among these stages, Paleozoic stage is croton sedimentation basin; Indosinian stage, open folds of EW direction are controlled by compression of nearly SN direction in early Indosinian (early to middle Triassic) while fold thrust fault of EW – NWW direction and arch protruding to NNE direction are controlled by strong compression in late Indosinian (latter Triassic); early Yanshanian stage (early to middle Jurassic), in relatively weak movement after Indosinian compressional orogeny, fluviolacustrine is deposited in intermontane basins in the beginning of early Yanshanian and then extensively denudated in the main orogenic phase; middle Yanshanian (late Jurassic to early Cretaceous), strike-slipping basins are wide distribution with extension (negative reversion) of NW – SE direction; latter Yanshanian (late Cretaceous), fold and thrust of NE – NNE direction and positive reversion structure of late Jurassic to early Cretaceous strike-slipping basin are formed by strong compression of NW–SE direction; sedimentation stage of Kongdian formation to the fourth member of Shahejie formation of Cenozoic, half graben basins are formed by extension of SN direction early while uplift is resulted from compression of nearly EW direction latterly. Compression system, extension system and strike-slip system are formed in deep zone of Jiyang depression. According to identifying flower structure of seismic profiles and analysis of leveling layer slice of 3D seismic data and tectonic map of deep tectonic interface, strike-slip structures of deep zone in Jiyang depression are distinguished. In the middle of the Jiyang depression, strike-slip structures extend as SN direction, NNW direction in Huimin sag, but NNE in Zhandong area. Based on map of relict strata thickness, main faults activity and regional tectonic setting, dynamic mechanisms of deep structure are preliminary determination. The main reason is the difference of direction and character of the plate’s movement. Development and rework of multi-stage tectonic effects are benefit for favorable reservoir and structural trap. Based on tectonic development, accumulation conditions of deep sub-sags and exploration achievements in recent years, potential zones of oil-gas reservoir are put forward, such as Dongying sag and Bonan sag.