目标位姿测量中的三维视觉方法

要测量出一组特征点分别在两个空间坐标系下的坐标 ,就可以求解两个空间目标间的位姿关系 .实现上述目标位姿测量方法的前提条件是要保证该组特征点在不同坐标系下 ,其位置关系相同 ,但计算误差的存在却破坏了这种固定的位置关系 .为此 ,提出了两种基于模型的三维视觉方法——基于模型的单目视觉和基于模型的双目视觉 ,前者从视觉计算的物理意义入手 ,通过简单的约束迭代求解实现模型约束 ;后者则将简单的约束最小二乘法和基于模型的单目视觉方法融合在一起来实现模型约束 .引入模型约束后 ,单目视觉方法可以达到很高的测量精度 .而基于模型的双目视觉较传统的无模型立体视觉方法位移精度提高有限 ,但姿态精度提高很多

路标定位中的优化选择策略

基于合作路标的三角定位是自主式移动机器人的主要定位方法。路标的优化选择是提高定位算法精度的关键。本文在给出该算法原理的基础上 ,通过理论分析和实验证明了路标优化选择对提高定位算法精度的作用 ,并介绍了路标优化选择的准则

点云数据的曲面重构新算法

针对采用视觉测量方式得到的点云数据特点，提出了基于动力学数值仿真的网格曲面逼近方法。依据曲面曲率变化特性，该方法可对点云数据进行自适应压缩，并能显著提高逼近网格的品质，从而实现了点云数据的精确曲面重构。实际的算例结果表明，该方法实用可靠。

智能人工腿步速测量数字电路的设计与分析

智能人工腿是一个精密的机电一体化装置，其关键部件之一是步速测量电路。作者提出一种新的步速测量方法，即测量人工腿在摆动相的持续时间，用该时间的长短来间接反映步速的快慢，设计电路时，采用自顶向下（Top-Down）的设计方法，其核心内容是将测量系统按不同功能分割成几个模块，然后分别设计每一个模块电路，最后，用1片ispLSI1016高密度可编程芯片并采用ISP（In System Program）编程方法调离同步速测量电路。ISP编程方法的优点是可以现场修改，调速测量系统电路，并且不需要仿真器装置，实验结果表明：设计的这种步速测量电路结构合理，可有效地实现对智能人工腿步速的测量。

一种新的仿人控制方法研究

以模拟人对混水阀的调节过程为基础,提出一种新的仿人控制算法.该控制算法模拟人在控制时的粗调和微调,并使控制量逐步逼近最终稳定控制量的过程.算法中的参数具有明确的物理意义,可根据不同的控制指标方便地调节,并且能够获得足够的稳态误差.采用本文控制算法,不需要有精确的被控对象模型,即使在有较大干扰的情况下,仍可以获得较好的控制性能.

远程自治水下机器人三维实时避障方法研究

海洋环境通常是不确定、非结构化和未知的 ,而远程AUV(LAUV)的避障声纳对环境感知有一定的局限 ,因此很难建立起精确、完整和统一的三维环境模型 .LAUV实时避障是一个实时性很强的动态过程 ,它不但与环境有关 ,而且还与LAUV的运动学约束、动力学特性和操纵性有关 .针对上述问题本文提出了一种基于复合控制的三维实时模糊避障方法

用光学反射传感器的机器人初始定位系统

本文叙述一种用光学反射传感器自动确定机器人在工作坐标中的起始参考位置的方法。装在机器人手爪边上的光学反射传感器与工作面上的T形目标相配合,用自动反复循环定位法确定机器人在工作坐标中的期望起始点。实践和理论分析表明,虽然开机时的机器人手爪的原始位置基本上是随机的,但手爪都能自动精确地收敛到期望的起始点上。

基因芯片PCR温度模糊自整定PID控制算法的研究

在核酸扩增反应仪中,基因芯片核酸扩增反应过程要求实现温度高精度快速跟踪控制,常规温控方案和算法难以实现。将模糊推理系统与常规PID控制方式相结合,采用模糊自整定PID控制算法实现了温度快速跟踪控制。实验结果表明:模糊自整定PID控制算法比常规PID算法具有更强的鲁棒性,能够克服控制对象热惯性参数时变性的影响,降低了输出温度最大超调量,提高了稳态精度。

精密复杂曲面重构与多轴数控加工刀位规划策略

数控加工作为现代制造中的标志性加工技术，在航空航天、运载工具、动力装备等领域的精密复杂型面加工中占据着主导地位。随着国内高速数控加工中心及高档数控机床等硬件设备的日趋成熟和普及，围绕高速数控加工的一些深层次问题便逐步显现出来，这突出表现在数控机床的高速加工特性与传统加工方法之间的矛盾。本文将主要围绕复杂型面高速数控加工中的两大关键技术：曲面造型技术与刀位规划策略，展开论述，着重解决其中的一些关键科学问题，以期为复杂型面的高速数控加工提供新的技术支持。 1. 以罐车曲面重构为例，详细论述了从不完整散乱数据到曲面精确重构的整个过程，着重解决了自由曲面重构理论在实际应用中遇到的一些问题。针对不完整散乱数据，提出一种散乱数据的有序化处理方法，同时给出了面向NURBS的数据自动参数化策略，用于构造罐车的系列截面轮廓线。然后以曲面蒙皮操作为基础实现罐车曲面的快速重构。最后利用参数曲面的离散表达，完成罐车容积的快速检定并借以验证罐车曲面重建的精确性。 2. 以Bézier曲线/曲面为基础，运用多元Bernstein多项式算术运算，将点到复杂曲线/曲面最近点的计算转化为Bernstein多项式方程的求解，进而基于Bernstein基函数的线性精度性质，给出一种新的最近点计算模型。然后通过de Casteljau快速分割算法和二叉/四叉树递归分解的搜索策略寻找最近点。该方法可以有效避免繁琐的迭代计算和对初始值的选择，并从计算效率入手，对其加以改进，成功实现了分割算法与Newton-Raphson方法的融合。再利用B样条曲线/曲面与Bézier曲线/曲面之间成熟的转换算法，将所提出的方法进一步推广到应用更为广泛的B样条曲线/曲面。 3. 通过对刀具轨迹有效性的分析，将刀具轨迹规划分为曲面上曲线族的选择和有效合理排布方式的设计两个方面，为刀具轨迹规划提供了新的设计思路。并以此为基础，对最优刀具轨迹的定义进行了重新阐述，指出今后刀具轨迹规划的研究必须综合考虑轨迹的几何、刀具的运动以及机床的动力学特性。 4. 针对数控加工中心高速加工特性，提出一种等参数螺旋轨迹生成方法。该方法以减少抬刀和路径转接为目的，并综合考虑刀具轨迹几何与运动力学性能，特别适合自由曲面的高速数控加工。同时，在刀具路径的链接、误差分析等方面，也提出了一些颇具特色的方法，从而避免了传统偏置轨迹繁琐的自交干涉检测，能够有效抑制刀具负载的波动，减小刀具的磨损。 5. 在正确重建网格模型拓扑关系的基础上，从离散微分几何学这一新的角度入手，给出了一种新的三角网格曲面微分几何特性分析方法，进而以参数曲面上曲线偏置方法为基础，结合三角网格曲面的拓扑结构和局部区域的精确拟合，建立了网格曲面上的曲线偏置模型，并将计算最近点的方法进一步推广用来计算曲面上的偏置点，从而避免了繁琐的迭代计算。以此为基础，对网格模型的边界轮廓进行等残留偏置，给出了网格曲面上的等残留刀具轨迹生成方法。可进一步利用螺旋线连接各条轨迹，生成更为光滑刀具路径。

模糊自适应PID在磁悬浮系统中的应用

针对EMS型磁悬浮列车悬浮系统的非线性、迟滞性及模型不确定的特点,本文采用了模糊自适应整定PID控制技术来满足其对动态和静态性能的要求。仿真结果表明模糊自适应整定PID控制器学习精度高、收敛速度快、在系统同时存在磁悬浮系统参数的变化和负载扰动时.具有较强的鲁棒性和抗干扰能力。

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。

VTI各向异性叠前深度偏移及速度分析

Theoretical research, laboratory test and field observation show that most of sediment rock has anisotropic features. It will produce some notable errors when applying isotropic methods such as prestack depth migration and velocity analysis to dada acquired under anisotropic condition; it also has a bad effect on geologic interpretation. Generally speaking, the vertical transverse isotropic media is a good approximation to geologic structure, thus it has an important realistic meaning for anisotropic prestack depth migration theory researching and precise complex geologic imaging if considering anisotropic effect of seismic wave propagation. There are two indispensable parts in prestack depth migration of realistic records, one is proper prestack depth migration algorithm, and the other is velocity analysis using prestack seismic data. The paper consists of the two aspects. Based on implicit finite difference research proposed by Dietrich Ristow et al （1997） about VTI media prestack depth migration, the paper proposed split-step Fourier prestack depth migration algorithm （VTISSF） and Fourier finite difference algorithm （VTIFFD） based on wave equation for VTI media, program are designed and the depth migration method are tested using synthetic model. The result shows that VTISSF is a stable algorithm, it generally gets a good result if the reflector dip is not very steep, while undermigration phenomena appeared in steep dips case; the VTIFFD algorithm bring us better result in steep dips with lower efficiency and frequency dispersion. For anisotropic prestack depth migration velocity analysis of VTI media, The paper discussed the basic hypothesis of VTI model in velocity analysis algorithm, basis of anisotropic prestack depth migration velocity analysis and travel time table calculation of VTI media in integral prestack depth migration. Then , analyzed the P-wave common imaging gather in the case of homogeneous velocity and vertically variable velocity . studied the residual correction in common imaging gather produced by media parameter error, analyzed the condition of flat event and correct depth in common imaging gather . In this case, the anisotropic model parameter vector is , is vertical velocity of a point at top surface, is vertical velocity gradient, and are anisotropic parameter. We can get vertical velocity gradient from seismic data; then the P-wave common imaging gather of VTI media whose velocity varies in vertical and horizontal direction, the relationship between media parameter and event residual time shift of common image gather are studied. We got the condition of flattening common imaging gather with correct depth. In this case the anisotropic model parameter vector is , is velocity gradient in horizontal direction. As a result, the vertical velocity grads can be decided uniquely, but horizontal velocity grads and anisotropic parameter can’t be distinguished if no priori information available, our method is to supply parameter by velocity scanning; then, as soon as is supplied we can get another four parameters of VTI media from seismic data. Based on above analysis, the paper discussed the feasibility of migration velocity analysis in vertically and horizontally varied VTI media, synthetic record of three models are used to test the velocity analysis method . Firstly, anisotropic velocity analysis test is done using a simple model with one block, then we used a model with multiple blocks, thirdly, we analyzed the anisotropic velocity using a part of Marmousi model. The model results show that this velocity analysis method is feasible and correct.

黄骅坳陷马东地区沙河街组重力流水道储层评价及剩余油研究

In this paper, taking Madong district of Huanghua depression as a case, based on the theory of sequence stratigraphy, sedimentology, reservoir geology and geophysics, according to core analysis, seismic attribute analysis, logging constrained inversion, multi-data correlation of strata, reservoir modeling, etc. the lower and middle first member of Shahejie formation of the study area was forecasted and evaluated. As a result, a number of reservoir prediction and remaining oil distribution methods suitable to oil exploitation of gravity flow channel reservoir are presented. Scientific foundation is provided to the next adjustment of development program and exploitation of the remaining oil. According to high resolution sequence stratigraphy theory, precise stratigraphic framework was founded, the facies types and facies distribution were studied under the control of stratigraphic framework, the technologies of seismic attribute abstraction and logging constrained inversion. Result shows that gravity flow channel, as the main facies, developed in the rising period of base-level cycle, and it was formed during the phase of contemporaneous fault growth. As the channel extends, channel width was gradually widened but thickness thined. The single channels were in possession of a great variety of integrated modes, such as isolated, branching off, merging and paralleling, forming a kind of sand-mud interblending complex sedimentary units. Reservoir quality differs greatly in vertical and horizontal direction, and sedimentary microfacies is main controlling factor of the reservoir quality. In major channel, deposition thickness is great, and petrophysical property is well. While in marginal channel, reservoir is thinner, and petrophysical property is unfavorable. Structure and reservoir quality are main factors which control the oil and gas distribution in the study area. On the basis of the research about the reservoir quality, internal, planar and 3-D reservoir heterogeneities are characterized, and the reservoir quality was sorted rationally. At last, based on the research of reservoir numerical simulation of key well group, combined with reservoir performance analysis and geological analysis above, remaining oil distribution patterns controlled by internal rhythm of gravity flow channel were set up. Through this research, a facies-restrained reservoir prediction method integrating multi-information was presented, and potential orientation of remaining oil distribution in gravity flow channel reservoir is clarified.

西天山造山带古生代构造演化与地壳增生—来自花岗岩和蛇绿岩的证据

The Central Asian Orogen Belt (CAOB), which is different from the subductional orogen and the collisional orogen, is known as the most important site of crustal growth in the Phanerozoic, and it has been a ‘hot spot’ for studying the orogenic belts. The Chinese West Tianshan Orogen is occupying the west-southern part of the CAOB and is of great importances to understand the orogenic processes and the continental growth in the Central Asia. The West Tianshan Orogen had undergone complex tectonic evolutional processes in Paleozoic times and large volumes granitic rocks have recorded important information about these processes. Litter is known about Phanerozoic continental growth in the Western Tianshan area so far, compared with the other areas of the CAOB, such as eastern Junggar, western Junggar, Altai and Alakol. The aim of this dissertation is to set up the chronology frame of granitoids in western Tianshan, provide new evidence for the tectonic evolution and discuss the Paleozoic continental growth in this area, on the basis of the studies on the isotopic chronology, major element, trace element and Nd-Sr isotopic geochemistry of granitoids and the isotopic chronology and geochemistry of the ophiolites in this area, especially the Kule Lake ophiolites. 25 precise SHRIMP U-Pb zircon and LA-ICPMS U-Pb zircon ages have been obtained in this dissertation. The granitic rocks in western Tianshan had been formed during two periods: the granitic gneiss with an age of 896Ma, possibly representing the forming age of the Precambrian basement; the granitic rocks with ages varying from 479Ma to 247Ma, recording the Paleozoic orogenic process of western Tianshan. The granitoids in western Tianshan are composed of intermediate-basic rocks, intermediate rocks, intermediate-acid rocks and acid rocks, mainly intermediate-acid rocks and acid rocks. They are mostly granite, granodiorite, quartz syenite and monzodiorite. Different types of granitic rocks are exposed in different tectonic units. The granitoids on the northern margin of the Yili Plate mainly formed in late Paleozoic (413Ma ~ 281Ma), those with ages varying from 413Ma to 297Ma show continental arc affinities and the magnesian calc-alkalic metaluminous diorite of 281Ma display the geochemical characteristics similar to those of granites formed during the post-orogenic period. The granitiods on the southern margin of the Yili Plate include the adakite diorite of 470Ma which was formd by partial melting of thickened lower crust, the post-collisional alkali-feldspar granite of 430Ma, the volcanic arc granite of 348Ma and the Triassic post-collisional granite. The granitoids in the Central Tianshan Plate formed in 479Ma ~ 247Ma, mainly in 433Ma ~ 321Ma. The granitic rocks with ages of 479Ma ~ 321Ma are magnesian calc-alkalic to alkalic rocks with continental arc affinities. A few post-collisional granitoids of 276Ma ~ 247Ma may have inherited the geochemical characteristics of pre-existing arc magma. The granitic rocks in Southern Tianshan (northern margin of the Tarim plate) formed two stages, 420Ma ~ 411Ma and ca. 285Ma. The magnesian calcic to alkalic granites of 420Ma ~ 411Ma may formed during the extension process of the continental margin. The granite of 285Ma includes mostly ferroan calc-alkalic to alkali-calcic rocks with high SiO2 and high alkaline contents, and obviously negative anomaly of Eu, Ba, Sr, P, Ti, similar to the geochemical characteristics of the A-type granite which is formed during post-collisional extension. The Kule Lake ophiolite in southern Tianshan shows the affinity of N-MORB. A SHRIMP zircon U-Pb age of 425±8Ma has obtained for gabbros. Some zircons have given another group of 206Pb/238U age 918Ma, which may indicate the information of the pre-exist old basement rock. The small oceanic basin represented by Kule Lake ophiolite probably developed on the split northern margin of Tarim block. A model for Paleozoic tectonic evolution of the West Tianshan Orogen has been proposed here on the basis of the new results obtained in this dissertation and the previous published data. In Early Cambrian, the Terskey Ocean occurred along the North Nalati fault (NNF), and it separated the Yili plate from the Central Tianshan plate which was probably connected with the Tarim plate. The Terskey Ocean probably subducted towards south under the Central Tianshan plate and towards north under the Yili plate simultaneously. In the early stage of Late Ordovician, the Terskey Ocean had been closed, and the Yili and Central Tianshan plates collided. Meanwhile, extension happened within the joint Central Tianshan and Tarim plates gradually and the Paleo-South Tianshan Ocean had been formed. In Early Silurian, the Paleo-South Tianshan Ocean began to subduct beneath the composite Yili-Central Tianshan plate, which was intruded by volcanic arc granitoids. In Middle Silurian, the Paleo-South Tianshan Ocean, which had reached a certain width, was subducting strongly. And this subduction may have produced voluminous granitoids in the Central Tianshan plate. In the latest stage of Carboniferous, the Paleo-South Tianshan ocean closed, and the Yili-Central Tianshan plate and Tarim plate collided. In Late Cambrian, Paleo-Junggar Ocean occurred to north of the Yili plate; and started to subduct towards south under the Yili plate in Ordovician. This subduction may have produced a magma arc on the northern margin of the Yili plate. In Late Carboniferous, the Paleo-Junggar Ocean had been closed. The Yili-Central and Junggar plates amalgamated together. The West Tianhan Orogen may undergo a post-collisional collapse since Permian. And the magmatic activities may continue to early Triassic. The initial 87Sr/86Sr ration of the granitic rocks in the western Tianshan Mountains varies from 0.703226 to 0.716343, and Nd（t）from -6.50 to 2.03. The characteristics of Sr-Nd isotope indicate that the source of granitic material is not a sole source, which may be produced by mantle-crust magma mixing. In Paleozoic time, lateral growth of the continental crust along active continental margins was dominant, whereas the vertical growth of continental crust resulted from post- collisional mantle derived magmas was not obvious.

非自喷层测试及评价解释技术研究与应用

Now low porosity and low permeability reservoir is one of the main targets of exploration for the onshore oilfields of China. Most of the reservoirs are none flowing because of bad formation percolation condition, poor gas oil ratio , low formation pressure coefficient and other factors. In the recent years, a number of domestic oilfields have carried out some research work and achieved some success on oil testing and production technology in such formation. But by now, there is still no systematic and mature technology, particularly testing technology in none flowing formation is still needed further study. Based on study the key problem of well testing and interpretation technology in none flowing formation, solve the important problems in well testing technology, continuously improve and innovate geological information acquisition technology for none flowing reservoir, accurately acquire boundary information and evaluate reservoir flow characteristics. Its wide application remarkable result has shown. The main results and cognitions obtained from research are as follows: 1. This new technology research results help solve the occurrent problems in well testing process for none flowing formations, such as small investigation radius, poor representative of interpretation results from the poor data, low level application of interpretation results. This new technology helps create favorable conditions for early precise reservoir evaluation and reduction of the risk of exploration. 2. The technological difficulties for none flowing well testing are successfully solved by using none flowing formation combined mechanical tool string .This method has been proved by its applications to be able to improve the efficiency of the testing and the quantity of the acquired test data ,and so as to enhance the application of the interpretation results of the test in development of oil fields. 3. The application of the rotary formation tester, selective test valve, well testing string and their allier tools help to resolve problems such as the operation of opening and shutting-in the well under different well conditions, to broaden the scope of well test technology for none flowing formations. 4. Refined Testing Technique for production Wells has greatly shortened the testing dwration and improved the efficiency and accuracy of operation, enriched test results, and at the same time created conditions for conducting multi-well interference well testing.