双机器人协调控制系统

本文描述了基于集散控制原理,采用分层递阶结构建立的一个3级结构双机器人协调控制系统.该系统共分3层,最高层为任务规划级.它对双机器人作业进行离线编程及仿真,并负责对整个系统的监控和管理.第2层为协调级,它实现机器人作业的协调控制.并通过传感器信息对机器人轨迹进行实时修正.该层既可接收来自上层的命令或指令.对机器人进行控制,亦可在该层上独立编程.实现对机器人的控制.第3层为执行级,它实现高精度伺服控制.此外,该系统还提供了灵活的编程环境及良好的人机界面.用户可根据需要选择离线编程环境或实时编程环境,并且可在其相应的界面下工作,运行结果表明,系统性能稳定可靠,结构合理,编程环境灵活.我们在该系统上,成功地进行了PUMA562机器人和PUMA760机器人的点位协调和轨迹协调以及复杂的联合作业.

ω循环型预条件矩阵及其应用

In this paper, we apply the preconditioned conjugate gradient method to the solution of positive-definite Toeplitz systems, especially we introduce a new kind of co-circulant preconditioners Pn[ca] by the use of embedding method. We have also discussed the properties of these new preconditioners and proved that many of former preconditioners can be considered as some special cases of Pn[co\. Because of the introduction of co-circulant preconditioners pn[a>], we can greatly overcome the singularity caused by circulant preconditioners. We have discussed the oo-circulant series and functions. We compare the ordinary circularity with the co-circularity, showing that the latter one can be considered as the extended form of the former one; correspondingly, many methods and theorems of the ordinary circularity can be extended. Furthermore, we present the co-circulant decompositional method. By the use of this method, we can divide any co-circulant signal into a summation of many sub-signals; especially among those sub-signals, there are many subseries of which their period is just equal to 1, which are actually the frequency elements of the original co-circulant signal. In this way, we can establish the relationship between the signal and its frequency elements, that is, the frequency elements hi the frequency domain are actually signals with the period of 1 in the spatial domain. We have also proved that the co-circulant has already existed in the traditional Fourier theory. By the use of different criteria for constructing preconditioners, we can get many different preconditioned systems. From the preconditioned systems PN[his approximation. By combining the co-circulant with the boundary condition, we can overcome end effects efficiently. We have also presented the co-circulant boundary condition and compared it with the helix boundary condition. Furthermore, we can also get another new boundary condition: the mixed boundary condition. Numerical experiments have proved that the co-circulant boundary condition is better than the mixed one while the helix boundary condition is the worst among them.

内蒙古黄岗矿集区与锡矿化有关的花岗岩成因研究

Muanggang-Dajing area located in the south end of Dahinggan Mts is the only discovered tin-polymetallic minerzalization belt and the only tectonic magmaism zone with middle-upper grade tin-ore deposites in North China. Tin mineralization in this area is believed tn related to Yanshannian granites which is different from those in South China tin belt. Through geochemical study of these granites on the base of fieldworks , thin section observation, major and trace elements as well as isotopic composision determination, the isochronic sequence and petrogenetic series for the granites have been determined. Hi light ing on the petrogenesis of earlier Yanshannian of MOmarh granites, two groups granites with different Neodymium isotopic features have been distinguished. Both belonging to hi-K calc-alkalinic series, their nature of source rocks and.magma processing were restricted, we argue for that the two groups have get the isotopic differences from their sources-middle and later proterozoic juvenial crustal via mantle underplating. From then on , there is a pre-enrichment of tin in this area. The partial melting from a F rich soruses can dissolve and carry more tin from the same some due to the de-connection of melt, which supply the mineralization fluids after a thoroughly evolement.

接收函数方法与中国及邻区上地幔间断面的研究

The receiver function method applied in researching the discontinuities in upper mantle was systematically studied in this paper. Using the theoretical receiver functions, the characteristics of P410S and P660S phases were analyzed, and the influencing factors for detection of these phases were discussed. The stability of receiver function was studied, and a new computational method of receiver function, RFSSMS (Receiver Function of Stack and Smooth of Multi seismic-records at a Single station), was put forward. We built initial reference velocity model for the media beneath each of 18 seismic stations respectively; then estimated the buried depths of 410-km and 660-km discontinuities(simply marked as '410' and '660') under the stations by using the arrive time differences of P410S and P660S with P. We developed a new receiver function inversion method -PGARFI (Peeling-Genetic Algorithm of Receiver Function Inversion), to obtain the whole crust and upper mantle velocity structure and the depths of discontinuities beneath a station. The major works and results could be summarized as follows: (1) By analysis of the theoretical receiver functions with different velocity models and different ray parameters, we obtain the knowledge: The amplitudes of P410S and P660S phases are decreasing with the increasing of epicentral distance A , and the arrival time differences of these phases with P are shorter as A is longer. The multiple refracted and/or reflected waves yielded on Moho and the discontinuities in the crust interfere the identification of P410S. If existing LVZ under the lithosphere, some multiple waves caused by LVZ will interfere the identification of P410S. The multiple waves produced by discontinuity lied near 120km depth will mix with P410s phase in some range of epicentral distance; and the multiple waves concerned with the discontinuity lied near 210km depth will interfere the identification of P660S. The epicentral distance for P4i0s identification is limited, the upper limit is 80° . The identification of P660S is not restricted by the epicenter distance obviously. The identification of P410S and P6gos in the theoretical receiver functions is interfered weakly from the seismic wave attenuation caused by the media absorption if the Q value in a reasonable range. (2) The stability of receiver function was studied by using synthetic seismograms with different kind of noise. The results show that on the condition of high signal-noise-ratio of seismic records, the high frequency background noise and the low frequency microseism noise do not influence the calculating result of receiver function. But the media "scattering noise" influence the stability of receiver function. When the scattering effect reach some level, the identification of P4iOs and P66os is difficult in single receiver function which is yielded from only one seismic record. We provided a new method to calculate receiver function, that is, with a group of earthquake records, stacking the R and Z components respectively in the frequency domain, and weighted smooth the stacked Z component, then compute the complex spectrum ratio of R to Z. This method can improve the stability of receiver function and protrude the P4i0s and P66os in the receiver function curves. (3) 263 receiver functions were provided from 1364 three component broadband seismograms recorded at 18 stations in China and adjacent areas for the tele-earthquakes. The observed arrival time differences of P410S and P660S with P were obtained in these receiver functions. The initial velocity model for every station was built according to the prior research results. The buried depths of '410' and '660' under a station were acquired by the way of adjusting the depths of these two discontinuities in the initial velocity model until the theoretical arrival time differences of P410S and P660S with P well conformed to the observed. The results show an obvious lateral heterogeneity of buried depths of ' 410' and (660' . The depth of '410' is shallower beneath BJI, XAN, LZH and ENH, but deeper under QIZ and CHTO, and the average is 403km . The average depth of '660' is 663km, deeper under MDJ and MAJO, but shallower under QIZ and HYB. (4) For inversing the whole crust and upper mantle velocity structure, a new inversion method -PGARFI (Peeling-Genetic Algorithm of Receiver Function Inversion) has- been developed here. The media beneath a station is divided into segments, then the velocity structure is inversed from receiver function from surface to deep successively. Using PGARFI, the multi reflection / refraction phases of shallower discontinuities are isolated from the first order refraction transform phase of deep discontinuity. The genetic algorithm with floating-point coding was used hi the inversion of every segment, and arithmetical crossover and non-uniform mutation technologies were employed in the genetic optimization. 10 independent inversions are completed for every segment, and 50 most excellent velocity models are selected according to the priority of fitness from all models produced in the inversion process. The final velocity structure of every segment is obtained from the weighted average of these 50 models. Before inversion, a wide range of velocity variation with depth and depth range of the main discontinuities are given according to priori knowledge. PGARFI was verified with numerical test and applied in the inversion of the velocity structure beneath HIA station down to 700km depth.

黄土高原22万年来的黑碳记录和古火灾害历史重建

The term black carbon is used to describe a relatively inert and ubiquitous form of carbon, comprising a range of materials from char and charcoal to element or graphite carbon produced by the incomplete combustion of fossil fuels and biomass. Due to its inertness, the BC in soils, lacustrine and marine sediments and ice can persist over a long period of time. So BC signatures in geological deposits can be used as evidence of natural fires happened in their surroundings. To study the temporal and spatial changes in paleofires over the Chinese Loess Plateau, black carbon concentrations were analyzed on the loess-paleosol samples from three sections including Lijiayuan, Lingtai and Weinan along a north-south transect. Using the orbitally-tuned time-scales of the sections, the black carbon sedimentation rates (BCSR) were calculated. Meanwhile, with objective to document fine resolution fire history during late Pleistocene and Holocene periods, we measured BC concentrations of loess-paleosol samples at dense sampling intervals since 28 ka BP. in Lijiayuan section. The BCSR of the samples were also calculated. In addition, we also conducted observation on black carbon morphologies to examine their sources. Based on the results, the following remarks can be concluded: 1. In the last two glacial cycles, the BCSR values in glacial periods are 2-3 times higher than in interglacial periods, and the BCSR variability has a relatively strong precession-associated 23 kyr period, suggesting that the glacial cold-dry climate conditions were apt to induce natural fires over the Loess Plateau, 2. Comparison of the BCSR records among the three loess sections demonstrates that natural fire occurrence was much more intensive and frequent in the northern and interglacial periods. 3. Pollen records and carbon isotope analyses of organic matter have shown that the Loess Plateau was covered by an Artemisia-dominated grassland vegetation both during glacial and interglacial periods, So grassland fires were the dominant fire types in the Plateau, which is also corroborated by the observation of black carbon morphology. In addition, statistics and comparison of BC particle sizes among the sections demonstrated that BC records probably reflected local fires. 4. According to previous studies about the effect of fires on vegetation changes, we considered that the fires might play an important role in the expansion of grassland during glacial periods, besides the control of climate changes. 5. The high resolution black carbon record in Lijiayuan section has shown that the BCSR series well documented Younger dryas (YD) and Heinrich (HI和H2) events, suggesting that natural fires in the northwestern part of Chinese Loess Plateau could regularly respond to the millennial scale climate oscillation.

东营凹陷沙三中亚段湖相浊积岩储层特征及油气成藏规律研究

Turbidity sandstone reservoirs have been an important field of hydrocarbon exploration and development in the basins all over the world, as well as in China. Lithologic pools are composed of turbidity sandstones and other sandstones are frequently found in the Jiyang Depression that is a Mesozoic-Cenozoic non-marine oil-bearing basin. The Dongying Sag lies in the sedimentary center of the basin. The subtle traps with turbidity reservoirs are generally difficult to be predicted and described by using current techniques. The studies on turbidity reservoirs plays thus an important theoretical and theoretical practical role in exploration and development in the Jiyang Depression. The attention is, in this thesis, focused on the petrologic properties and oil accumulating behaviors in lake turbidity sedimentary systems in the middle part of the third section of Shahejie Formation in the Dongying Sag, especially in Dongxin area, which lies on the central uplift of the Sag. The paper has disclosed the origin types of turbidity sandstones, distribution pattern and controlling factors of turbidity sandstones, and set up hydrocarbon accumulation patterns of the middle part of the third section of Shahejie Formation in Dongxin, based on nonmarine high resolution sequence stratigraphy, event sedimentology and new theories of hydrocarbon forming. By studying prediction method and technology of turbidity sandstone reservoirs, using precise geological model developing, new techniques of high resolution seismic inversion constrained by logging, the paper has forecast low permeability turbidity sandstone reservoirs and pointed out advantage exploration aims to progressive exploration and development. The paper has obtained mainly many productions and acknowledges as follows: 1.Turbidity sandstone reservoirs of the third section of Shahejie Formationin Dongying Sag are formed in such specifical geological background as rift and extension of basin. The inherited Dongying delta and transgression make up many turbidity distribution areas by overlaying and joining together. The hydrocarbon migrates from depression area to adjacent turbidity sandstone continuously. Accumulation area which is sufficient in oil is formed. 2.The paper has confirmed distinguishable sign of sequence boundary , established stratigraphic framework of Dongying Sag and realized isotime stratigraphic correlation. Es3 of Dongying delta is divided into eleven stages. Among them, the second period of the lower section in Es3, the sixth period of the middle section in Es3, the third period of the upper section in Es3 correspond to eleven sedimentary isotime surface in seismic profile, namely Es3 is classified into eleven Formations. 3.According to such the features of turbidity sandstone as deep in burial, small in area, strong in subtle property, overlaying and joining together and occurring in groups, management through fault and space variations of restriction quantum are realized and the forecast precision of turbidity sandstone by using precise geological model developing, new techniques of high resolution seismic inversion constrained by logging, based on the analysis of all kinds of interwell seismic inversion techniques. 4.According to the features of low permeable turbidity sandstone reservoirs, new method of log interpretation model is put forward. At the same time, distinguish technology of familiar low resistivity oil layer in the turbidity sandstone reservoirs is studied based on petrophysical laboratory work and "four properties" interrelationship between lithological physical Jogging and bearing hydrocarbon properties. Log interpretation model and reservoir index interpretation model of low resistivity oil layer are set up. So the log interpretation precision is improved. 5.The evolution law and its difference of the turbidity sandstone are embodies as follows: the source of sediments come from the south and east of the study area in the middle period of Es3. East source of sediments is pushed from west to east. However, the south source supply of sediments in the early and middle period of Es3 is in full, especially in Es3. subsequently, the supply is decreased gradually. Turbidity fan moves back toward the south and the size of fan is minished accordingly. The characteristic of turbidity sandstone in Dongying Sag is different in different structural positions. Dongxin in the middle-east of the central lift and Niuzhuang Sag He in Dongying delta front and prodelta deep lake subfacies. Although the turbidity sandstone of the two areas root in the Dongying delta sedimentary system, the sand body has different remarkably characteristic. 6.The sedimentary model of the turbiditys in study area have three types as follows: (1) collapse turbidity fan in respect of delta; (2) fault trench turbidity fan; (3) other types of microturbidity sandstone. Middle fan and outer fan, can be found mainly in sublacustrine fan. Middle fan includes braided channel microfacies, central microfacies and braided interchannel microfacies, which is main prospecting oil-bearing subfacies. The middle section of the third section of Shahejie Formation in study area (for example the central lift) can be divided into middle-lower and upper part. The middle-lower part is characteristic of turbidity fan. The upper part is sedimented mainly by delta-collapse fan. 7.The turbidity reservoirs of the middle part of the third section of Shahejie Formation in study area characterize by low maturity both in component and texture, strong in diagenesis and low in permeability. The reservoir can be classified into four types. Type III is the body of reservoir and comprises two types of H a and HI b. M a belongs to middle porosity - low permeability reservoir and distributes in the central lift. Hlb belongs to low porosity - low permeability and distributes in Haojia region. 8.A11 single sand body of lens turbidity reservoir of the middle part of the third section of Shahejie Formation in study area are surrounded by thick dark source rocks. The oil-water system is complex and behaves that every sandstone is single seal unit. The water body is 1/3-1-5 of the sand body. The edge water is not active. The gas exists in the top of reservoir in the form of mixed gas. For far-range turbidity fan with big scale channel, the area and volume of sand body is large and the gap is big in oil packing degree. There are lots of edge water and bottom water, and the latter increases rapidly during the course of development. 9.By exerting the modern hydrocarbon forming theories, the third section of Shahejie Formation in study area belongs to abnormally pressured fluid compartment. The lithological reservoir of the third section of Shahejie Formation is formed in the compartment. The reservoir-formed dynamic system belongs to lower self-source enclosed type. The result and the practice indicate that the form and accumulation of lithological oil reservoirs are controlled by the temperature and pressure of stratum, microfacies, thickness of sand body, fault and reservoir heterogeneity. 10. Based on studies above, the emphases focus on in south and north part of Dongying structure, west Dongxin region and south part Xinzhen structure in the application of production. The practice proves that the turbidity sandstone reservoirs in Ying 11 block and the fault-lithological reservoirs in Xin 133 block have been obtained significant breakthrough. The next target is still sandstone groups of the third section of Shahejie Formation in the bordering areas of Dongxin region for instance Xin 149 area, He 89 area, Ying 8 area etc.

准噶尔盆地低阻油藏实验研究及储层评价方法

Low resistivity reservoir is a special reservoir which is different from normal reservoir in identification and evaluation.Through core experiment and analysis, the achievement of which resistivity is resulted from clay additive electric conductivities and high bound water saturation in Junggar basin is gained. For accurately evaluating low resistivity, a good many of experiment have been completed, such as resistivity index and formation factor in hi^jher temperature and higher pressure, semi-permeability board, cation exchange, bound water, NMR (nucleus magnetism response), non-Nad water in different temperature and salinity, the experiments result show that lower resistivity has complex relation with these electric-parameters and chloric ion content in non-NaCl water.Based on comprehensive interpretation of NMR and normal resistivity data, the volume of moved water, bound water, moved oil and residual oil in the strata can be determined quantitatively and which have significant influence on reservoir recognition and perforation optimized.Experiment data (SEM mold, thin section, X ray diffraction, mercury penetration) can be used to analysis low resistivity forming and the relation between low resistivity and pore texture, to set up relation between porosity, permeability and petrophysical property. The reservoir was sorted, evaluated and described. The oil bedding in southern margin of Junggar basin is low porosity, low resistivity reservoir.Based on invasion theory of electric well-logging, modelling and inversion of resistivity well-logging are accomplished. For enhancing low resistivity resulted from higher bound water saturation and cation exchange, invasion period, invasion radius, the relation between fluid distribution in pore and response of laterolog logging have been studied. Virgin zone resistivity, invasion zone resistivity and invasion radius were inversed and which enhanced evaluation accuracy of reservoir. The method was used to process well-logging data in Luliang oilfield and southern margin in Junggar basin, and reservoir resistivity was enhanced effectively, appropriate oil saturation gained and it has better effect on oil exploration.

高岭石的结构缺陷,杂质元素存在形式及热转变研究

本研究主要研究了高岭石的结构缺陷、杂质元素(特别是铁、钒)的存在形式以 高岭石一奠来 石的热转变过程。应用先进的x射线衍射结合多重峰分离方法，解析了高蛉石的结构缺路，重新 修正了Hinkley结晶指数(HI)．使之更能反映实际的结构信息。首次在低温条件下观察到苏州高 岭石钒的顺磁共振谱的超精细结构线发生分裂的现象(这种现象尚未见诸报道)，这是由于四价钒 进入高岭石八面体晶格替代三价铝，且占据两种八面体位置的结果。 ’ 、 si魔角旋转核磁共振研 究证实，高蛉石脱羟变为偏高岭石后，铝的配位数由Ⅵ转为Ⅳ 、V和Ⅵ三种形式并存，且以V配位为 主；引起i000℃ 放热反应的主要因素为准莫来石的形成。奠来石约在1100℃ 开始生成。研究样品 采自贵州的丹寨、马场坪、小山坝和江苏苏州的阳山。贵州高岭土属含煤建造沉积型矿床，其中丹 寨和马场坪高岭土产自二叠系煤系地层，小山坝高岭土产自石炭系。阳山高岭土属古溶洞充填风 化型矿床。

High resolution time-of-flight spectrometer for crossed molecular beam study of elementary chemical reactions

In this article, we describe an apparatus in our laboratory for investigating elementary chemical reactions using the high resolution time-of-flight Rydberg tagging method. In this apparatus, we have adopted a rotating source design so that collision energy can be changed for crossed beam studies of chemical reactions. Preliminary results on the HI photodissociation and the F atom reaction with H-2 are reported here. These results suggest that the experimental apparatus is potentially a powerful tool for investigating state-to-state dynamics of elementary chemical reactions. (c) 2005 American Institute of Physics.

Study of Mn-based catalysts for oxidative dehydrogenation of cyclohexane to cyclohexene

The gas-phase oxidative dehydrogenation (ODH) of cyclohexane to cyclohexene in the presence of molecular oxygen has been studied over various Mn-based catalysts. It is found that LiCl/MnOx/PC (Portland cement) catalyst exhibits the highest catalytic performance, and a 42.8% cyclohexane conversion, 58.8% cyclohexene selectivity and 25.2% cyclohexene yield can be achieved under 600 degrees C, 20,000 h(-1) and C6H12/O-2/N-2= 14/7/79. There are good correlations between the selectivities to cyclohexene and the electrical conductivities of Li doped Mn-based catalysts, from which it is deduced that the non-fully reduced oxygen species (O-2(-), O-2(2-), O-) involved in a new phase of LiMn2O4 might be responsible for the high selectivity toward cyclohexene, whereas the Mn2O3 crystal phase results in the COx formation. The selectivity to cyclohexene increases with increasing molar ratio of Li to Mn in LiCl/ MnOx/PC.