并联机床平面约束机构误差分析与建模

针对五轴数控机床平面约束机构进行了误差分析 ,指出了并联机床平面约束机构误差主要影响因素为机构的制造误差和安装误差·前者与由其引起的约束机构顶边中点沿x方向的位移成非线性关系 ,而后者则成线性关系·提出了一种依据测量数据反演非线性误差模型的建模方法 ,给出了五轴并联机床约束机构实测信息与模型输出间的多项式误差模型·比较仿真结果与测量结果可知 ,基于上述方法建立的误差模型精确 ,进而利用该模型对机床进行实时精度补偿 ,可使机床x方向定位精度大为提高

轮桨腿一体两栖机器人爬行步态规划研究

爬行运动为轮桨腿一体两栖机器人基本运动模式之一。以机器人爬行运动为研究对象，分析了两栖机器人爬行运动机理，并建立了其典型驱动单元的运动学模型；根据机器人不同爬行运动状态，提出了基于轮桨和足板不同步态形式的运动规划策略；采用虚拟样机技术，对不同爬行状态下的步态规划效果进行了仿真试验分析和验证。试验结果表明，在规划的步态下，轮桨腿一体两栖机器人具有良好的爬行稳定性、转向机动性和越障能力。

有缆水下机器人主动升沉补偿控制研究

针对母船的升沉运动影响有缆水下机器人的释放与回收的工程实际需求,提出了利用液压绞车降低中继器的升沉速度来实现水下机器人主动升沉补偿控制的方法,来提高水下机器人释放与回收的安全性能。建立液压绞车的数学模型并设计主动升沉补偿前馈控制器。水下机器人主动升沉补偿实验表明液压系统的非线性降低了液压绞车主动升沉补偿前馈控制的升沉补偿效率。针对液压绞车的非线性特性,设计了液压绞车主动升沉补偿预测控制算法,仿真实验表明基于液压系统参数辨识的液压绞车主动升沉补偿预测控制可以得到较高的升沉补偿效率。

光纤微缆对SARV操纵性的影响分析

以新概念小型自治遥控水下机器人SARV及其光纤微缆系统为研究对象,在对光纤微缆进行受力分析的基础上,采用集中质量法建立了光纤微缆的动力学模型。结合作业中SARV载体的实际运动,利用直接计算法分析了不同运动状态下光纤微缆对SARV载体产生的附加力和附加力矩及其对SARV载体操纵性的影响,并提出了合理的操纵建议。为SARV载体端设计光纤微缆释放装置张力控制提供了一定的理论依据,在一定程度上有助于完善SARV控制系统,提高SARV航行的稳定性。

蠕动爬行攻泥机构转向工作特性的有限元分析

针对用于沉船打捞的水下攻泥机器人蠕动爬行攻泥机构的结构与工作机理 ,建立了适当的有限元计算模型 ,进而通过弹塑性有限元计算 ,模拟了攻泥机构处于土中不同深度的工作情况 ,建立了攻泥机构前进位移V和转向角θ之间关系的通用公式。通过它可以实现对攻泥机构前进路线的规划与自动控制

蠕动爬行攻泥机构工作特性的有限元分析

针对水下攻泥机器人蠕动爬行攻泥机构的结构与工作机理，建立了适当的有限元计算模型，进而通过弹塑性有限元计算，分析了攻泥机构直行攻泥时与土相互作用的工作特性，阐明了攻泥机构在前进过程中限位块导致的土体局部弱化区对其工作特性的影响程度．综合分析计算与模型试验结果，建议了攻泥机构宜行攻泥所必须的条件．

我国制造业面临的内外形势及对策研究──抓住机遇,参加全球化敏捷生产体系

：本文从信息时代对人们认识上的影响，讨论了信息时代对生产、对统一的世界市场、对社会的影响。列举了世界经济进入新的繁荣期的特征。讨论了世界生产的形成和发展，市场竞争的三准则，市场竞争的各个历史阶段及全球化敏捷制造体系迅速发展的原因。分析了二十一世纪制造业面临的形势。详细地讨论了我国国有大中型企业的主要问题：1．产品问题；2．企业结构不合理；3．管理问题；4．质量问题；5．工艺手段和装备落后；6．历史包袱沉重等。提出了利用世界全球化生产体系发展的大好形势的三条对策：1．利用敏捷制造原理对企业进行重组；2．加速产品设计队伍的重建，增强新产品的设计能力；3．利用现代化手段实现现代化管理。

三维物体识别及姿态测定的推理系统

本文介绍了三维物体识别及姿态测定的一种新技术，从物体空间域模型出发，通过约束推理及几何推理，在物体三维信息部分给定的条件下，推断预测图象模型，并通过实测的图象数据反馈，推断出隐含在图象中未给定的三维信息，最终实现三维物体识别及姿态测定。整个系统在ＶＩＣＯＭ机上用Ｃ语言完成。

CIMS优化排序的度量空间分析法

本文建立了排序的度量空间,并且在该空间上建立了映射概念.在此基础上,应用采样方法,讨论了采样次数与优化的关系,并提出了均匀采样的启发式方法.

基于激光熔覆的绿色再制造技术研究

为了实现轴类零件的修复,搭建基于激光熔覆技术的绿色再制造系统,该系统由功率为6kW的CO2激光器、四轴工作台、送粉机构、数控系统等硬件设备和激光绿色再制造系统驱动软件组成。以轴类为典型零件、Ni60A合金粉末为熔覆材料,对激光绿色再制造工艺技术进行研究。通过研究分析激光功率、熔覆速度、送粉量、熔覆间距等主要参数对熔覆层高度、宽度和熔覆层质量等的影响情况,获得了轴类零件激光修复的最佳工艺参数组合,实现基于激光熔覆的绿色再制造技术在生产实践中的应用。

国际大型隐私保护机构综述

当前,因特网的飞速发展使得个人的隐私数据非常易于被搜集甚至被不当的利用。因此设立专门的保护隐私的机构势在必行,列举了国际上一些国家和地区的大型的隐私保护机构,旨在为我国成立专门的隐私保护组织提供可以参考的依据。

大港油田复杂断块油气藏评价技术研究与应用

In this paper, in view of characteristics and appraisal difficulty of complicate fault block reservoir, based on the theory of reservoir geology, tectonic geology, sequence stratigraphy, logging geology and sedimentology, according to related multidisciplinary data, such as geological, geophysical, logging and testing, taking 3D seismic acquisition processing, delicate structure interpretation, fine reservoir prediction, reservoir engineering and logging evaluation as research methods, on the basis of comprehensive geologic research, innovative appraisal thinking of complicate fault block reservoir is probed into, reservoir evaluation technology series of different reservoirs were created, and appraisal circuit of complicate fault block reservoir was proposed. According to the research on main controlling factors of hydrocarbon and concentration and concealing laws of Dagang exploration area, family assemble patterns of complicate fault block reservoir were proposed firstly, such as twinning, juxtaposed, overlying, concurrent, connected in series and so on, so theory basement was provided to reservoir evaluation. Taking into account of difficulties of low signal to noise ratio and border identification of lithologic trap of complicate fault block reservoir, in the middle of seismic data acquisition, double focusing layout and optimization technology were adopted, geophysical model was set up, and best observation system was ascertained. During object processing, matching processing technology of removing time difference, phase difference, energy difference and frequency spectrum difference generated by different blazing and receiving elements was studied. Imagery, low amplitude structure and identification of subtle lithologic reservoir was interpreted reasonably. On the basis of characteristics and technical description analysis of structural, structural--lithologic and lithologic reservoirs, innovative appraisal thinking of these reservoirs was formatted, appraisal circuit of complicate fault block reservoir was proposed, and this method could be used in other similar oilfields

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.

黄骅坳陷港西开发区河流相储层构型与剩余油分布模式研究

In the production tail of oilfield, water-cut is very high in thick channel sand oil reservoir, but recovery efficiency is relative low, and recoverable remaining oil reserves is more abundant, so these reserves is potential target of additional development. The remaining oil generally distributed with accumulation in certain areas, controlled by the reservoir architecture that mainly is the lateral accretion shale beddings in the point bar, so the study of reservoir architecture and the remaining oil distribution patterns controlled by architecture are very significant. In this paper, taking the Minghuazhen formation of Gangxi oilfield as a case, using the method of hierarchy analysis, pattern fitting and multidimensional interaction, the architecture of the meandering river reservoir is precisely anatomized, and the remaining oil distribution patterns controlled by the different hierarchy architecture are summarized, which will help to guide the additional development of oil fields. Not only is the study significant to the remaining oil forecasting, but also it is important for the theory development of reservoir geology. With the knowledge of sequence correlation and fluvial correlation model, taking many factors into account, such as combination of well and seismic data, hierarchical controlling, sedimentary facies restraint, performance verification and 3-D closure, an accurate sequence frame of the study area was established. On the basis of high-resolution stratigraphic correlation, single layer and oil sand body are correlated within this frame, and four architecture hierarchies, composite channel, single channels, point bars and lateral accretion sandbody are identified, The result indicates that Minghuazhen Formation of Gangxi oilfield are dominated by meandering river deposition, including two types of channel sandbodies, narrow band and wide band channel sandbody, and each of them has different characteristics of facies variation laterally. Based on the identification of composite channel, according to the spatial combination patterns and identified signs of single channel, combined with channel sandbody distribution and tracer material data, single channel sandbodies are identified. According to empirical formula, point-bar scales of the study area are predicted, and three identification signs are summarized, that is, positive rhythm in depositional sequence, the maximum thick sand and near close to the abandoned channel, and point bars are identified. On the basis of point bar recognition, quantitative architecture models inner point bar are ascertained, taking the lateral accretion sand body and lateral accretion shale beddings in single well as foundation, and quantitative architecture models inner point bar as guidance, and result of tracer material data as controlling, the the lateral accretion sand body and lateral accretion shale beddings are forecasted interwell, so inner architecture of point bar is anatomied. 3-D structural model, 3-D facies model and 3-D petrophysical properties models are set up, spatial distribution characteristics of sedimentary facies and petrophysical properties is reappeared. On the basis of reservoir architecture analysis and performance production data, remaining oil distribution patterns controlled by different hierarchy architecture units, stacked channel, single channel and inner architecture of point bar, are summarized, which will help to guide the additional development of oil fields.

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.