基于超短基线的缆控水下机器人动力定位

动力定位 (DynamicPositioning(DP) )技术是水下机器人的关键技术之一。因此针对当前动力定位主要在缆控水下机器人 (ROV)中应用的情况 ,给出了ROV动力定位技术的实施方法。通过声学定位技术确定ROV的坐标 ,计算出与期望位姿的差 ,将其作为神经网络控制器的输入量来控制ROV ,从而进行动力定位。同时还重点研究了ROV动力定位中的主要研究内容即水声定位技术和定位控制技术的构建。

空间向量法求解坐标变换

介绍一种利用空间向量求解坐标变换关系的方法，简化了传统的坐标系之间坐标变换关系求解的复杂计算，减小了采样误差对计算结果的影响．为建立各物体之间的位姿关系描述提供了有效的数学计算手段

像平面与空间平面的变换及其在移动机器人中的应用

说明了像平面与空间平面的变换以及摄像机在固定，旋转和平移时变换矩阵的求解方法．还讨论了该变换在移动机器人定位，障碍物检测，运动参数分析和三维坐标计算上的应用。

改进GAs算法在大规模资源分配问题中的应用

采用改进ＧＡｓ算法建立了求解大规模规划的资源分配模型．针对大规模资源分配问题的具体特点，设计了合适的ＧＡｓ算子，并以实例验证了算法的合理性及有效性。

遥控作业移动机器人环境建模方法研究

本文介绍了用于遥控机器人作业虚拟环境生成的建模方法．重点研究了基于人机交互的双目立体视觉和多视点建模方法，以克服视觉自动建模方法计算复杂、鲁棒性差的缺点．给出了环境建模的实验系统和实验结果。

智能机器人分层系统中的人机交互

在非结构环境里工作的智能机器人,人智能的介入有时是必不可少的.本文研究了这类机器人系统人机接口某些问题,提出了人智能输入的分层输入原则,实时性原则和协调性原则,讨论了人机接口的结构和实现问题,给出了人机接口命令的一种格式,并提出了人机操作的实际例子.

海洋机器人动态定位的坐标变换与系统结构

本文给出海洋机器人的原理性流体动力学模型.动态定位的基本定义,海洋机器人既定向又定位的坐标变换与系统结构,和只定位不定向的坐标变换与系统结构.

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。

基于ANSYS的龙门式直角坐标机器人横梁分析

对龙门式直角坐标机器人的核心部件-Y轴横梁进行了有限元计算和分析。首先对直角坐标机器人的Y轴横梁进行建模,利用ANSYS软件分析计算出横梁的变形分布情况,然后对其分布规律做简要的分析,为后续的横梁结构优化设计提供理论依据。

基于Zernike矩边缘检测的焊缝信息获取

针对目前焊缝坐标提取方法存在精度较低,难于实现视觉引导的机器人激光焊接高速度、高精度的要求,提出一种基于Zernike正交矩的曲线焊缝位置坐标信息获取算法,该算法首先采用Zernike边缘检测算法识别焊缝边缘,然后提取出焊缝的中心线,最后计算出该中心线的亚像素坐标。通过试验验证了该算法的可行性。

基于三坐标测量机激光拼焊板材直线度研究

利用高精度三坐标测量机扫描功能,充分获得焊接板材端面线性三维数据坐标值,采用基于最小二乘法而建立的理想直线数学模型来评定直线度误差,并与实际采用塞尺法进行对比,结果发现采用三坐标测量更能详尽地反应整个焊接边缘直线度真实情况,节省大量的数据处理时间,且数据更加准确可靠,并在实际激光焊接中获得良好激光焊缝,同时直观地给出了焊接板材边缘线性特征,为剪板机刀具调整提供了方向与位置。

复杂介质中地震波场数值模拟研究——基于广义正交多项式迭积微分算子法

In this paper, we propose a new numerical modeling method – Convolutional Forsyte Polynomial Differentiator (CFPD), aimed at simulating seismic wave propagation in complex media with high efficiency and accuracy individually owned by short-scheme finite differentiator and general convolutional polynomial method. By adjusting the operator length and optimizing the operator coefficient, both global and local informations can be easily incorporated into the wavefield which is important to invert the undersurface geological structure. The key issue in this paper is to introduce the convolutional differentiator based on Forsyte generalized orthogonal polynomial in mathematics into the spatial differentiation of the first velocity-stress equation. To match the high accuracy of the spatial differentiator, this method in the time coordinate adopts staggered grid finite difference instead of conventional finite difference to model seismic wave propagation in heterogeneous media. To attenuate the reflection artifacts caused by artificial boundary, Perfectly Matched Layer (PML) absorbing boundary is also being considered in the method to deal with boundary problem due to its advantage of automatically handling large-angle emission. The PML formula for acoustic equation and first-order velocity-stress equation are also derived in this paper. There is little difference to implement the PML boundary condition in all kind of wave equations, but in Biot media, special attenuation factors should be taken. Numerical results demonstrate that the PML boundary condition is better than Cerjan absorbing boundary condition which makes it more suitable to hand the artificial boundary reflection. Based on the theories of anisotropy, Biot two-phase media and viscous-elasticity, this paper constructs the constitutive relationship for viscous-elastic and two-phase media, and further derives the first-order velocity-stress equation for 3D viscous-elastic and two-phase media. Numerical modeling using CFPD method is carried out in the above-mentioned media. The results modeled in the viscous-elastic media and the anisotropic pore elastic media can better explain wave phenomena of the true earth media, and can also prove that CFPD is a useful numerical tool to study the wave propagation in complex media.

中高层大气对低层大气声重波响应的分析

Acoustic Gravity waves (AGW) play an important role in balancing the atmospheric energy and momentum budget. Propagation of gravity wave in the atmosphere is one of the important factors of changing middle and upper atmosphere and ionosphere. The purpose of this dissertation is to study the propagation of gravity wave in a compression atmosphere whit means of numerical simulation and to analyze the response of middle and upper atmosphere to pulse disturbance from lower atmosphere. This work begins with the establishment of 2-D fully nonlinear compressible atmospheric dynamic model in polar coordinate, which is used ton numerically study gravity wave propagation. Then the propagation characteristics of acoustic gravity wave packets are investigated and discussed. We also simulate the response of middle and upper atmosphere to pulse disturbance of lower atmosphere in background winds or without background winds by using this model and analyze the data we obtained by using Fourier Transform (FT), Short-time Fourier Transform (STFT) and Empirical Mode Decomposition (EMD) method which is an important part of Hilbert-Huang Transform (HHT). The research content is summarized in the following: 1. By using a two-dimensional full-implicit-continuous-Eulerian (FICE) scheme and taking the atmospheric basic motion equations as the governing equations, a numerical model for nonlinear propagation of acoustic gravity wave disturbance in two-dimensional polar coordinates is solved. 2. Then the propagation characteristics of acoustic gravity wave packets are investigated and discussed. Results of numerical simulation show that the acoustic gravity wave packets propagate steadily upward and keep its shape well after several periods. 3. We simulate the response of middle and upper atmosphere to pulse disturbance of lower atmosphere in background winds or without background winds by using this model, and obtain the distribution of a certain physical quantity in time and space from earth’s surface to 300km above. The results reveal that the response of ionosphere occurs at a large horizontal distance from the source and the disturbance becomes greater with increasing of height. The situation when the direction of the background wind is opposite to or the same as the direction of disturbed velocity of gravity-wave is studied. The results show that gravity wave propagating against winds is easier than those propagating along winds and the background wind can accelerate gravity wave propagation. Just upon the source, an acoustic wave component with period of 6 min can be found. These images of simulation are similar to observations of the total electron content (TEC) disturbances caused by the great Sumatra-Andaman earthquake on December 26 in 2004. 4. Using the EMD method the disturbed velocity data of a certain physical quantity in time and space can be decomposed into a series of intrinsic mode function (IMF) and a trend mode respectively. The results of EMD reveal impact of the gravity wave frequency under the background winds.

波前重建法射线追踪及走时表压缩

As a fast and effective method for approximate calculation of seismic numerical simulation, ray tracing method, which has important theory and practical application value, in terms of seismic theory and seismic simulation, inversion, migration, imaging, simplified from seismic theory according to geometric seismic, means that the main energy of seismic wave field propagates along ray paths in condition of high-frequency asymptotic approximation. Calculation of ray paths and traveltimes is one of key steps in seismic simulation, inversion, migration, and imaging. Integrated triangular grids layout on wavefront with wavefront reconstruction ray tracing method, the thesis puts forward wavefront reconstruction ray tracing method based on triangular grids layout on wavefront, achieves accurate and fast calculation of ray paths and traveltimes. This method has stable and reasonable ray distribution, and overcomes problems caused by shadows in conventional ray tracing methods. The application of triangular grids layout on wavefront, keeps all the triangular grids stable, and makes the division of grids and interpolation of a new ray convenient. This technology reduces grids and memory, and then improves calculation efficiency. It enhances calculation accuracy by accurate and effective description and division on wavefront. Ray tracing traveltime table, which shares the character of 2-D or 3-D scatter data, has great amount of data points in process of seismic simulation, inversion, migration, and imaging. Therefore the traveltime table file will be frequently read, and the calculation efficiency is very low. Due to these reasons, reasonable traveltime table compression will be very necessary. This thesis proposes surface fitting and scattered data compression with B-spline function method, applies to 2-D and 3-D traveltime table compression. In order to compress 2-D (3-D) traveltime table, first we need construct a smallest rectangular (cuboidal) region with regular grids to cover all the traveltime data points, through the coordinate range of them in 2-D surface (3-D space). Then the value of finite regular grids, which are stored in memory, can be calculated using least square method. The traveltime table can be decompressed when necessary, according to liner interpolation method of 2-D (3-D) B-spline function. In the above calculation, the coefficient matrix is stored using sparse method and the liner system equations are solved using LU decomposition based on the multi-frontal method according to the sparse character of the least square method matrix. This method is practiced successfully in several models, and the cubic B-spline function can be the best basal function for surface fitting. It make the construction surface smooth, has stable and effective compression with high approximate accuracy using regular grids. In this way, through constructing reasonable regular grids to insure the calculation efficiency and accuracy of compression and surface fitting, we achieved the aim of traveltime table compression. This greatly improves calculation efficiency in process of seismic simulation, inversion, migration, and imaging.

旋转轴对称介质中的qP波一阶射线追踪

Elastic anisotropy is a very common phenomenon in the Earth’s interior, especial for sedimentary rock as important gas and oil reservoirs. But in the processing and interpretation of seismic data, it is assumption that the media in the Earth’s interior is completely elastic and isotropic, and then the methods based on isotropy are used to deal with anisotropic seismic data, so it makes the seismic resolution lower and the error on images is caused. The research on seismic wave simulation technology can improve our understanding on the rules of seismic wave propagation in anisotropic media, and it can help us to resolve problems caused by anisotropy of media in the processing and interpretation of seismic data. So researching on weakly anisotropic media with rotated axis of symmetry, we study systematically the rules of seismic wave propagation in this kind of media, simulate the process with numerical calculation, and get the better research results. The first-order ray tracing (FORT) formulas of qP wave derived can adapt to every anisotropic media with arbitrary symmetry. The equations are considerably simpler than the exact ray tracing equations. The equations allow qP waves to be treated independently from qS waves, just as in isotropic media. They simplify considerably in media with higher symmetry anisotropy. In isotropic media, they reduce to the exact ray tracing equations. In contrast to other perturbation techniques used to trace rays in weakly anisotropic media, our approach does not require calculation of reference rays in a reference isotropic medium. The FORT-method rays are obtained directly. They are computationally more effective than standard ray tracing equations. Moreover the second-order travel time corrections formula derived can be used to reduce effectively the travel time error, and improve the accuracy of travel time calculation. The tensor transformation equations of weak-anisotropy parameters in media with rotated axis of symmetry derived from the Bond transformation equations resolve effectively the problems of coordinate transformation caused by the difference between global system of coordinate and local system of coordinate. The calculated weak-anisotropy parameters are completely suitable to the first-order ray tracing used in this paper, and their forms are simpler than those from the Bond transformation. In the numerical simulation on ray tracing, we use the travel time table calculation method that the locations of the grids in the ray beam are determined, then the travel times of the grids are obtained by the reversed distance interpolation. We get better calculation efficiency and accuracy by this method. Finally we verify the validity and adaptability of this method used in this paper with numerical simulations for the rotated TI model with anisotropy of about 8% and the rotated ORTHO model with anisotropy of about 20%. The results indicate that this method has better accuracy for both media with different types and different anisotropic strength. Keywords: weak-anisotropy, numerical simulation, ray tracing equation, travel time, inhomogeneity