工业机器人的学习控制

加速度传感器装在机械手手部,各关节的加速度由加速度分解算法得到.然后,提出了一种学习控制法,这种控制法利用加速度误差校正驱动器运动.并提出了一种基于几何级数的极限条件估计学习控制过程收敛条件的理论方法.本文所提出的学习控制理论的有效性通过 PUMA-562 机器人的计算机仿真实验得到了证实.

广义预测极点配置前馈控制的一种算法

本文提出了广义预测极点配置前馈自校正控制算法,计算机仿真结果表明,该算法控制质量好,能够消除系统可测扰动对输出的影响。

一种并联激光焊接机器人的机构设计与运动学分析

提出了一种3分支5自由度的并联激光焊接机器人,通过3个分支共同作用,使整机具备了5个自由度的空间加工能力.针对激光焊接,通过分析该机器人的结构特性,建立了其正反解运动学模型,通过解析法求解该模型并进行了计算仿真.最后,对机器人进行激光拼焊实验,仿真数据和实验结果表明,本文研究的并联机器人机构适用于实际的高速、高精度激光焊接。

基于整车配送的多仓库开路VRPTW问题的研究与实现

以整车销售物流为背景,探讨多仓库带时窗约束的车辆路线安排问题的解决方法.提出了更为复杂的基于现实的细节性要求的多配送中心开路VRPTW问题模型,并将遗传算法产生部分解和评估完整解的优化解决方法和涌现交叉算子MX1引入到带时窗的多仓库VRP问题优化中,实现了快速全局优化.提出的开路混合配送方法有利于提高车辆满载率,降低回程空载率.同时实现了运输资源的优化配置,提高车辆利用率.计算机仿真实验证明了算法的可行性.

高温高压下H2O-CH4体系PVTx性质的分子动力学模拟研究

Geological fluids are important components in the earth system. To study thephysical chemistry properties and the evolution of fluid system turns out to be one of the most challenging issues in geosciences. Besides the conventional experimental approaches and theoretical or semi-theoretical modeling, molecular level computer simulation(MLCS) emerges as an alternative tool to quantificationally study the physico-chemical properties of fluid under extreme conditions in order to find out the characteristics and interaction of geological fluids in and around earth. Based on our previous study of the intermolecular potential for pure H2O and thestrict evaluation of the competitive potential models for pure CH4 and the ab initio fitting potential surface across H2O-CH4 molecules in this study, we carried out more than two thousand molecular dynamics simulations for the PVTx properties of pure CH4 and the H2O-CH4 mixtures. Comparison of 1941 simulations with experimental PVT data for pure CH4 shows an average deviation of 0.96% and a maximum deviation of 2.82%. The comparison of the results of 519 simulations of the mixtures with the experimental measurements reveals that the PVTx properties of the H2O-CH4 mixtures generally agree with the extensive experimental data with an average deviation of 0.83% and 4% in maximum, which is equivalent to the experimental uncertainty. Moreover, the maximum deviation between the experimental data and the simulation results decreases to about 2% as temperature and pressure increase,indicating that the high accuracy of the simulation is well retained in the high temperature and pressure region. After the validation of the simulation method and the intermolecular potential models, we systematically simulated the PVTx properties of this binary system from 673 K and 0.05 GPa to 2573 K and 10 GPa. In order to integrate all the simulation results and the experimental data for the calculation of thermodynamic properties, an equation of state (EOS) is developed for the H2O-CH4 system covering 673 to 2573 K and 0.01 to 10 GPa. Isochores for compositions < 4 mol% CH4 up to 773 K and 600 MPa are also determined in this thesis.

南襄盆地泌阳凹陷断裂斜坡带构造特征与油气成藏

The faulted slope zone of Biyang depression, a multiple hydrocarbon accumulation zone lying in a rich oil depression of Nanxiang basin, is a structural-sedimentary compounded slope, which is developed in Yanshanian period and has an area of 500 km2. From the ‘bottom up’, the developed strata may be divided into Yuhuangding formation in Neogene, Dacang Fang, Hetao-yuan plus Liaozhuang formations and Fenghuangzheng plus Pingyuan formation in Neogene, while Hetao-yuan formation is the main hydrocarbon-bearing target. Because of transtensional stress fields formed by persistent action of large-scale faulting in the south of the depression, sedimentary differential compaction in different stages, and tectonic inversion in later developing stage of the depression, a series of nose structure zones cut by different strike faults are developed. Therefore, the reservoir migration and accumulation are controlled by the complex faulted-nose structural zone, reservoir types are dominated by faulted-noses, faulted-blocks and fault-lithology, while lithology and stratigraphic unconformable reservoirs are locally developed. In combination with demands of practical production, applying with a new research approach of systematology and a combination with dynamic and static modes, guided by modern petroleum geologic theory, and based on previous data and studies, new techniques, methods of geophysical exploration, various computer simulation and forecasting techniques are applied in the new research of this paper. Starting from the structural features and formation mechanism, the forming mechanism of faulted structure, conditions and controlling factors of hydrocarbon accumulation, as well as various space-time allocation relationships in the process of accumulation are analyzed in the research. Besides that, the hydrocarbon migration, accumulation mechanism and dynamic evolution process are also discussed in the paper. Through the research, the accumulation rule of the faulted slope zone in faulted lake basin, the distribution and enrichment regularity of different reservoir controlling factors are systematically summarized. The summarizations indicate that the faulted slope is a favorable orientational zone, hydrocarbon is accumulated in nose structures and enriched in the main body of nose structures, faulted transformation zone and the ascent direction of laddering faulted blocks, the faults are the controlling factors, hydrocarbon accumulation zones controlled by fault-lithology are distributed along the faulting direcion. In the end, hydrocarbon migration and accumulation models of complex faulted-nose blocks are established. 1) Down cut model—‘flank-sheet’: the hydrocarbon is migrated like ‘sheet’ along a series of faults with parallel distribution and accumulated in the flank of nose structures; 2）Cross cut --‘axis-string’ model: the hydrocarbon cutting across the faults is migrated like ‘string’ and accumulated in the axis of nose structures. In view of different distribution models, reservoir forming combination patterns are divided and hydrocarbon reservoir evaluation exploration is carried out, which achieves good results in application. Key words: faulted slope zone; migration and accumulation model; reservoir controlling mechanism; reservoir-forming combination

分子水平上研究地质流体的物理化学性质

Geological fluids exist in every geosphere of the Earth and play important roles in many processes of material transformations, energetic interchanges and geochemical interactions. To study the physicochemical properties and geochemical behaviors of geological fluids turn Girt to be one of the challenging issues in geosciences. Compared with conventional approaches of experiments and semi-theoretical modeling, computer simulation on molecular level shows its advantages on quantitative predictions of the physicochemical properties of geological fluids under extreme conditions and emerges as a promising approach to find the characteristics of geological fluids and their interactions in different geospheres of the Earth interior.This dissertation systematically discusses the physicochemical properties of typical geological fluids with state-of-the-art computer simulation techniques. The main results can be summarized as follows: (1) The experimental phase behaviors of the systems CH4-C2H6 and. CO2 have been successfully reproduced with Monte Carlo simulations. (2) Through comprehensive isothermal-isobaric molecular dynamics simulations, the PVT data of water hia^e been extended beyond experimental range to about 2000 K and 20 GPa and an improved equation of state for water has been established. (3) Based on extensive computer simulations, am optimized molecular potential for carbon dioxide have been proposed, this model is expected to predict different properties of carbon dioxide (volumetric properties, phase equilibria, heat of vaporization, structural and dynamical properties) with improved accuracies. (4) On the basis of the above researches of the end-members, a set of parameters for unlike interactions has been proposed by non-linear fitting to the ab initio potential surface of CO2-H2O and is superior to the common used mixing rule and the results of prior workers vs/Ith remarkable accuracies, then a number of simulations of the mixture have been carried out to generate data under high temperatures and pressures as an important complement to the limited experiments. (5) With molecular dynamics simulations, various structural, dynamical and thermodynamical properties of ionic solvations and associations have been oomprehensively analyzed, these results not only agree well with experimental data and first principle calculation results, but also reveal some new insights into the microscopic ionic solvation and association processes.

Total analytical method for Radix astragali extract using two-binary multi-segment gradient elution liquid chromatography

There is an urgent need for thorough analysis of Radix astragali, a widely used Chinese herb, for quality control purposes. This paper describes the development of a total analytical method for Radix astragali extract, a multi-component complex mixture. Twenty-four components were separated step by step from the extract using a series of isocratic isopropanol-methanol elutions, and then 42 components were separated similarly using methanol-water elutions. Based on the log k(w) and -S of the 66 components obtained from the above procedure and the optimization software developed in our laboratory, an optimum elution program consisting of seven methanol-water segments and four isopropanol-methanol segments was developed to finish the task of analyzing the total components in a single run. Under optimized gradient conditions, the sample of Radix astragali extract was analyzed. As expected, most of the components were well separated and the experimental chromatogram was in a good agreement with the predicted one.

Resolution deterioration in emission electron microscopy due to object roughness

In the present paper a general analytic expression has been obtained and confirmed by a computer simulation which links the surface roughness of an object under study in an emission electron microscope and it's resolution. A quantitative derivation was made for the model case when there is a step on the object surface. It was shown that the resolution is deteriorated asymmetrically relative to the step. The effect sets a practical limit to the ultimate lateral resolution obtainable in an emission electron microscope.

弈棋问题解决启发式的元策略模型

Problem solving is one of the basic processes of human cognition and heuristic strategy is the key to human problem solving, hence, the studies on heuristic strategy is of great importance in cognitive psychology. Current studies on heuristics in problem solving may be summarized as follows: nature and structure of heuristics, problem structure and representation, expert knowledge and expert intuition, nature and role of image, social cognition and social learning. The present study deals with the nature and structure of heuristics. The Solitaire problem was used in our the experiments. Both traditional experimental method and computer simulation were used to study the nature and structure of heuristics. Through a series of experiments, the knowledge of Solitaire problem solving was summed up, its metastrategy is worked out, and then the the metastrategy by computer simulation and experimental verification are tested.

风险认知的心理学研究

This research uses a multitask, multimodel approach to probe teh problem of risk perception. It consists of three parts. First, the research of risk perception in general social circumstances, the aim is to collect information about the risk perceived by popular; Secondly, the research of risk perception under working circumstances, in the form of questionaire on enterprises; Thirdly, an experimental test of risk cognitive strategies by computer simulation, that is 2x2x3 design of laboratory research based on questionaire.