Study of unbound nuclei N-11 resonance energy level

The excitation functions of elastic scattering proton which were measured with inverse kinematics of elastic resonance scattering reactions in GANIL and MSU have been fitted by the multi-energy level R-matrix theory. The final result shows that the new energy levels order for nucleus N-11 should be 1/2(+), 1/2(-), 5/2(+), 3/2(+), 3/2(-), 5/2(+), 7/2(-), which is consistent with the experimental results of Be-11 (the mirror nucleus of N-11) and the theoretical calculation of N-11 with GCM theory.

一种新型爬壁机器人机构及运动学研究

提出了一种新型爬壁机器人机构,介绍了机构的构型及结构特点,推导了运动学正、逆解方程式,规划了直线行走、平面旋转及交叉面跨越三种运动模式.机构构型及运动模式的分析表明,该机构具有体积小、运动特性较好的特点.仿真结果证明,该机器人在运动过程中所需吸附力矩较小且占据的空间较少.

原子力显微镜管式扫描器运动学建模与误差分析

针对样本扫描模式原子力显微镜,对其管式扫描器-样本-探针系统进行了运动学分析,建立了该系统的运动学模型,该模型表明:对于给定原子力显微镜扫描器,样本上与探针接触点的横向和纵向位移取决于探针尖端相对于扫描管轴心的偏置量、所加电压(或名义扫描范围)及样本厚度。据此模型,对由于弯曲运动模式所产生的两种重要误差—交叉耦合误差及扫描范围误差进行了定量分析,分析表明:扫描范围误差主要受样本厚度及名义扫描范围影响,而Z向交叉耦合误差主要受探针偏置量及名义扫描范围影响,实验验证了所建立的运动学模型和误差计算公式的正确性;另外,还提出了相应的减小误差的方法。

一种并联机床的位置、速度和加速度逆解

本文针对一种混合结构的并联机器人机床,采用串并联运动学等效的方法,进行了运动学研究,推导了系统的位移、速度和加速度逆解的表达式,这可用于机床在加工时的运动规划及插补算法的实现。本文还进行了运动学仿真研究,机床的实际加工操作应用的结果表明,推导的运动学算法的正确性。

基于约束的4自由度并联机床的可达工作空间分析

针对一种新型的4-DOF���联机构的结构特点,采用基于逆解计算的网格法对其工作空间求解的算法进行了详细的分析,并利用Matlab编制了相应的程序,以Matlab图的形式描绘了几种情况下的工作空间区域,并对此进行了分析。

一种混合型4自由度并联机床的位置分析

针对原沈阳自动化研究所研制开发的五轴并联铣床的结构特点 ,提出了一种改进方案 ,并对这种新的构型的运动学进行了分析 ,针对其特点 ,从新的角度给出了位置正解及反解的方程。该构型的位置正解由于使用了附加传感器并充分考虑到机构特点而使得正解方程形式非常简单并且其中只存在一次项 ,从而避免了对复杂数值解法的采用

监控式水下机械手及相关技术的研究

水下机械手作为水下机器人通用作业工具得到广泛地应用，目前水下机械手的主要操作方式为主从方式。虽然主从方式具有操作直观，灵活的特点，但难于完成需要精确定位，轨迹控制的水下作用，如海洋石油钻井平台导管架的检查作用。为了扩展水下机器人的作业能力，提高水下作业智能化程度，沈阳自动化所承担国家863课题“水下虚拟遥操作与监控机械手系统”关键技术的研究工作。作者参加了此课题的研究工作，以Schilling水下机械手为研究对象，深入研究机械手的作用功能，对机械手的逆运动学，焊缝空间轨迹规划作了深入的研究，形成本文阐述的主要内容。由于Schilling水下机械手各关节之间的连接参数中存在多个偏距，其运动学逆解不能简单由解析方式给出。机械手进行控制与轨迹规划等操作必须找到一种快速求解的方法。本篇文章得出一种基于信赖域法的机械手运动学逆解算法。由于该算法具有收敛速度快的特点，故可以被应用于在线求解机械手运动学逆解；由于没有直接求解二阶导数，故不存在奇异解的问题。经理论分析和实验证明该方法在解决水下监控机械手在线跟踪水下结构物空间轨迹的技术问题具有较好的效果。作为课题的实际应用背景的导管架焊缝曲面为一复杂的空间曲面。为了实现课题的研究目标，本课题不仅要求解焊缝的轨迹，而且要给出其法线方向。对于这样一个问题，用空间解析几何和微分几何方法是很难求解的，本文给出了一种基于B样条参数曲面及曲面求交的方法，具有速度快，通用性强的优点。

一种新型四自由度并联机器人运动学正问题的求解

对一种新型四自由度并联机器人运动学正问题进行了研究，利用３个变量构造 出求解正问题的３个约束方程，然后运用符号计算和析配消元法推导出了只含有一 个变元的３２次多项式方程，并且应用计算机软件系统Ｍａｔｈｅｍａｔｉｃａ进行了求正问 题实解的数值验证。

机器人化三腿磨削机床的研制

以钢坯修磨为实用目的研制的一台机器人化三腿机床，具有刚度大、负载能力强、机构简单、工作空间大、无运动耦合及奇异位形等优点，首次解决了钢坯局部修磨自动化问题，配以其它加工执行器还可实现多种工艺要求。建立了该机床的运动学逆、正解方程，对其工作空间和受力分析进行了介绍，并介绍了局部修磨自动化控制系统

并联机器人机床运动学正、逆解

基于一般ＳＴＥＷＡＲＴ机构研制的并联机器人机床是新一代智能化金属切削加工机床．然而，机床的运动学位置正、逆解呈强非线性，求解困难．出于机床精度的需要，本研究的模型样机在结构上采用了滚珠丝杠传动，因此又带来了关节运动耦合，导致机床运动学位置正、逆解求解更加复杂．利用运动学等效的原则，引入整机等效串联机构及分支等效串联机构，以等效广义坐标为中间变量建立机床运动学正、逆解求解迭代算法．仿真与控制实验表明，该算法具有收索速度快便于实际应用等特点。

基于运动耦合结构的并联机器人的运动学正逆解

根据运动学等效的原则，在并联机器人中引入等效串联机器人及分支等效串联机器人，以等效广义坐标为中间变量建立并联机器人运动学正道解求解算法。该算法能有效处理结构带来的运动耦合，并且规划的软件具有自动生成迭代初始点、避免多解性以及便于实际应用等特点，从而为并联机器人的结构设计与创新提供了理论支持。

一种四自由度并联机构的误差分析及其标定补偿

针对一种四自由度并联机构进行了运动学分析 ,在此基础上以摄动法建立了其误差模型 ,明确了各误差源对末端位姿的影响 .在对并联机构的标定技术进行简单介绍后 ,说明了对该机构误差模型中的机构参数进行标定的两种方法 ,介绍了标定装置、标定算法及标定过程 .最后采用Matlab对基于逆解的标定方法进行了仿真 ,并对仿真结果进行了分析 .

新第三纪红河盆地特征及红河断裂活动对其形成与发育的控制

Based on geodynamic analysis of sedimentary basins, combined sedimentology with structural geology and other methods, the author studied the Honghe basin located in Yunnan province of Southwestern China. Sandstone slice grain size analysis, combined with field geology and indoors study indicate that a set of inland alluvial fan diposits, fluvial deposites, delta deposits and some lacustrine sediments are in Honghe basin. Studying on shape of the Honghe basin, sedimentary and structural characteristic and distribution of different kinds of conglomerate and its structural significance, we hold the idea that the formation and evolution of Honghe basin are controlled by the activity of Red River faut. Correlation of lithostratic cross section in Honghe basin and studying on activity of Red River fault indicate that Honghe basin was formed in two stages. It is a complex basin constitutes of the first-stage trans-releasing basin and the second-stage trans-downfaulted basin. Due to the uplift of Qinghai-Xizang plateau and deformation of orogeny, the western Yunnan and adjacent area move to SE direction as a result of Tectonic Escape. Right lateral strike slip occurred along Red River fault, trans-releasing basin formed at the bend part of the fault due to stress relexation. As the block escaping, it moves away from the other block of the Red River fault, the upper block move down obliquely and trans-downfaulted basin formed. Combined the age of phytolite and regional structural events, we think the first-stage transreleasing basin was formed in late Miocene, on the other words, the dextral strike slip of Red River fault may began in late Miocene (10-7Ma). The second-stage trans-downfaulted basin may be formed in early stage of Pliocene (about 4.7Ma). Subsequently, the bilateral faults dipping to the inside of the plateau and thrusting outwards occurred in the marginal region of Qinghai-Xizang plateau during its uplifting as a fan-shaped mountain body, this results in the uplift of the strata to the east of Red River fault and supply large quantity of provenance for the Honghe basin. In last Pliocene (about 3Ma), strong uplift of Qinghai-Xizang plateau leads to massive clastic sediment entered Honghe basin and causes its closure. As a kind of trans-tentional basin, trans-releasing basin is different to pull-apart basin. The author compared the Mosha trans-releasing basin with Jinggu pull-apart basin in SW Yunan, China, and described their character correspondingly. Otherwise, the author combined the predecessors' studding with conclusion of own study, discussed the kinematics of Ailaoshan-Red River belt in Cenozoic, and the relationship between the formation of Honghe basin and uplifting of Qinghai-Xizang plateau.

西南天山托云盆地白垩-新生代古地磁结果及其构造意义

Western China is regarded as an assemblage of blocks or microplates. The India/Asia postcollisional kinematics of these blocks has attracted many geologists to pay attentions, especially on the geodynamics and intracontinental deformation of Tibetan and adjoining parts of central Asia. So far there are still many debates on the amount of continental shortening and extrusion within Western China blocks. Paleomagnetism plays a very important role in the paleogeographic reconstruction and depiction of kinematics of the blocks, however the unequilibrium of paleomagentic data obtained from Western China prevents paleomagnetists from studying the kinematics and intracontinental deformation on the Tibetan plateau and the central Asia. Moreover, shallower inclinations observed in the Cretaceous and Cenozoic terrestrial red sediments in central Asia makes it difficult to precisely estimate the northward convergence of Tibetan plateau and its adjacent areas since the onset of the Indian/Asian collision. In this thesis, detailed rock magnetic, chronological and paleomagnetic studies have been carried out on the Tuoyun Basin in the southwestern Tianshan to discuss the possible continental shortening and tectonic movements since the Cretaceous-Tertiary. Ar-Ar geochronological study has been conducted on the upper and lower basalt series from the Tuoyun Basin, yielding that the lower and upper basalt series were extruded during 115-113 Ma and 61.8-56.9 Ma, respectively. Both the age spectrum and inverse isochron show that the samples from the upper and lower basalt series have experienced no significant thermal events since extrusion of the baslts. Rock magnetic studies including temperature dependence of magnetization and susceptibility during a heating-cooling cycle from temperature up to 600 ℃ suggest that the baslt samples from the lower and upper basalt series are ferromagnetically predominant of magnetite and a subordinate hematite with a few sites of titanomagnetite. The predominant magnetic mineral of the intercalated red beds is magnetite and hematite. Anisotropy of magnetic susceptibility shows that both the baslts and the intercalated red beds are unlikely to have undergone significant strain due to compaction or tectonic stress since formation of the rocks. The stable characteristic remanent magnetization (ChRM) isolated from the most samples of the upper and lower basalt series and intercalated red beds, passes fold test at the 99% confidence level. Together with the geochronological results, we interpret the characteristic component as a primary magnetization acquired in the formation of rocks. Some sites from both the upper and lower basalts yielded shallower inclinations than the reference field computed from the Eurasia APW, we prefer to argue that these shallow inclinations might be related to geomagnetic secular variation, whereas the shallow inclination in the intercalated red beds is likely to be related to detrital remanent magnetization. Paleomagnetic results from the early Cretaceous-Paleogene basalts indicate that no significant N-S convergence has taken place between the Tuoyun Basin and the south margin of Siberia. Furthermore, the Cretaceous and Tertiary paleomagnetic results suggest that the Tuoyun Basin was subjected to a local clockwise rotation of 20°-30° with respect to Eurasia since the Paleocene time, which is probably subsequent to the Cenozoic northward compression of the Pamir arc.

库车坳陷-南天山盆山系统第三纪脆性构造研究

Study on the structural coupling relationship between basin and range is not only helpful to recognize the basin formation and evolution systematically, but also to guide petroleum exploration in the basin. As a late Paleozoic Orogen, the South Tianshan Mountains reactivated and uplifted rapidly during the Cenozoic, and led to the Mesozoic-Cenozoic considerable thick deposits in the Kuqa Depression. The researches of the dissertation were carried out in the Kuqa depression-South Tianshan M ountain s ystem, a nd t he b rittle m icrotectonics w. ere c hosen as t he m ost important object. Based on observations and measurements of the field, we made detailed investigations on the geometry and kinematics of this area, and analyzed the abutting and cutting relationships and relative sequence of many brittle structures, such as joint, shear fractures, faults and some small-scale structures related to them closely. According to those brittle fractures' relationships with stress, the nature and variation of regional palaeostress field during the Cenozoic were studied through inversion of fault slip data and inferring stress state from joint sequences. And the deformation time was estimated primarily via ESR dating of faulting. Results show that the stress field varies as well in times as in space. The maximal principal stress direction shifted from the vertical to the horizontal, and stress regime from weak extension to strong compression from the Paleogene to the Neogene regionally. During the late Neogene, the structural deformation of the South Tianshan and the basin-range boundary was dominated by near N-S extension, while near N-S compressive deformation in the interior of the Kuqa Depression. There exits obvious differential stress state from the north to the south. ESR dating of the faulting during the Cenozoic indicates that, the normal faulting in the north edge of the Kuqa Depression have been active all along from the Miocene to the early Pleistocene, but the thrusting and reverse faulting in the interior only been active from the Pliocene to the early Pleistocene. On the base of those geological data and some geophysical information and theoretical calculation results, we infer that, the different stress regime the basin-range system is ascribed to the vertical uplift of the Tianshan Mountain. It was the vertical uplift that lead to the gravity-driven gliding of thick layers lying on the faulted basement from the South Tianshan Mountain to the Kuqa depression, and to folding and thrusting in the interior and frontal of the Kuqa depression. Combining the structural evolution with petroleum geological conditions of the Kuqa Depression, we think that the strong compressive deformation of the Kuqa Depression during rapid uplifting of the Tianshan Mountains from the Pliocene to the early Pleistocene play crucial role in the structural trap formation and proliferous gas accumulation.