基于最小疼痛感的机器人操作臂轨迹规划方法

针对机器人操作臂跟踪运动目标的问题,从仿生学的角度提出一种新的轨迹规划方法。将关节加速度的增量进行编码,同时将疼痛感作为优化指标,利用遗传算法在操作臂的关节空间进行轨迹优化,得到操作臂在跟踪运动目标过程中的具有较小疼痛感的轨迹。仿真试验结果表明,所提出的方法是可行的,可以规划出正确的跟踪轨迹,同时有效的减小了操作臂运动过程中的疼痛感。

机器人操作臂跟踪动态目标的轨迹规划方法

针对机器人操作臂跟踪运动目标问题,提出一种基于遗传算法的轨迹规划方法。通过对关节加速度的增量进行编码,实现在操作臂的关节空间进行轨迹优化,得到操作臂在跟踪运动目标过程中所需要的轨迹。仿真计算的结果表明,所提出的方法是有效的。

3自由度并联柔索驱动变刚度操作臂的刚度控制

利用柔索的弹性及驱动冗余性构造了一种3自由度并联柔索驱动变刚度操作臂,在静力学与刚度分析的基础上,进行刚度控制研究。首先,将柔索驱动力映射到关节空间,并分析等效关节力与柔索张力和外力的关系, 提出该操作臂的三维力矢量闭合原理。根据微分变换原理进行刚度分析,得到关节刚度矩阵及操作手刚度矩阵, 并进行数值算例分析,结果表明:刚度与柔索的张力有关,调节柔索张力可以改变系统刚度。最后,采用位置与张力混合控制的策略,对该变刚度操作臂进行了刚度控制,并进行了仿真验证。

Enlarging the depth of focus by filtering in the phase-space domain

The ambiguity function was employed as a merit function to design an optical system with a high depth of focus. The ambiguity function with the desired enlarged-depth-of-focus characteristics was obtained by using a properly designed joint filter to modify the ambiguity function of the original pupil in the phase-space domain. From the viewpoint of the filter theory, we roughly propose that the constraints of the spatial filters that are used to enlarge the focal depth must be satisfied. These constraints coincide with those that appeared in the previous literature on this topic. Following our design procedure, several sets of apodizers were synthesized, and their performances in the defocused imagery were compared with each other and with other previous designs. (c) 2005 Optical Society of America.

Transformation of accommodation space of the Cretaceous Qingshankou Formation, the Songliao Basin, NE China

Analysis of accommodation space variation during deposition of the Cretaceous Qingshankou Formation in the Songliao Basin, NE China, indicates that accommodation space changed both through time and across the basin as a seesaw movement. The mid-upper Qingshankou Formation is divided into three units. In each unit, changes of accommodation space differ in the southern and northern part of the basin. Increasing accommodation in the southern part is accompanied by a decrease in the northern part, and vice versa. Between the northern and southern basin, there was a neutral belt that is like a fulcrum, called the transformation belt here, where the accommodation did not change to any significant degree. We call this response 'accommodation transformation', whose characteristics are defined by tectonic subsidence analysis, palaeontological and sedimentary analyses. The accommodation increasing belt, decreasing belt, transformation belt and accommodation transformation boundary together constitute the accommodation transformation system. The recognition of accommodation transformation in the Songliao Basin provides a new insight into sequence stratigraphy and might be widely applicable.

济阳地区深部结构与含油气性讨论

Oil and gas exploration of marine strata in China's Pre-Cenozoic residual basins is regarded as a worldwide puzzle because of existent problems and cruxes. Objectively speaking, the subsurface geologic structure is complicated, and the surface conditions of some areas are tough. On the other hand, there are still many problems to be solved in oil and gas exploration technologies of Pre-Cenozoic marine fades, and theoretic cognition about petroleum geology is not profound yet. Therefore, it is principal to explore integrated geophysical research ways of Pre-Cenozoic residual basins. Seismic prospecting and geophysical integrated interpretation technologies aimed at middle Paleozoic marine facies with deeper burial and complicated geologic conditions have not formed due to bad quality of deep strata data. Pre-Cenozoic strata, and especially extension, thickness and internal structure of Paleozoic strata can not be recognized from seismic profiles, so it is hard to systematically cognize structural features and oil-gas resources prospect of Pre-Cenozoic basins. To further investigation of fabric and structural features, basin prototype, formation and evolution pattern of Pre-Cenozoic basins, and also their control over formation, migration and aggregation of oil and gas, will play a guiding and promotive role in developing new surveying areas, selecting advantageous zones and predicting oil-gas resources.This paper follows the modem macrocontrol theory of "Region constrains local, deep strata controls shallow ones", and uses the integrated geophysical method of "One guide, two hinges, three combinations and multi feedbacks'*. Based on several years of geological and geophysical results of the Shengli Oilfield, and 14 newly-joint regional seismic profiles, deep structure and oil-gas bearing capacity of the Jiyang area are discussed and new cognitions are drawn as below.Seismic identification marks Tr, Tg, Tgl and Tg2 are established for importantPre-Cenozoic geological interfaces, and promoted to the whole Jiyang area.Through area-wide tracking and clogging of important seismic reflection marker,the isochronic framework of pre-Tertiary basin is set up in the Jiyang area for the firsttime, which is vital for basin research.Integrated with geological and geophysical research results, the Jiyang area isdivided into four first-order tectonic sequences- basement, lower tectonic layer,upper tectonic layer, and top tectonic layer. The basement and lower tectonic sequence which are related to Pre-Cenozoic are studied with emphasis.Through the research of regional seismic profiles, the point of view is given thatthe Kongdian Formation of Jiyang is structural transition period. The top-bottomunconformable interface of the Kongdian Formation is found out for the first time,and the basin model is determined primarily, which lay a basis for prototype basinresearch of the Jiyang Kongdian Formation.The distribution status of Middle-Paleozoic is delineated in the Jiyang area.The maximum thickness of Paleozoic lies in the top of the south declivity of half-graben. The thickness gets thinner towards the center of Mesozoic and Cenozoic half-graben basin, and even disappears. Structural action in the west-north affects the distribution of Paleozoic residual strata.6. The features of second-order tectonic sequence of the Jiyang depression isstudied and its evolution history of is rebuilt.Combined with the 5-stage evolution history of the China continent and structure evolution features of the Jiyang area, the structure sedimentary process since Paleozoic is divided into 5 periods - basement forming , Indosinian orogenic, Yanshan negative reversal, Himalayan extension and Neogene subsidence period.Combined with the research results of gravity, magnetic surveying and regionalprofiles, this paper brings forward the idea for the first time that the western boundaryof the Jiyang depression is the Ningjin-Yangpan fracture zone, and forms aside-column assemblage with the Wudi fracture zone.The opinion that under Middle-Cenozoic basins in the middle Jiyang area theremight superimpose an old residual basin is given for the first time. And if it is provedto be true, a new exploration space will be pioneered for Jiyang and even north China.There exists many types of tectonic-stratigraphic traps formed under piezotropy,extension and compound action in Pre-Cenozoic Jiyang. Therein all kinds of burialhills are the most important oil-gas trap type of Pre-Cenozoic, which should besurveyed layeredly according to the layout of oil sources.As such a new challenging project and field, the paper systematically analyses different geophysical responses of the Jiyang area, frames the deep structure of the area, and preliminarily recognizes the Pre-Cenozoic residual basins. It breaks through to a certain extent in both theory and practice, and is expected to provide new geophysical and geotectonic clues for deep exploration in Shengli.