基于修正的最小均方误差分类算法的移动机器人运动规划

研究了不确定性环境下移动机器人躲避运动轨迹未知的移动障碍物的一种新方法．通过实时最小均方误差估计算法预测每个障碍物的位置及运动轨迹，并利用模式识别中最小均方误差分类器的修正模型计算出机器人的局部避障路径，再运用船舶导航中使用的操纵盘技术来确定每个导航周期中移动机器人的速．度仿真结果表明了该方法的可行性

三峡库区堆积层斜坡稳定性分级与应用研究

Considering the lacking of standard for the classification of Accumulative slopes so far, research working was conducted based on the results of geological investigation, data analysis and experiment carried out in Wanzhou. By mean of statistical method and grey system, the author studied in detail inflationary factors to Accumulative slopes. In order to study the mechanism of Rock-Soil Aggregate (RSA), numerical testing method was used. Coordinates in the two and three dimensional space and its corresponding rock fragments in the sample were generated randomly by VB and Particle flow code. After being built the models of RSA with different rock content, uniaxial and triaxial numerical simulation tests were carried out respectively. In order to study the effect of rainfall in Accumulative slopes, in situ infiltration testing had been conducted on site in Wanzhou, Three Gorges Area. Relationship between the infiltration rate and amount of precipitation has been obtained. Eleven factors are considered in the classification of Accumulative slopes in this paper.(1)On the basis of four basic factors and four inducing factors, sum-and-difference method for the classification system has been built. (2)After weight of factors being determined by analytic hierarchy process and membership function of Accumulative slopes stability being built in virtue of fuzzy mathematics, AHP-FM model of Accumulative slopes stability has been completed. In the end of this paper, having been applied on stability of Accumulative slopes in Three Gorge area and compared with result by limit equilibrium, classification system has good effect.

苏丹被动裂谷盆地的油气成藏机理和成藏模式

The research area of this paper covers the maximum exploration projects of CNPC, including Blocks 1/2/4 and Block 6 of the Muglad basin and the Melut basin in Bocks 3/7 in Sudan. Based on the study of the evolution history of the Central African Shear Zone (CASZ), structural styles and filling characteristics of the rift basins, it is put forward that the rift basins in Sudan are typical passive rift basins undergoing the strike-slip, extension, compression and inversion since the Cretaceous. The three-stage rift basins overlapped obliquely. The extension and rifting during the Early Cretaceous is 50-70% of the total extension. The features of the passive rift basins decided that there is a single sedimentary cycle and one set of active source rocks within the middle. Influenced by the three-stage rifting and low thermal gradient, hydrocarbon generation and charging took place very late, and the oil pool formation mechanism is very unique from the Lower Cretaceous rift sequences to the Paleogene. The reservoir-seal assemblages are very complicated in time and space. The sealing capacity of cap rocks was controlled by the CASZ. In general the oils become heavier towards the CASZ and lighter far away. The oil biodegradation is the reason causing the high total acid number. The determination of effective reservoir depth ensures that all discovered fields up to now are high-production fields. The propagation and growth of boundary faults in the rift basins can be divided into a simple fault propagation pattern and a fault growth-linkage pattern. It is firstly found that the linkage of boundary fault segments controls the formation of petroleum systems. Three methods have been established to outline petroleum systems. And a new classification scheme of rift-type petroleum system has been put forward: pre-rift, syn-rift (including passive and active) and post-rift petroleum systems. This scheme will be very important for the further exploration of rift basins. This paper firstly established the formation models of oil pools for the passive rift basins in Sudan: the coupling of accommodation zones and main plays for the formation of giant fields. The overlapping of late rifting broke the anticlines to be several fault-blocks. This process determined that anti-fault blocks are the main traptypes in the cretaceous sequences and anticlines in the Paleogene. This can explain why the traptypes are different between the Muglad and Mefut basins, and will provide theoretic guidance for the exploration strategy. The established formation mechanism and models in this paper have had great potential guidance and promotion for the exploration in Sudan, and resulted in significant economic and social benefit. A giant field of 500 million tons oil in place was found 2003. The cost in Blocks 3/7 is only 0.25

Numerical solution of the incompressible Navier-Stokes equations with an upwind compact difference scheme

A new finite difference method for the discretization of the incompressible Navier-Stokes equations is presented. The scheme is constructed on a staggered-mesh grid system. The convection terms are discretized with a fifth-order-accurate upwind compact difference approximation, the viscous terms are discretized with a sixth-order symmetrical compact difference approximation, the continuity equation and the pressure gradient in the momentum equations are discretized with a fourth-order difference approximation on a cell-centered mesh. Time advancement uses a three-stage Runge-Kutta method. The Poisson equation for computing the pressure is solved with preconditioning. Accuracy analysis shows that the new method has high resolving efficiency. Validation of the method by computation of Taylor's vortex array is presented.

Fourth order accurate compact scheme with group velocity control (GVC)

For solving complex flow field with multi-scale structure higher order accurate schemes are preferred. Among high order schemes the compact schemes have higher resolving efficiency. When the compact and upwind compact schemes are used to solve aerodynamic problems there are numerical oscillations near the shocks. The reason of oscillation production is because of non-uniform group velocity of wave packets in numerical solutions. For improvement of resolution of the shock a parameter function is introduced in compact scheme to control the group velocity. The newly developed method is simple. It has higher accuracy and less stencil of grid points.

Scheme Construction with Numerical Flux Residual Correction (NFRC) and Group Velocity Control (GVC)

For simulating multi-scale complex flow fields like turbulent flows, the high order accurate schemes are preferred. In this paper, a scheme construction with numerical flux residual correction (NFRC) is presented. Any order accurate difference approximation can be obtained with the NFRC. To improve the resolution of the shock, the constructed schemes are modified with group velocity control (GVC) and weighted group velocity control (WGVC). The method of scheme construction is simple, and it is used to solve practical problems.

Optimized Group Velocity Control Scheme and DNS of Decaying Compressible Turbulence of Relative High Turbulent Mach Number

To overcome the difficulty in the DNS of compressible turbulence at high turbulent Mach number, a new difference scheme called GVC8 is developed. We have succeeded in the direct numerical simulation of decaying compressible turbulence up to turbulent Mach number 0.95. The statistical quantities thus obtained at lower turbulent Mach number agree well with those from previous authors with the same initial conditions, but they are limited to simulate at lower turbulent Mach numbers due to the so-called start-up problem. The energy spectrum and coherent structure of compressible turbulent flow are analysed. The scaling law of compressible turbulence is studied. The computed results indicate that the extended self-similarity holds in decaying compressible turbulence despite the occurrence of shocklets, and compressibility has little effects on relative scaling exponents when turbulent Mach number is not very high.

An incremental micromechanical scheme for nonlinear particulate composites

A general incremental micromechanical scheme for the nonlinear behavior of particulate composites is presented in this paper. The advantage of this scheme is that it can reflect partly the effects of the third invariant of the stress on the overall mechanical behavior of nonlinear composites. The difficulty involved is the determination of the effective compliance tensors of the anisotropic multiphase composites. This is completed by making use of the generalized self-consistent Mori-Tanaka method which was recently developed by Dai et al. (Polymer Composites 19(1998) 506-513; Acta Mechanica Solida 18 (1998) 199-208). Comparison with existing theoretical and numerical results demonstrates that the present incremental scheme is quite satisfactory. Based on this incremental scheme, the overall mechanical behavior of a hard-particle reinforced metal matrix composite with progressive particle debonding damage is investigated.

An Improved Ce/Se Scheme And Its Application To Detonation Propagation

An improved two-dimensional space-time conservation element and solution element ( CE/ SE) method with second-order accuracy is proposed, examined and extended to simulate the detonation propagations using detailed chemical reaction models. The numerical results of planar and cellular detonation are compared with corresponding results by the Chapman-Jouguet theory and experiments, and prove that the method is a new reliable way for numerical simulations of detonation propagation.

A high order accurate difference scheme for complex flow fields

A high order accurate finite difference method for direct numerical simulation of coherent structure in the mixing layers is presented. The reason for oscillation production in numerical solutions is analyzed, It is caused by a nonuniform group velocity of wavepackets. A method of group velocity control for the improvement of the shock resolution is presented. In numerical simulation the fifth-order accurate upwind compact difference relation is used to approximate the derivatives in the convection terms of the compressible N-S equations, a sixth-order accurate symmetric compact difference relation is used to approximate the viscous terms, and a three-stage R-K method is used to advance in time. In order to improve the shock resolution the scheme is reconstructed with the method of diffusion analogy which is used to control the group velocity of wavepackets. (C) 1997 Academic Press.

A perturbational h4 exponential finite-difference scheme for the convective diffusion equation

A perturbational h4 compact exponential finite difference scheme with diagonally dominant coefficient matrix and upwind effect is developed for the convective diffusion equation. Perturbations of second order are exerted on the convective coefficients and source term of an h2 exponential finite difference scheme proposed in this paper based on a transformation to eliminate the upwind effect of the convective diffusion equation. Four numerical examples including one- to three-dimensional model equations of fluid flow and a problem of natural convective heat transfer are given to illustrate the excellent behavior of the present exponential schemes, the h4 accuracy of the perturbational scheme is verified using double precision arithmetic.

Upwind compact scheme with dispersion control for aerodynamic equations

A compact upwind scheme with dispersion control is developed using a dissipation analogy of the dispersion term. The term is important in reducing the unphysical fluctuations in numerical solutions. The scheme depends on three free parameters that may be used to regulate the size of dissipation as well as the size and direction of dispersion. A coefficient to coordinate the dispersion is given. The scheme has high accuracy, the method is simple, and the amount of computation is small. It also has a good capability of capturing shock waves. Numerical experiments are carried out with two-dimensional shock wave reflections and the results are very satisfactory.

H4 exponential finite-difference scheme for convective diffusion-equations

Perturbations are applied to the convective coefficients and source term of a convection-diffusion equation so that second-order corrections may be applied to a second-order exponential scheme. The basic Structure of the equations in the resulting fourth-order scheme is identical to that for the second order. Furthermore, the calculations are quite simple as the second-order corrections may be obtained in a single pass using a second-order scheme. For one to three dimensions, the fourth-order exponential scheme is unconditionally stable. As examples, the method is applied to Burgers' and other fluid mechanics problems. Compared with schemes normally used, the accuracies are found to be good and the method is applicable to regions with large gradients.