Design and path planning for a remote-brained service robot

This paper presents a novel robot named "TUT03-A" with expert systems, speech interaction, vision systems etc. based on remote-brained approach. The robot is designed to have the brain and body separated. There is a cerebellum in the body. The brain with the expert systems is in charge of decision and the cerebellum control motion of the body. The brain-body. interface has many kinds of structure. It enables a brain to control one or more cerebellums. The brain controls all modules in the system and coordinates their work. The framework of the robot allows us to carry out different kinds of robotics research in an environment that can be shared and inherited over generations. Then we discuss the path planning method for the robot based on ant colony algorithm. The mathematical model is established and the algorithm is achieved with the Starlogo simulating environment. The simulation result shows that it has strong robustness and eligible pathfinding efficiency.

超图划分与SFC的比较研究和数值软件可视化界面

本文重点对超图划分和空间填充曲线两类算法进行比较研究。在大规模科学计算的中，并行计算效率提升的一个关键在于将数据进行剖分，分配到相应处理器中，以及对处理器中的数据进行动态调整，数据剖分和数据调整是实现处理器节点之间负载均衡的关键。针对数据剖分和数据调整问题，目前主要通过两类手段解决，分别称为拓扑手段和几何手段。而超图划分和空间填充曲线作为这两类手段的代表，在数据剖分和数据调整过程中得到了广泛的应用。 解决超图划分问题的经典算法中，应用最为广泛是启发式算法，如FM算法等。本文以FM算法为例，给出了较为详细的分析。随着问题规模的不断扩大，这些传统的算法消耗的时间急剧增加，研究者们因此又提出了对超图进行多级划分的算法框架。本文将对这一算法框架的各阶段细节进行分析。 空间填充曲线可以对离散的多维空间进行线性遍历，将多维的问题转化为一维的问题。利用这种特性，在数据剖分过程中可以将数据进行排序，根据这一顺序对数据进行剖分。本文对空间填充曲线的生成和应用，以及几类常用的空间填充曲线的顺序编码生成算法进行分析。 超图划分和空间填充曲线在数据剖分应用中各有优缺点。超图划分对节点间通信量等优化目标可以进行更为准确的计算，可以得到对更为有效的减少节点间通信量的数据剖分，但是超图划分这一过程本身所需要的时间较多；而空间填充曲线可以在很短的时间内对数据进行剖分，但是无法对优化目标进行准确计算。我们对两者在数据剖分中的应用，以及应用不同的划分模型对整体计算的影响进行了分析比较，并进行了实验对观点进行了验证。 在文章的最后，结合实际项目对数值软件可视化界面的设计进行了阐述。

适用于云计算的面向查询数据库数据分布策略

为满足海量数据的处理需求,业界提出了多种解决方案。云计算是目前较为热门的一种,它主要用廉价PC组成超大规模集群服务器来进行数据存储和处理。随着云计算技术的发展,越来越多的应用将转移到云中,数据库系统也不例外。但数据库系统要求的ACID特性在数据分布存储时可能导致部分操作性能低下,如连接查询操作。为在数据分布存储下提高数据库系统的性能,提出了一种面向查询的数据分布策略(Selection Oriented Distribution,SOD),即根据数据库的查询情况确定数据的分布算法。该算法适用于云计算,能明显提高系统的查询性能。

三维VSP技术的研究及应用

Today, because of high petroleum consumption of our country, society steady development and difficulty increase in new resources exploration, deep exploitation of the existing oilfield is needed. More delicate reservoir imaging and description, such as thin layer identification, interlayer exploitation monitoring, subtle structure imaging, reservoir anisotropy recognition, can provide more detail evidence for new development adjustment scheme and enhanced oil recovery. Now, the people have already realized the 3D VSP technique more effective than the general methods in solving these aspects. But VSP technique especially 3D VSP develop slowly due to some reasons. Carrying out the research of VSP technique, it will be very useful to the EOR service. 3D VSP techniques include acquisition、data processing and interpretation. In this paper, the author carried out some researches around acquisition and processing. The key point of acquisition is the survey design, it is critical to the quality of the data and it will influence the reservoir recognition as follows. The author did detailed researches on the layout pattern of shot point and geophone. Some attributes relate to survey design such as reflectivity, incidence angle, observation area, reflection points distribution, fold, minimum well source distance, azimuth angle and so on are studied seriously. In this geometry design of 3D-VSP exploration in deviated wells, the main problems to be solved are: determining the center position of shots distribution, the effect of shots missing on coverage areas and coverage times，locating the shots and receivers of multi-wells. Through simulating and analyzing, the above problems are discussed and some beneficial conclusions are drawn. These will provide valuable references to actual survey design. In data processing, researches emphasize on those relatively key techniques such as wavefield separation, VSP-CDP imaging, the author carried out deep researches around these two aspects. As a result, variant apparent slowness wavefield separation method developed in this article suit the underground variant velocity field and make wavefield separation well, it can overcome reflection bending shortage aroused by conventional imaging method. The attenuateion range of underground seismic wave is very important for amplitude compensation and oil/gas identification.In this paper, seismic wave attenuateion mechanism is studied by 3D-VSP simulateion and Q-inversion technique. By testing with seismic data, the method of VSP data attenuateion and relationship of attenuateion attribute variant with depth is researched. Also the software of survey design and data processing is developed, it fill the gap of VSP area in our country. The technique developed applied successfully in SZXX-A Oilfield、QKYY-B Oilfield、A area and B area. The good results show that this research is valuable, and it is meaningful to the VSP technique development and application of offshore oil industry and other areas in our country.