Stabilization of Dynamic Systems for Multiple Omni-Directional Mobile Robots

本文考虑了由2个全方位移动机器人组成的混合动力学系统的协调拟镇定问题.利用机器人位置之间的向量与机器人目标之间向量的内积,设计了多步拟镇定律,该控制律能够在避碰后按指数速率运动到目标点,且在整个过程中两机器人之间的距离不小于避碰的安全距离.最后对2个全方位移动机器人进行了仿真,验证了所给方法的有效性。

Stabilization of Uncertain Nonholonomic Dynamic Systems with Bounded Inputs

The sliding mode approach and the multi-step control strategy are exploited to propose a stabilizing controller for uncertain nonholonomic dynamic systems with bounded inputs. This controller can stabilize the system to an arbitrarily small neighborhood about its equilibrium in a finite time .Its application to a nonholonomic wheeled mobile robot is described. Simulation result shows that the proposed controller is effective

空间柔性双臂机器人系统建模、控制与仿真研究

空间柔性多臂机器人系统是高度非线性,强耦合的动力学系统,其动力学的研究是比较复杂和困难的问题.本文针对极为复杂的空间柔性双臂机器人系统,建立了其系统动力学模型,利用逆动力学控制算法对该动力学模型实现了轨迹跟踪控制,仿真结果表明该方法具有较好的控制效果,分析了在仿真过程中出现的有关数值算法的问题.

一类非完整约束动力学系统的人工场导向控制

对于一类具有轮式移动机构的非完整动力学系统，本文通过建立人工场的方法来实现其位姿镇定、轨迹跟踪和路径跟踪等控制问题。人工场用于导向和控制方向角，而通过辅助的线速度控制以获取最佳收敛路径。控制器设计中同时兼顾动力学扰动及实际系统速度和输出力矩的饱和限制，所得控制器对于跟踪问题仅需知道期望位姿，而且结构简单、鲁棒性强、便于实现。

基于Agent的分布式多机器人系统建模及分析

进行一个多装配机器人系统 DAMAS的模型研究 ,介绍离散事件动态系统的重要建模工具 Petri网 ,提出解决模型复杂性的有效方法 ,建立了系统中各个 Agent及整个系统的 Petri网模型 ,对这些模型及相互间的交互模型进行了重要的活性和有界性分析 ,对多机器人系统的协作机制进行了验证分析。

动态系统结构与分形公司

传统的静态企业结构不能适应快速变化的环境，企业需要可以快速重构的动态结构，以内部变化来适应外部变化。系统的构成单元应该具有决策智能、自组织、协商合作和自治能力。本文研究了企业动态结构的需求与特点，同时介绍了分形公司的动态结构思想。

准噶尔盆地三个泉凸起油气成藏条件及动力学研究

Sangequan Uplift in Junggar Basin is an inherited positive structure, which has undergone many times of violent tectonic movements, with high tectonic setting, and far away from the oil-source sag, reservoir forming condition is complex. Combining sequence stratigraphy, depositional facies, reservoir formation theory with seismic and well logging analysis, this paper conducted integrated study on the hydrocarbon migration, accumulation, entrapment conditions, the reservoir forming dynamics and the forming model, and acquired the following recognition: (1) The special reservoir formation conditions that enable Sangequan Uplift to form a giant oil-gas field of over 100 million tons of reserves are as follows: (D Deltaic frontal sandbody is developed in Jurassic Xishanyao Formation, Toutunhe Formation and Lower Cretaceous Hutubihe Formation, with good reservoir quality;? Abundant hydrocarbon resources are found in Western Well Pen-1 Sag, which provides sufficient oil sources for reservoir formation of Sagequan Uplift; ?The unconformity-fault-sandbody system has formed a favorable space transporting system and an open conduit for long-distance hydrocarbon migration; ?fault, low amplitude anticline and lithological traps were well developed, providing a favorable space for hydrocarbon accumulation. (2) The most significant source beds in the Western Well Pen-1 Sag are the Mid-Permian Lower Wuerhe Formation and Lower-Permian Fengcheng Formation. The oil in the Well Block Lu-9 and Shinan Oilfield all originated from the hydrocarbon source beds of Fengcheng Formation and Lower Wuerhe Formation in the Western Well Pen-1 Sag and migrated through Jidong and Jinan deep faults linking unconformity of different regions from sources to structural highs of the uplift and shallow horizons. (3) There were 2 reservoir formation periods in District Sangequan: the first was in late Cretaceous during which the upper part of Xishanyao Formation and Toutunhe Formation; the second was in Triassic, the main resources are high-maturity oil and gas from Fengcheng Formation and Wuerhe Formation in Western Pen-1 Well sag and the gas from coal measure strata of Xishanyao Formation, that were accumulated in Hutubihehe Formation. (4) Model of the hydrocarbon migration, accumulation, reservoir formation of the study area are categorized as three types starting from the hydrocarbon source areas, focusing on the faults and unconformity and aiming at reservoirs: ① Model of accumulation and formation of reservoir through faults or unconformities along the "beam" outside source; ②Model of migration, accumulation and reservoir formation through on-slope near source;③Model of migration, accumulation and reservoir formation of marginal mid-shallow burial biogas-intermediate gas. (5) Pinchout, overlap and lithologic traps are developed in transitional zones between Western Well Pen-1 sag and Luliang uplift. Many faulted blocks and faulted nose-like traps are associated with large structures on Sangequan uplift. Above traps will be new prospecting areas for further hydrocarbon exploration in future.

东营凹陷沙三中亚段湖相浊积岩储层特征及油气成藏规律研究

Turbidity sandstone reservoirs have been an important field of hydrocarbon exploration and development in the basins all over the world, as well as in China. Lithologic pools are composed of turbidity sandstones and other sandstones are frequently found in the Jiyang Depression that is a Mesozoic-Cenozoic non-marine oil-bearing basin. The Dongying Sag lies in the sedimentary center of the basin. The subtle traps with turbidity reservoirs are generally difficult to be predicted and described by using current techniques. The studies on turbidity reservoirs plays thus an important theoretical and theoretical practical role in exploration and development in the Jiyang Depression. The attention is, in this thesis, focused on the petrologic properties and oil accumulating behaviors in lake turbidity sedimentary systems in the middle part of the third section of Shahejie Formation in the Dongying Sag, especially in Dongxin area, which lies on the central uplift of the Sag. The paper has disclosed the origin types of turbidity sandstones, distribution pattern and controlling factors of turbidity sandstones, and set up hydrocarbon accumulation patterns of the middle part of the third section of Shahejie Formation in Dongxin, based on nonmarine high resolution sequence stratigraphy, event sedimentology and new theories of hydrocarbon forming. By studying prediction method and technology of turbidity sandstone reservoirs, using precise geological model developing, new techniques of high resolution seismic inversion constrained by logging, the paper has forecast low permeability turbidity sandstone reservoirs and pointed out advantage exploration aims to progressive exploration and development. The paper has obtained mainly many productions and acknowledges as follows: 1.Turbidity sandstone reservoirs of the third section of Shahejie Formationin Dongying Sag are formed in such specifical geological background as rift and extension of basin. The inherited Dongying delta and transgression make up many turbidity distribution areas by overlaying and joining together. The hydrocarbon migrates from depression area to adjacent turbidity sandstone continuously. Accumulation area which is sufficient in oil is formed. 2.The paper has confirmed distinguishable sign of sequence boundary , established stratigraphic framework of Dongying Sag and realized isotime stratigraphic correlation. Es3 of Dongying delta is divided into eleven stages. Among them, the second period of the lower section in Es3, the sixth period of the middle section in Es3, the third period of the upper section in Es3 correspond to eleven sedimentary isotime surface in seismic profile, namely Es3 is classified into eleven Formations. 3.According to such the features of turbidity sandstone as deep in burial, small in area, strong in subtle property, overlaying and joining together and occurring in groups, management through fault and space variations of restriction quantum are realized and the forecast precision of turbidity sandstone by using precise geological model developing, new techniques of high resolution seismic inversion constrained by logging, based on the analysis of all kinds of interwell seismic inversion techniques. 4.According to the features of low permeable turbidity sandstone reservoirs, new method of log interpretation model is put forward. At the same time, distinguish technology of familiar low resistivity oil layer in the turbidity sandstone reservoirs is studied based on petrophysical laboratory work and "four properties" interrelationship between lithological physical Jogging and bearing hydrocarbon properties. Log interpretation model and reservoir index interpretation model of low resistivity oil layer are set up. So the log interpretation precision is improved. 5.The evolution law and its difference of the turbidity sandstone are embodies as follows: the source of sediments come from the south and east of the study area in the middle period of Es3. East source of sediments is pushed from west to east. However, the south source supply of sediments in the early and middle period of Es3 is in full, especially in Es3. subsequently, the supply is decreased gradually. Turbidity fan moves back toward the south and the size of fan is minished accordingly. The characteristic of turbidity sandstone in Dongying Sag is different in different structural positions. Dongxin in the middle-east of the central lift and Niuzhuang Sag He in Dongying delta front and prodelta deep lake subfacies. Although the turbidity sandstone of the two areas root in the Dongying delta sedimentary system, the sand body has different remarkably characteristic. 6.The sedimentary model of the turbiditys in study area have three types as follows: (1) collapse turbidity fan in respect of delta; (2) fault trench turbidity fan; (3) other types of microturbidity sandstone. Middle fan and outer fan, can be found mainly in sublacustrine fan. Middle fan includes braided channel microfacies, central microfacies and braided interchannel microfacies, which is main prospecting oil-bearing subfacies. The middle section of the third section of Shahejie Formation in study area (for example the central lift) can be divided into middle-lower and upper part. The middle-lower part is characteristic of turbidity fan. The upper part is sedimented mainly by delta-collapse fan. 7.The turbidity reservoirs of the middle part of the third section of Shahejie Formation in study area characterize by low maturity both in component and texture, strong in diagenesis and low in permeability. The reservoir can be classified into four types. Type III is the body of reservoir and comprises two types of H a and HI b. M a belongs to middle porosity - low permeability reservoir and distributes in the central lift. Hlb belongs to low porosity - low permeability and distributes in Haojia region. 8.A11 single sand body of lens turbidity reservoir of the middle part of the third section of Shahejie Formation in study area are surrounded by thick dark source rocks. The oil-water system is complex and behaves that every sandstone is single seal unit. The water body is 1/3-1-5 of the sand body. The edge water is not active. The gas exists in the top of reservoir in the form of mixed gas. For far-range turbidity fan with big scale channel, the area and volume of sand body is large and the gap is big in oil packing degree. There are lots of edge water and bottom water, and the latter increases rapidly during the course of development. 9.By exerting the modern hydrocarbon forming theories, the third section of Shahejie Formation in study area belongs to abnormally pressured fluid compartment. The lithological reservoir of the third section of Shahejie Formation is formed in the compartment. The reservoir-formed dynamic system belongs to lower self-source enclosed type. The result and the practice indicate that the form and accumulation of lithological oil reservoirs are controlled by the temperature and pressure of stratum, microfacies, thickness of sand body, fault and reservoir heterogeneity. 10. Based on studies above, the emphases focus on in south and north part of Dongying structure, west Dongxin region and south part Xinzhen structure in the application of production. The practice proves that the turbidity sandstone reservoirs in Ying 11 block and the fault-lithological reservoirs in Xin 133 block have been obtained significant breakthrough. The next target is still sandstone groups of the third section of Shahejie Formation in the bordering areas of Dongxin region for instance Xin 149 area, He 89 area, Ying 8 area etc.

Effects of Noise and Detection Error in a Dynamic Adaptive Optics System

It is well known that noise and detection error can affect the performances of an adaptive optics (AO) system. Effects of noise and detection error on the phase compensation effectiveness in a dynamic AO system are investigated by means of a pure numerical simulation in this paper. A theoretical model for numerically simulating effects of noise and detection error in a static AO system and a corresponding computer program were presented in a previous article. A numerical simulation of effects of noise and detection error is combined with our previous numeral simulation of a dynamic AO system in this paper and a corresponding computer program has been compiled. Effects of detection error, readout noise and photon noise are included and investigated by a numerical simulation for finding the preferred working conditions and the best performances in a practical dynamic AO system. An approximate model is presented as well. Under many practical conditions such approximate model is a good alternative to the more accurate one. A simple algorithm which can be used for reducing the effect of noise is presented as well. When signal to noise ratio is very low, such method can be used to improve the performances of a dynamic AO system.

A time domain computation method for dynamic behavior of mooring system

A quasi-steady time domain method is developed for the prediction of dynamic behavior of a mooring system under the environmental disturbances, such as regular or irregular waves, winds and currents. The mooring forces are obtained in a static sense at each instant. The dynamic feature of the mooring cables can be obtained by incorporating the extended 3-D lumped-mass method with the known ship motion history. Some nonlinear effects, such as the influence of the instantaneous change of the wetted hull surface on the hydrostatic restoring forces and Froude-Krylov forces, are included. The computational results show a satisfactory agreement with the experimental ones.

Effect of phases on the dynamic evolution of a Lambda system with spontaneously generated coherence

The dynamic evolution of a A system coupled by two strong coherent fields is investigated by taking spontaneously generated coherence (SGC) into account. By numericaly simulation, it is shown that the relative phase of the two coherent fields affects significantly the time scale to the coherent population trapping state. In addition, an analytical expression to the evolution rate which is consistent with the numerical results is given. (c) 2005 Elsevier B.V. All rights reserved.

Dynamic optical coupled system employing even-numbered Dammann gratings

Dammann gratings are well known for their ability to generate arrays of Lmiform-intensity beams from an incoming monochromatic beam. We apply the even-numbered Dammann grating to achieve dynamic optical coupled technology. A 1 x N dynamic optical coupled system is developed by employing two complementary even-numbered Dammann gratings. With this system we can achieve a beam splitter and combiner as a switch between them according to the relative shift between the gratings. Also, this system is a preferable approach in integral packaging. More importantly, this device has the potential to be applied to the splitting of a large array, e.g., 8 x 16 array and 64 x 64 array, which is difficult to be realized with conventional splitting methods. We experimentally demonstrated a 1 x 8 coupler at the wavelength of 1550 nm. Furthermore we analyze the effects of the alignment errors between gratings and the wavelength-dependent error on efficiency and uniformity. The experimental results and the influence of alignment error and wavelength-dependent error are analyzed in detail. (c) 2006 Optical Society of America.