一种自治水下机器人垂直面避碰规划方法

为提高自治水下机器人在垂直面跨越坡型、台阶型障碍的能力,提出了一种基于模糊控制的垂直面避碰规划方法。该方法以避碰声纳的输出作为输入,垂直面的深度调节量作为输出,直接建立了从障碍感知到避碰行为的映射。半物理仿真实验表明,该方法有效提高了某型自治水下机器人垂直面操纵性能,具有反应迅速、稳定性好、便于工程实现的优点。

孔隙介质中油气二次运移动力学机制研究

Study of dynamical mechanism of hydrocarbon secondary migration is the key research project of China Petroleum and Chemical Corporation in the ninth "Five-Year Plan", and this research is the hot and difficult spot and frontline in the domain of reservoir forming study in recent years. It is a common recognition that the dynamical mechanism of hydrocarbon's secondary migration is the important factor to control the reservoir type, distribution and oil/gas abundance. Therefore, to study this mechanism and establish the modes of hydrocarbon's migration and accumulation in different reservoirs under different conditions are of great theoretical meaningfulness and practical value on both developing the theory and method of hydrocarbon migration/accumulation dynamics in terrestrial rift-subsidence lacustrine basins and guiding the exploration and production. A laboratory for physical simulation of hydrocarbon's secondary migration/accumulation mechanism has been build up. 12 types of physical simulation tests to determine the volume of oil/gas migration and accumulation within these 3 series of plentiful hydrocarbon sources, different hydrocarbon abundance and pore level have been carried out under the guide of multidisciplinary theories, applying various methods and techniques, and 24 migration/accumulation modes have been established. The innovative results and recognition are as follows: 1, The oil/gas migration and accumulation modes for sandstones of moderate, fine grain size and silt in these six paleo depositional environments of shallow lake, fluvial, lacustrine, fluvial-deltaic, turbidite-delta, and salty-semi salty lake have been established. A new view has been put forward that the oil/gas volumetric increment during their migration and accumulation in different porous media of different rocks has similar features and evolution history. 2. During oil/gas migration and accumulation in different grain-sized porous media or different reservoirs, all the volumetric increment had experienced three period of rapid increasing, balanced and slower increasing and limited increasing. The dynamical process of oil/gas secondary migration and accumulation has been expounded. 3 The two new concepts of "source supply abundance" and "source supply intensity" have been proposed for the first time, and the physical simulation for hydrocarbon's migration, accumulation and forming a reservoir has been realized. 4, Source supply abundance is the important factor to control the accumulated volume of oil phase in the porous media. It is impossible to accumulate large amount of hydrocarbon volume in an open boundary system when the source supply abundance is low, i.e. impossible to form reservoirs of high productivity. 5 The above 12 types of physical simulation tests indicated that enough energy (pressure) of the oil sources is the decisive factor to ensure hydrocarbon's entering, flowing and accumulating through porous media, and both oil and gas phase will accumulate into the favorable places nearest to the oil sources. 6 The theory, method and related techniques for physical simulation of hydrocarbon's secondary migration/accumulation mechanism have been formed and applied to the E&P of Shengtuo rollover anticline and Niuzhuang turbidite lithological reservoirs. 7 This study developed the theory and method of hydrocarbon migration/accumulation dynamics in terrestrial rift-subsidence lacustrine basins, and the benefits and social effect are remarkable.

Effect of Rock Mass Structure and Block Size on the Slope Stability-Physical Modeling and Discrete Element Simulation

This paper studies the stability of jointed rock slopes by using our improved three-dimensional discrete element methods (DEM) and physical modeling. Results show that the DEM can simulate all failure modes of rock slopes with different joint configurations. The stress in each rock block is not homogeneous and blocks rotate in failure development. Failure modes depend on the configuration of joints. Toppling failure is observed for the slope with straight joints and sliding failure is observed for the slope with staged joints. The DEM results are also compared with those of limit equilibrium method (LEM). Without considering the joints in rock masses, the LEM predicts much higher factor of safety than physical modeling and DEM. The failure mode and factor of safety predicted by the DEM are in good agreement with laboratory tests for any jointed rock slope.

Physical Modeling of Current-Induced Seabed Scour around a Vibrating Submarine Pipeline

Most of the existing researches either focus on vortex-induced-vibrations (VIV) of a pipeline near a rigid boundary, or on seabed scour around a fixed pipeline. In the fields, pipeline vibration and seabed scour are actually always coupled. Based on the similarity analysis, a series of tests were conducted with a hydro-elastic facility to investigate the influence of pipe vibration on the local scour and the effects of scour process on the pipeline dynamic responses. Experimental results indicate that, there exist two phases in the process of sand scouring around the pipeline with small embedment, i.e. Phase I: scour beneath pipe without VIV, and Phase II: scour with VIV of pipe. It is also found that the gap-to-diameter ratio (e/D) has much effect upon the scour depth for the fixed pipes. For a given value of e/D, the vibrating pipes with close proximity to seabed may induce a deeper scour hole than the fixed ones. Within the examined gap-to-diameter ratio range (425 < e/D < 0.75), the influences of gap-to-diameter ratio on the maximum values of scour-depth for the case of vibrating pipes are not as much as those for the case of fixed pipes.

Influence of leaf tissue structure on host feeding selection by pea leaf miner Liriomyza huidobrensis (Diptera : Agromyzidae)

Host feeding selection by the female pea leafminer, Liriomyza huidobrensis, on 47 species of plants was studied. The leaves were sectioned by microtome, and 15 characteristics of the leaf tissue structure were measured under a microscope. Correlation analysis between host feeding selection and leaf tissue structure indicated that the preference of host feeding selection was positively correlated with the percentage of moisture content of leaves and negatively with thickness of the epidermis wall, and densities of the palisade and spongy tissues of leaves. Leaf tissue structure was influential in feeding and probing behavior of female L. huidobrensis. So, thickness of epidermis wall, densities of the palisade and spongy tissues can act as a physical barrier to female oviposition. Furthermore, higher densities of palisade and spongy tissues can be considered a resistant trait which affects mining of leaf miner larvae as well. As a result, plants with lower leaf moisture content may not be suitable for the development of L. huidobrensis.

Spatial Mode Selection by the Phase Modulation of Subwavelength Plasmonic Grating

The extraordinary transmission of the subwavelength gold grating has been investigated by the rigorous coupled-wave analysis and verified by the metal-insulator-metal plasmonic waveguide method. The physical mechanisms of the extraordinary transmission are characterized as the excitation of the surface plasmon polariton modes. The subwavelength grating integrated with the distributed Bragg reflector is proposed to modulate the phase to realize spatial mode selection, which is prospected to be applied for transverse mode selection in the vertical cavity surface-emitting laser.