Non-goal scene analysis for soccer video

The broadcast soccer video is usually recorded by one main camera, which is constantly gazing somewhere of playfield where a highlight event is happening. So the camera parameters and their variety have close relationship with semantic information of soccer video, and much interest has been caught in camera calibration for soccer video. The previous calibration methods either deal with goal scene, or have strict calibration conditions and high complexity. So, it does not properly handle the non-goal scene such as midfield or center-forward scene. In this paper, based on a new soccer field model, a field symbol extraction algorithm is proposed to extract the calibration information. Then a two-stage calibration approach is developed which can calibrate camera not only for goal scene but also for non-goal scene. The preliminary experimental results demonstrate its robustness and accuracy. (c) 2010 Elsevier B.V. All rights reserved.

基于无线网络的足球机器人遥操作系统

设计并实现了基于Pocket PC的互联网遥操作机器人足球比赛系统,按照需求分析、系统设计与实现,以及实验结果的思路描述了整个过程,建立了无线网络环境下遥操作理论研究的实验平台,并以此为基础对遥操作机器人足球背景下的操作者策略与自主智能的融合作了一些探索。

BDI Agent的人机智能结合方法

在网络遥操作中存在着由于操作者的操作负担过重或长时间操作而引起的误操作问题,提出以著名的BDIAgent模型为基础,通过引入中断机制,将反映操作者智能决策的操作目标、操作意图与BDIAgent推理产生的目标、意图进行结合的方法,为解决Agent智能的局限性和操作者的误操作问题,提供了一种人机接口方法,实现了人机智能结合.给出了中断的引入方法和操作者操作目标、操作意图中断响应原理,用形式化模型描述了人机智能决策选取目标和意图的过程.该人机智能结合方法在网络遥操作RoboCup中型足球机器人系统中得到了应用.

基于评价选择策略的Internet多机器人协作控制研究

针对Internet多机器人系统中存在的操作指令延迟、工作效率低、协作能力差等问题,提出了多机器人神经元群网络控制模型。在学习过程中,来自不同功能区域的多类型神经元连接形成动态神经元群集,来描述各机器人的运动行为与外部条件、内部状态之间复杂的映射关系,通过对内部权值连接的评价选择,以实现最佳的多机器人运动行为协调。以互联网足球机器人系统为实验平台,给出了学习算法描述。仿真结果表明,己方机器人成功实现了配合射门的任务要求,所提模型和方法提高了多机器人的协作能力,并满足系统稳定性和实时性要求。

基于Internet的遥操作机器人足球系统设计

针对目前基于Internet的遥操作机器人系统普遍完成任务简单,复杂度低,影响力有限的状况,本文将遥操作技术和Internet技术应用于具有高动态性、高协作性和高对抗性的机器人足球系统中,建立了基于Internet的遥操作机器人足球系统的体系结构,提供了该系统的软件设计方法,并针对网络通信设计了应用UDP协议进行连接和数据传输的方法.实际建立的基于Internet的3对3遥操作机器人足球系统验证了系统设计方法的可行性和有效性.通过实验验证了应用UDP协议进行连接和数据传输相对于应用TCP协议的优越性.

松辽盆地南部大情字井地区CO2埋存体地质格架及储层建模

Increasing attentions have been paid to the subsurface geological storage for CO2 in view of the huge storage capacity of subsurface reservoirs. The basic requirement for subsurface CO2 storage is that the CO2 should be sequestrated as supercritical fluids (physical trapping), which may also interact with ambient reservoir rocks and formation waters, forming new minerals (chemical trapping). In order to the effective, durable and safe storage for CO2, enough storage space and stable sealing caprock with strong sealing capacity are necessitated, in an appropriate geological framework. Up till now, hydrocarbon reservoirs are to the most valid and appropriate CO2 storage container, which is well proven as the favorable compartment with huge storage capacity and sealing condition. The thesis focuses on two principal issues related to the storage and sealing capacity of storage compartment for the Qingshankou and Yaojia formations in the Daqingzijing block, Southern Songliao Basin, which was selected as the pilot well site for CO2-EOR storage. In the operation area, three facies, including deltaic plain, deltaic front and subdeep-deep lake facies associations, are recognized, in which 11 subfacies such as subaqueous distributary channel, river- mouth bar, interdistributary bay, sheet sandbody, crevasse splay and overflooding plain are further identified. These subfacies are the basic genetic units in the reservoir and sealing rocks. These facies further comprise the retrogradational and progradational depositional cycles, which were formed base- level rise and fall, respectively. During the regressive or lake lowstand stage, various sands including some turbidites and fans occurred mostly at the bottom of the hinged slope. During the progradation stage, these sands became smaller in size and episodically stepped backwards upon the slope, with greatly expanded and deeped lake. However, most of Cretaceous strata in the study area, localized in the basin centre under this stage, are mainly composed of grey or grizzly siltstones and grey or dark grey mudstones intercalated with minor fine sandstones and purple mudstones. On the base of borehole and core data, these siltstones are widespread, thin from 10 to 50 m thick, good grain sorting, and have relative mature sedimentary structures with graded bedding and cross- lamination or crossbeds such as ripples, which reflect strong hydrodynamic causes. Due to late diagenesis, pores are not widespread in the reservoirs, especially the first member of Qingshankou formation. There are two types of pores: primary pore and secondary cores. The primary pores include intergranular pores and micropores, and the secondary pores include emposieus and fracture pores. Throat channels related to pores is also small and the radius of throat in the first, second and third member of Qingshankou formation is only 0.757 μm, 0.802 μm and 0.631 μm respectively. In addition, based on analyzing the probability plot according to frequency of occurrence of porosity and permeability, they appear single- peaked distribution, which reflects strong hetero- geneity. All these facts indicate that the conditions of physical property of reservoirs are not better. One reason may be provided to interpret this question is that physical property of reservoirs in the study area is strong controlled by the depositional microfacies. From the statistics, the average porosity and permeability of microfacies such as subaqueous distributary channel, channel mouth bar, turbidites, is more than 9 percent and 1md respectively. On the contrary, the average porosity and permeability of microfacies including sand sheet, flagstone and crevasse splay are less than 9 percent and 0.2md respectively. Basically, different hydrodynamic environment under different microfacies can decide different physical property. According to the reservoir models of the first member of Qingshankou formation in the No. well Hei47 block, the character of sedimentary according to the facies models is accord to regional disposition evolution. Meantime, the parameter models of physical property of reservoir indicate that low porosity and low permeability reservoirs widespread widely in the study area, but the sand reservoirs located in the channels are better than other places and they are the main sand reservoirs. The distribution and sealing ability of fault- fractures and caprock are the key aspects to evaluate the stable conditions of compartments to store CO2 in the study area. Based on the core observation, the fractures widespread in the study area, especially around the wells, and most of them are located in the first and second member of Qingshankou formation, almost very few in the third member of Qingshankou formation and Yaojia formation instead. In addition, analyzing the sealing ability of eleven faults in the three-dimensional area in the study area demonstrates that most of faults have strong sealing ability, especially in the No. well Hei56 and Qing90-27. To some extent, the sealing ability of faults in the No. well Hei49, Qing4-6 and Qing84-29 are worse than others. Besides, the deposition environment of most of formations in the study area belongs to moderately deep and deep lake facies, which undoubtedly take advantage to caprocks composed of mudstones widespread and large scale under this deposition environment. In the study area, these mudstones distribute widely in the third member of Qingshankou formation, Yaojia and Nenjiang formation. The effective thickness of mudstone is nearly ~550m on an average with few or simple faults and fractures. In addition, there are many reservoir beds with widely- developed insulated interbeds consist of mudstones or silty mudstone, which can be the valid barrier to CO2 upper movement or leakage through diffusion, dispersion and convection. Above all, the closed thick mud caprock with underdeveloped fractures and reservoir beds can be taken regard as the favorable caprocks to provide stable conditions to avoid CO2 leakage.

岩性油藏储层预测的地震理论与方法研究

At present the main object of the exploration and development (E&D) of oil and gas is not the structural oil-gas pools but the subtle lithological oil-gas reservoir. Since the last 90's, the ratio of this kind of pools in newly-added oil reserves is becoming larger and larger, so is the ratio in the eastern oilfields. The third oil-gas resource evaluation indicates the main exploration object of Jiyang depression is the lithological oil-gas pools in future. However, lack of effective methods that are applied to search for this kind of pool makes E&D difficult and the cost high. In view of the urgent demand of E&D, in this paper we deeply study and analyze the theory and application in which the seismic attributes are used to predict and describe lithological oil-gas reservoirs. The great results are obtained by making full use of abundant physics and reservoir information as well as the remarkable lateral continuity involved in seismic data in combination with well logging, drilling-well and geology. ①Based on a great deal of research and different geological features of Shengli oilfield, the great progresses are made some theories and methods of seismic reservoir prediction and description. Three kinds of extrapolation near well seismic wavelet methods-inverse distance interpolation, phase interpolation and pseudo well reflectivity-are improved; particularly, in sparse well area the method of getting pseudo well reflectivity is given by the application of the wavelet theory. The formulae for seismic attributes and coherent volumes are derived theoretically, and the optimal method of seismic attributes and improved algorithms of picking up coherent data volumes are put forward. The method of making sequence analysis on seismic data is put forward and derived in which the wavelet transform is used to analyze not only qualitatively but also quantitatively seismic characteristics of reservoirs.② According to geologic model and seismic forward simulation, from macro to micro, the method of pre- and post-stack data synthetic analysis and application is put forward using seismic in close combination with geology; particularly, based on making full use of post-stack seismic data, "green food"-pre-stack seismic data is as possible as utilized. ③ In this paper, the formative law and distributing characteristic of lithologic oil-gas pools of the Tertiary in Jiyang depression, the knowledge of geological geophysics and the feasibility of all sorts of seismic methods, and the applied knowledge of seismic data and the geophysical mechanism of oil-gas reservoirs are studied. Therefore a series of perfect seismic technique and software are completed that fit to E&D of different categories of lithologic oil-gas reservoirs. ④ This achievement is different from other new seismic methods that are put forward in the recent years, that is multi-wave multi-component seismic, cross hole seismic, vertical seismic, and time-lapse seismic etc. that need the reacquisition of seismic data to predict and describe the oil-gas reservoir. The method in this paper is based on the conventional 2D/3D seismic data, so the cost falls sharply. ⑤ In recent years this technique that predict and describe lithologic oil-gas reservoirs by seismic information has been applied in E&D of lithologic oil-gas reservoirs on glutenite fans in abrupt slop and turbidite fans in front of abrup slop, slump turbidite fans in front of delta, turbidite fans with channel in low slope and channel sanbody, and a encouraging geologic result has been gained. This achievement indicates that the application of seismic information is one of the most effective ways in solving the present problem of E&D. This technique is significant in the application and popularization, and positive on increasing reserves and raising production as well as stable development in Shengli oilfield. And it will be directive to E&D of some similar reservoirs

山东东营凹陷浊积岩油藏形成机制及预测技术

More and more exploration practises and research results prove that deep-water turbidites and slump turbidites in abrupt slope belt as well as slump turbidites in deposit center are favorable places to find subtle reservoirs. Based on sedimentology, sequence stratigraphy, tectonics and petroleum geology and with the tool of computer, this paper focused a set of questions such as the forming mechanism and m&a of turbidite reservoir in Dongying Sag, and obtained a systematic research result from available information of geology, seismic survey, well logging and testing, etc. Since the structural pattern and tectonic stress are controlling factors on distribution of turbidite reservoirs, deep-water sequence and shallow-water sequence have close relation with various turbidites. The author primarily disclose the regular pattern of the turbidites in the abrupt slope trouth, and predict that the abrupt slope is mainly connected to near-bank slump turbidite fans and deep-water turbidite fans; whereas the depocenter area usually developed with front delta slump fans. According to this, seismic-geology models corresponding to various deposit systems can be set up as a principle for predicting the turbiditea in faulted lacustrine basins. Based on comprehensive study of the turbidite reservoir forming condition and main controlling factors, a differential accumulation model and a multiple migration&accumulation model were also set up for abrupt slope turbidities. Referenced the m

陡坡带砂砾岩体油气成藏模式研究——以东营凹陷西北部陡坡带为例

Based on the study of sequence stratigraphy, modern sedimentary, basin analysis, and petroleum system in abrupt slop of depression, this paper builds sedimentary system and model, sandy bodies distribution, and pool-forming mechanism of subtle trap. There are some conclusions and views as follows. By a lot of well logging and seismic analysis, the author founded up the sequence stratigraphic of the abrupt slope, systematically illustrated the abrupt slope constructive framework, and pointed out that there was a special characteristics which was that south-north could be divided to several fault block and east-west could be carved up groove and the bridge in studying area. Based all these, the author divided the studying area to 3 fault block zone in which because of the groove became the basement rock channel down which ancient rivers breathed into the lake, the alluvial fan or fan delta were formed. In the paper, the author illustrated the depositional system and depositional model of abrupt slope zone, and distinguished 16 kinds of lithofacies and 3 kinds of depositional systems which were the alluvial fan and fan-delta system, lake system and the turbidite fan or turbidity current deposition. It is first time to expound completely the genetic pattern and distributing rule of the abrupt slope sandy-conglomeratic fan bodies. The abrupt slope sandy-conglomeratic fan bodies distribute around the heaves showing itself circularity shape. In studying area, the sandy-conglomeratic fan bodies mainly distribute up the southern slope of Binxian heave and Chenjiazhuang heave. There mainly are these sandy-conglomeratic fan body colony which distributes at a wide rage including the alluvial fan, sub-water fluvial and the turbidite fan or the other turbidity current deposition in the I fault block of the Wangzhuang area. In the II fault block there are fan-delta front and sub-water fluvial. And in the Binnan area, there mainly are those the alluvial fan (down the basement rock channel) and the sandy-conglomeratic fan body which formed as narrowband sub-water fluvial (the position of bridge of a nose) in the I fault block, the fan-delta front sandy-conglomeratic fan body in the H fault block and the fan-delta front and the turbidity current deposition sandy-conglomeratic fan body in the m fault block. Based on the reservoir outstanding characteristics of complex classic composition and the low texture maturity, the author comparted the reservoir micro-structure of the Sha-III and Sha-IV member to 4 types including the viscous crude cementation type, the pad cementation type, the calcite pore-funds type and the complex filling type, and hereby synthetically evaluated 4 types sandy- conglomeratic fan body reservoir. In the west-north abrupt slope zone of Dongying Depression, the crude oil source is belonging to the Sha-III and Sha-IV member, the deep oil of Lijin oilfield respectively come from the Sha-III and Sha-IV member, which belongs to the autogeny and original deposition type; and the more crude oil producing by Sha-IV member was migrated to the Wangzhuan area and Zhengjia area. The crude oil of Binnan oil-field and Shanjiasi oil-field belongs to mixed genetic. It is the first time to illustrate systematically the genetic of the viscous crude that largely being in the studying area, which are that the dissipation of the light component after pool-forming, the biological gradation action and the bath-oxidation action, these oil accumulation belonging to the secondary viscous crude accumulation. It is also the first time to compart the studying area to 5 pool-forming dynamical system that have the characteristic including the common pressure and abnormal pressure system, the self-fountain and other-fountain system and the closing and half-closing system etc. The 5 dynamical systems reciprocally interconnected via the disappearance or merger of the Ethology and the fluid pressure compartment zone, the fault and the unconformity surface, hereby formed duplicated pattern oil-gas collecting zone. Three oil-gas pool-forming pattern were founded, which included the self-fountain side-direction migrated collecting pattern, the self-fountain side-direction ladder-shape pool-forming pattern and the other-fountain pressure releasing zone migrated collecting pattern. A series of systemic sandy-conglomeratic fan bodies oil-gas predicting theory and method was founded, based on the groove-fan corresponding relation to confirm the favorable aim area, according as the characteristic of seismic-facies to identify qualitatively the sandy-conglomeratic fan bodies or its scale, used the temporal and frequency analysis technique to score the interior structure of the sandy- conglomeratic fan bodies, applied for coherent-data system analysis technology to describe the boundary of the sandy-conglomeratic fan bodies, and utilized the well logging restriction inversion technique to trace quantificational and forecast the sandy-conglomeratic fan bodies. Applied this technique, totally 15 beneficial sandy-conglomeratic fan bodies were predicted, in studying area the exploration was preferably guided, and the larger economic benefit and social benefit was acquired.

西秦岭晚古生代弧前盆地沉积与成矿作用

The Western Qinling Orogenie belt in the Taibai-Fengxian and Xihe-Lixian areas can be subdivided into three units structurally from north to south, which are the island-arc, forearc basin and accretionary wedge, respectively. The forearc basin developed in the Late Paleozoic mainly controls sedimentation and some larger lead-zinc and gold deposits in the western Qinling. Stratigraphically, the island arc is dissected into the Liziyuan Group, the Danfeng Group and the Luohansi Group. The metavolcanic rocks include basic, intermediate and acidic rocks, and their geochemistry demonstrates that these igneous rocks generated in an island arc. Where, the basalts are subalkaline series charactered by low-medium potassium, with enriched LREE, negative Eu anomaly, and positive Nd anomaly. Cr-content of volcanic rocks is 2-3 times higher than that of island arc tholeiite all over the world. In addition, the lightly metamorphosed accretionary wedge in the areas of Huixian, Chengxian, Liuba and Shiqun is dominated by terrigenous sediments with carbonatite, chert, mafic and volcanic rocks. The age of the wedge is the Late Palaeozoic to the Trassic, while previous work suggested that it is the Silurian. The Upper Paleozoic between the island arc belt and accretionary wedge are mainly the sediments filled in the fore arc basin. The fillings in the forearc basin were subdivided into the Dacaiotan Group, the Tieshan Group, the Shujiaba Group and the Xihanshui Group, previously. They outcropped along the southern margins of the Liziyuan Group. The Dacaotan Group, the Upper Devonian, is close to the island arc complex, and composed of a suite of red and gray-green thick and coarse terrestrial elastics. The Shujiaba Group, the Mid-Upper Devonian, is located in the middle of the basin, is mainly fine-grained elastics with a few intercalations of limestone. The Xihanshui Group, which distributes in the southern of the basin, is mainly slates, phyllites and sandstones with carbonatite and reef blocks. The Tieshan Group, the Upper Devonian, just outcrops in the southwest of the basin, is carbonatite and clastic rocks, and deposited in the shallow -sea environment. The faults in the basin are mainly NW trend. The sedimentary characteristics, slump folds, biological assemblages in both sides of and within those faults demonstrate that they were syn-sedimentary faults with multi-period activities. They separated the forearc basin into several sub-basins, which imbricate in the background of a forearc basin with sedimentary characteristics of the piggyback basin. The deep hydrothermal fluid erupted along the syn-sedimentary faults, supported nutrition and energy for the reef, and resulted in hydrothermal-sedimentary rocks, reef and lead-zinc deposits along these faults. The sedimentary facies in the basin varies from the continental slope alluvial fan, to shallow-sea reef facies, and then to deep-water from north to south, which implies that there was a continental slope in the Devonian in the west Qinling. The strata overlap to north and to east respectively. Additionally, the coeval sedimentary facies in north and south are significantly different. The elastics become more and more coarser to north in the basin as well as upward coarsing. These features indicate prograding fillings followed by overlaps of the different fans underwater. The paleocurrent analyses show that the forearc basin is composed of thrust-ramp-basins and deep-water basins. The provenance of the fillings in the basin is the island arc in the north. The lead-zinc deposits were synchronous with the Xihanshui Group in the early stage of development of the forearc basin. They were strongly constrained by syn-sedimentary faults and then modified by the hydrothermal fluids. The gold deposits distributed in the north of the basin resulted from the tectonic activities and magmatism in the later stage of the basin evolution, and occurred at the top of the lead-zinc deposits spatially. The scales of lead-zinc deposits in the south of the basin are larger than that of the gold-deposits. The Pb-Zn deposits in the west of the basin are larger than those in the east, while the Gold deposits in the west of the basin are smaller than those in the east. Mineralizing ages of these deposits become younger and younger to west.

应用多质—多评价者程序对评定误差的分析

Two kinds of rating bias ——halo effect and ego-centric effect were analyzed in multitrait-multirater matrix by this research. To get the multitrait-multirater matrix, ten college students watched the video-tapes of football matches and rated the performance of the players on several traits. After the interviewing of 41 football fans, the performance traits of four different positions in a football team were obtained using critical incident technique. The results indicate: comparing the heterotrait-monorater triangless, some rater's rating showed halo effect obviously; comparing the monotrait-heterorater diagonals, ego-centric effect can be shown in some extent on different traits. There were less interrater reliability on the rating of some ambiguous traits. The conclusion can be used on rater training. We can give the raters feedback about their rating bias by analyzing the multitrait-multirater matrix. The results are also helpful for rater training.