基于内部传感器的轮式移动机器人运动速度估计

讨论了在无速度传感器的情况下轮式移动机器人的速度估计问题,采用了加速度传感器和位置传感器的输出实时估计轮式移动机器人速度,并用一种按加速度扰动调整权值的方法融合来自不同传感器的数据。实验验证了方法的有效性

叠前时间偏移：各向异性、多次波衰减及应用

At present, in order to image complex structures more accurately, the seismic migration methods has been developed from isotropic media to the anisotropic media. This dissertation develops a prestack time migration algorithm and application aspects for complex structures systematically. In transversely isotropic media with a vertical symmetry axis (VTI media), the dissertation starts from the theory that the prestack time migration is an approximation of the prestack depth migration, based on the one way wave equation and VTI time migration dispersion relation, by combining the stationary-phase theory gives a wave equation based VTI prestack time migration algorithm. Based on this algorithm, we can analytically obtain the travel time and amplitude expression in VTI media, as while conclude how the anisotropic parameter influence the time migration, and by analyzing the normal moveout of the far offset seismic data and lateral inhomogeneity of velocity, we can update the velocity model and estimate the anisotropic parameter model through the time migration. When anisotropic parameter is zero, this algorithm degenerates to the isotropic time migration algorithm naturally, so we can propose an isotopic processing procedure for imaging. This procedure may keep the main character of time migration such as high computational efficiency and velocity estimation through the migration, and, additionally, partially compensate the geometric divergence by adopting the deconvolution imaging condition of wave equation migration. Application of this algorithm to the complicated synthetic dataset and field data demonstrates the effectiveness of the approach. In the dissertation we also present an approach for estimating the velocity model and anisotropic parameter model. After analyzing the velocity and anisotropic parameter impaction on the time migration, and based on the normal moveout of the far offset seismic data and lateral inhomogeneity of velocity, through migration we can update the velocity model and estimate the anisotropic parameter model by combining the advantages of velocity analysis in isotropic media and anisotropic parameter estimation in VTI media. Testing on the synthetic and field data, demonstrates the method is effective and very steady. Massive synthetic dataset、2D sea dataset and 3D field datasets are used for VTI prestack time migration and compared to the stacked section after NMO and prestack isotropic time migration stacked section to demonstrate that VTI prestack time migration method in this paper can obtain better focusing and less positioning errors of complicated dip reflectors. When subsurface is more complex, primaries and multiples could not be separated in the Radon domain because they can no longer be described with simple functions (parabolic). We propose an attenuating multiple method in the image domain to resolve this problem. For a given velocity model，since time migration takes the complex structures wavefield propagation in to account, primaries and multiples have different offset-domain moveout discrepancies, then can be separated using techniques similar to the prior migration with Radon transform. Since every individual offset-domain common-reflection point gather incorporates complex 3D propagation effects, our method has the advantage of working with 3D data and complicated geology. Testing on synthetic and real data, we demonstrate the power of the method in discriminating between primaries and multiples after prestack time migration, and multiples can be attenuated in the image space considerably.

波动方程叠前深度偏移辛算法及速度建模

On 70~(th) SEG Annual meeting, many author have announced their result on the wave equation prestack depth migration. The methods of the wave-field imaging base on wave equation becomes mature and the main direction of seismic imaging. The direction of imaging the complex media has been the main one of the projects that the national "85" and "95" reservoir geophysics key projects and "Knowledge innovation key project of Chinese Academy of Science" have been supported. Furthermore, we began the study for special oil field situation of our nation with the international research groups. Under the background, the author combined the thoughts of symplectic with wave equation pre-stack depth migration, and develops and efficient wave equation pre-stack depth migration method. The purpose of this work is to find out a way to imaging the complex geological goals of Chinese oilfields and form a procedure of seismic data processing. The paper gives the approximation of one way wave equation operator, and shows the numerical results. The comparisons have been made between split-step phase method, Kirchhoff and Ray+FD methods on the pulse response, simple model and Marmousi model. The results shows that the method in this paper has an higher accuracy. Four field data examples have also be given in this paper. The results of field data demonstrate that the method can be usable. The velocity estimation is an important part of the wave equation pre-stack depth migration. A parallel velocity estimation program has been written and tested on the Beowulf clusters. The program can establish a velocity profile automatically. An example on Marmousi model has shown in the third part of the paper to demonstrate the method. Another field data was also given in the paper. Beowulf cluster is the converge of the high performance computer architecture. Today, Beowulf Cluster is a good choice for institutes and small companies to finish their task. The paper gives some comparison results the computation of the wave equation pre-stack migration on Beowulf cluster, IBM-SP2 (24 nodes) in Daqing and Shuguang 3000, and the comparison of their prize. The results show that the Beowulf cluster is an efficient way to finish the large amount computation of the wave equation pre-stack depth migration, especially for 3D.

辛格式波动方程叠前深度偏移及速度建模

On 70~(th) SEG Annual meeting, many author have announced their result on the wave equation pre-stack depth migration. The methods of the wave-field imaging base on wave equation becomes mature and the main direction of seismic imaging. The direction of imaging the complex media has been the main one of the projects that the national "85" and "95" reservoir geophysics key projects and "Knowledge innovation key project of Chinese Academy of Science" have been supported. Furthermore, we began the study for special oil field situation of our nation with the international research groups. Under the background, the author combined the thoughts of symplectic with wave equation pre-stack depth migration, and develops and efficient wave equation pre-stack depth migration method. The purpose of this work is to find out a way to imaging the complex geological goals of Chinese oilfields and form a procedure of seismic data processing. The paper gives the approximation of one way wave equation operator, and shows the numerical results. The comparisons have been made between split-step phase method, Kirchhoff and Ray+FD methods on the pulse response, simple model and Marmousi model. The result shows that the method in this paper has an higher accuracy. Four field data examples have also be given in this paper. The results of field data demonstrate that the method can be usable. The velocity estimation is an important part of the wave equation pre-stack depth migration. A. parallel velocity estimation program has been written and tested on the Beowulf clusters. The program can establish a velocity profile automatically. An example on Marmousi model has shown in the third part of the paper to demonstrate the method. Another field data was also given in the paper. Beowulf cluster is the converge of the high performance computer architecture. Today, Beowulf Cluster is a good choice for institutes and small companies to finish their task. The paper gives some comparison results the computation of the wave equation pre-stack migration on Beowulf cluster, IBM-SP2 (24 nodes) in Daqing and Shuguang3000, and the comparison of their prize. The results show that the Beowulf cluster is an efficient way to finish the large amount computation of the wave equation pre-stack depth migration, especially for 3D.

双聚焦偏移速度估计与可分表示叠前弹性反演

In exploration seismology, the geologic target of oil and gas reservoir in complex medium request the high accuracy image of the structure and lithology of the medium. So the study of the prestack image and the elastic inversion of seismic wave in the complex medium come to the leading edge. The seismic response measured at the surface carries two fundamental pieces of information: the propagation effects of the medium and the reflections from the different layer boundaries in the medium. The propagation represent the low-wavenumber component of the medium, it is so-called the trend or macro layering, whereas the reflections represent the high-wavenumber component of the medium, it is called the detailed or fine layering. The result of migration velocity analysis is the resolution of the low-wavenumber component of the medium, but the prestack elastic inversion provided the resolution of the high-wavvenumber component the medium. In the dissertation, the two aspects about the migration velocity estimation and the elastic inversion have been studied.Firstly, any migration velocity analysis methods must include two basic elements: the criterion that tell us how to know whether the model parameters are correct and the updating that tell us how to update the model parameters when they are incorrect, which are effected on the properties and efficiency of the velocity estimation method. In the dissertation, a migration velocity analysis method based on the CFP technology has been presented in which the strategy of the top-down layer stripping approach are adapted to avoid the difficult of the selecting reduce .The proposed method has a advantage that the travel time errors obtained from the DTS panel are defined directly in time which is the difference with the method based on common image gather in which the residual curvature measured in depth should be converted to travel time errors.In the proposed migration velocity analysis method, the four aspects have been improved as follow:? The new parameterization of velocity model is provided in which the boundaries of layers are interpolated with the cubic spline of the control location and the velocity with a layer may change along with lateral position but the value is calculated as a segmented linear function of the velocity of the lateral control points. The proposed parameterization is suitable to updating procedure.? The analytical formulas to represent the travel time errors and the model parameters updates in the t-p domain are derived under local lateral homogeneous. The velocity estimations are iteratively computed as parametric inversion. The zero differential time shift in the DTS panel for each layer show the convergence of the velocity estimation.? The method of building initial model using the priori information is provided to improve the efficiency of velocity analysis. In the proposed method, Picking interesting events in the stacked section to define the boundaries of the layers and the results of conventional velocity analysis are used to define the velocity value of the layers? An interactive integrate software environment with the migration velocity analysis and prestack migration is built.The proposed method is firstly used to the synthetic data. The results of velocity estimation show both properties and efficiency of the velocity estimation are very good.The proposed method is also used to the field data which is the marine data set. In this example, the prestack and poststack depth migration of the data are completed using the different velocity models built with different method. The comparison between them shows that the model from the proposed method is better and improves obviously the quality of migration.In terms of the theoretical method of expressing a multi-variable function by products of single-variable functions which is suggested by Song Jian (2001), the separable expression of one-way wave operator has been studied. A optimization approximation with separable expression of the one-way wave operator is presented which easily deal with the lateral change of velocity in space and wave number domain respectively and has good approach accuracy. A new prestack depth migration algorithm based on the optimization approximation separable expression is developed and used to testing the results of velocity estimation.Secondly, according to the theory of the seismic wave reflection and transmission, the change of the amplitude via the incident angle is related to the elasticity of medium in the subsurface two-side. In the conventional inversion with poststack datum, only the information of the reflection operator at the zero incident angles can be used. If the more robust resolutions are requested, the amplitudes of all incident angles should be used.A natural separable expression of the reflection/transmission operator is represented, which is the sum of the products of two group functions. One group function vary with phase space whereas other group function is related to elastic parameters of the medium and geological structure.By employing the natural separable expression of the reflection/transmission operator, the method of seismic wave modeling with the one-way wave equation is developed to model the primary reflected waves, it is adapt to a certain extent heterogeneous media and confirms the accuracy of AVA of the reflections when the incident angle is less than 45'. The computational efficiency of the scheme is greatly high.The natural separable expression of the reflection/transmission operator is also used to construct prestack elastic inversion algorithm. Being different from the AVO analysis and inversion in which the angle gathers formed during the prstack migration are used, the proposed algorithm construct a linear equations during the prestack migration by the separable expression of the reflection/transmission operator. The unknowns of the linear equations are related to the elasticity of the medium, so the resolutions of them provided the elastic information of the medium.The proposed method of inversion is the same as AVO inversion in , the difference between them is only the method processing the amplitude via the incident angle and computational domain.

Factors affecting the estimation of gas hydrate and free gas saturation

Attenuations of different types of gas hydrate cementation in fluid-saturated porous solids are discussed. The factors affecting estimation of gas hydrate and free gas saturation are analyzed. It is suggested that porosity of sediment, the P wave velocity model and methods of calculating elastic modulus are key factors in the estimation of gas hydrate and free gas saturations. Attenuation of gas hydrate-bearing sediment is closely related with the cementation types of gas hydrate. Negative anomalies of quality factors indicate that gas hydrate deposits away from grain as part of fluid. Positive anomalies of the quality factors indicate that gas hydrate contacts with solid and changes the elastic modulus of matrix. Low frequency velocity and high frequency velocity models are used to estimate gas hydrate and free gas saturation in the Blake Ridge area according to the well log data of the hole 995 in ODP leg 164. The gas hydrate saturation obtained by low frequency velocity is 10% similar to 20% of the pore space and free gas saturation is 0.5% similar to 1% of the pore space. The gas hydrate saturation obtained by high frequency velocity is 5% similar to 10% of the pore space and free gas saturation is 1% similar to 2% of the pore space.

A new method for the estimation of oceanic mixed-layer depth using shipboard X-band radar images

Shipboard X-band radar images acquired on 24 June 2009 are used to study nonlinear internal wave characteristics in the northeastern South China Sea. The studied images show three nonlinear internal waves in a packet. A method based on the Radon Transform technique is introduced to calculate internal wave parameters such as the direction of propagation and internal wave velocity from backscatter images. Assuming that the ocean is a two-layer finite depth system, we can derive the mixed-layer depth by applying the internal wave velocity to the mixed-layer depth formula. Results show reasonably good agreement with in-situ thermistor chain and conductivity-temperature-depth data sets.

Multiphase technique improves mud-pulse velocity calculations

Measurement while drilling (MWD) has become a popular survey technology to monitor directional data, drilling data, formation evaluation data and safety data in the world. And closed loop drilling shows promise in recent years. Obviously, the method of tr

Detection and Characterization of Long-Pulse Low-Velocity Impact Damage in Plastic Bonded Explosives

Damage not only degrades the mechanical properties of explosives, but also influences the shock sensitivity, combustion and even detonation behavior of explosives. The study of impact damage is crucial in the vulnerability evaluation of explosives. A long-pulse low-velocity gas gun with a gas buffer was developed and used to induce impact damage in a hot pressed plastic bonded explosive. Various methods were used to detect and characterize the impact damage of the explosive. The microstructure was examined by use of polarized light microscopy. Fractal analysis of the micrographs was conducted by use of box counting method. The correlation between the fractal dimensions and microstructures was analyzed. Ultrasonic testing was conducted using a pulse through-transmission method to obtain the ultrasonic velocity and ultrasonic attenuation. Spectra analyses were carried out for recorded ultrasonic signals using fast Fourier transform. The correlations between the impact damage and ultrasonic parameters including ultrasonic velocities and attenuation coefficients were also analyzed. To quantitatively assess the impact induced explosive crystal fractures, particle size distribution analyses of explosive crystals were conducted by using a thorough etching technique, in which the explosives samples were soaked in a solution for enough time that the binder was totally removed. Impact induces a large extent of explosive crystal fractures and a large number of microcracks. The ultrasonic velocity decreases and attenuation coefficients increase with the presence of impact damage. Both ultrasonic parameters and fractal dimension can be used to quantitatively assess the impact damage of plastic bonded explosives.

DPIV and Interferometry Technique for Velocity Field and Concentration Fields Measurement in Crystal Growth

The property of crystal depends seriously on the solution concentration distribution near the growth surface of a crystal. However, the concentration distributions are affected by the diffusion and convection of the solution. In the present experiment, the two methods of optical measurement are used to obtained velocity field and concentration field of NaClO₃ solution. The convection patterns in sodium chlorate (NaClO₃) crystal growth are measured by Digital Particle image Velocimetry (DPIV) technology. The 2-dimentional velocity distributions in the solution of NaClO3 are obtained from experiments. And concentration field are obtained by a Mach-Zehnder interferometer with a phase shift servo system. Interference patterns were recorded directly by a computer via a CCD camera. The evolution of velocity field and concentration field from dissolution to crystallization are visualized clearly. The structures of velocity fields were compared with that of concentration field.

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.

Quantifying the Effects of Contact Duration, Loading Rate, and Approach Velocity on P-Selectin-PSGL-1 Interactions Using AFM

Kinetics and its regulation by extrinsic physical factors govern selectin-ligand interactions that mediate tethering and rolling of circulating cells on the vessel wall under hemodynamic forces. While the force regulation of off-rate for dissociation of selectin-ligand bonds has been extensively studied, much less is known about how transport impacts the on-rate for association of these bonds and their stability. We used atomic force microscopy (AFM) to quantify how the contact duration, loading rate, and approach velocity affected kinetic rates and strength of bonds of P-selectin interacting with P-selectin glycoprotein ligand I (PSGL-1). We found a saturable relationship between the contact time and the rupture force, a biphasic relationship between the adhesion probability and the retraction velocity, a piece-wise linear relationship between the rupture force and the logarithm of the loading rate, and a threshold relationship between the approach velocity and the rupture force. These results provide new insights into how physical factors regulate receptor-ligand interactions.

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.

Calculations of longitudinal and transverse velocity structure functions using a vortex model of isotropic turbulence

The longitudinal structure function (LSF) and the transverse structure function (TSF) in isotropic turbulence are calculated using a vortex model. The vortex model is composed of the Rankine and Burgers vortices which have the exponential distributions in the vortex Reynolds number and vortex radii. This model exhibits a power law in the inertial range and satisfies the minimal condition of isotropy that the second-order exponent of the LSF in the inertial range is equal to that of the TSF. Also observed are differences between longitudinal and transverse structure functions caused by intermittency. These differences are related to their scaling differences which have been previously observed in experiments and numerical simulations.