链式可重构机器人单模块结构设计与运动实验

提出了一种新型模块化链式移动机器人机构,它具有可重构、自动变形的特点。单个标准模块主要由中间通孔式连接手臂、履带驱动链传动装置、模块偏转锥齿轮传动装置、模块俯仰链传动装置、连接柄等组成。模块间由偏转关节、连接柄、连接臂和仰俯关节进行连接组合。为提高单个模块的机动性和实现运动自主功能,对标准模块进行了适当改进,单模块机器人采用了履带、轮、臂、腿组合的移动机构,具有三维空间的运动能力。最后对单模块机器人样机在垂直壁障碍、平地支腿、平地转弯、斜坡、楼梯等情况下的运动能力进行了实验,为进一步实现多模块机器人的自重构和环境应用打下了基础。

波前重建法射线追踪及走时表压缩

As a fast and effective method for approximate calculation of seismic numerical simulation, ray tracing method, which has important theory and practical application value, in terms of seismic theory and seismic simulation, inversion, migration, imaging, simplified from seismic theory according to geometric seismic, means that the main energy of seismic wave field propagates along ray paths in condition of high-frequency asymptotic approximation. Calculation of ray paths and traveltimes is one of key steps in seismic simulation, inversion, migration, and imaging. Integrated triangular grids layout on wavefront with wavefront reconstruction ray tracing method, the thesis puts forward wavefront reconstruction ray tracing method based on triangular grids layout on wavefront, achieves accurate and fast calculation of ray paths and traveltimes. This method has stable and reasonable ray distribution, and overcomes problems caused by shadows in conventional ray tracing methods. The application of triangular grids layout on wavefront, keeps all the triangular grids stable, and makes the division of grids and interpolation of a new ray convenient. This technology reduces grids and memory, and then improves calculation efficiency. It enhances calculation accuracy by accurate and effective description and division on wavefront. Ray tracing traveltime table, which shares the character of 2-D or 3-D scatter data, has great amount of data points in process of seismic simulation, inversion, migration, and imaging. Therefore the traveltime table file will be frequently read, and the calculation efficiency is very low. Due to these reasons, reasonable traveltime table compression will be very necessary. This thesis proposes surface fitting and scattered data compression with B-spline function method, applies to 2-D and 3-D traveltime table compression. In order to compress 2-D (3-D) traveltime table, first we need construct a smallest rectangular (cuboidal) region with regular grids to cover all the traveltime data points, through the coordinate range of them in 2-D surface (3-D space). Then the value of finite regular grids, which are stored in memory, can be calculated using least square method. The traveltime table can be decompressed when necessary, according to liner interpolation method of 2-D (3-D) B-spline function. In the above calculation, the coefficient matrix is stored using sparse method and the liner system equations are solved using LU decomposition based on the multi-frontal method according to the sparse character of the least square method matrix. This method is practiced successfully in several models, and the cubic B-spline function can be the best basal function for surface fitting. It make the construction surface smooth, has stable and effective compression with high approximate accuracy using regular grids. In this way, through constructing reasonable regular grids to insure the calculation efficiency and accuracy of compression and surface fitting, we achieved the aim of traveltime table compression. This greatly improves calculation efficiency in process of seismic simulation, inversion, migration, and imaging.

砂砾岩储层流动单元四维模型研究

This article is an important part of "95" technological subject of SINOPEC. It has a large number of difficulties and workloads, and has significant theoretical meanings and practical value. The study area is composed of sandstone & conglomerate reservoir of alluvial fan & fan delta, which belong to Sha3 lower member and Sha4 upper member of lower tertiary of Yong'an Town Oilfield in Dongying Depression. The target stataum develops in the hanging wall of the synsedimentary fault in the scarp zone of Dongying Depression. The frequently intense movements result in the variation of sandstone and conglomerate reservoir and the evolution of the time and space of Sha3 lower member and Sha4 upper member in Yong'an Town Oilfield. As a result, it is difficult for the individual reservoir correlation at the root of fan, which bring about a tackle problem for the exploitation of oilfield. In this background, the research of fluid units will be more difficult. In this article, the new concepts, the new methods, and the new techniques of sedimentology, petroleum geology, reservoir geology, physics of crystal surface, dynamic & static state reservoir description and well logging geology are synthetically applied, and the computer technology are made full uses of, and the identifying, dividing and appraising of the two-formation-type sandstone & conglomerate reservoir fluid units of Sha3 lower member and Sha4 upper member systemically analyzed in Yong'an Town Oilfield, Dongying Depression. For the first time, the single-well model, the section model, the plane model, the nuclear magnetism log model, the microcosmic network model, the 4-D geology model and the simulation model of the two-formation-type reservoir fluid units of the of sandstone & conglomerate reservoir of Sha3 lower member and Sha4 upper member are established, and the formative mechanism and distributing & enrichment laws of oil-gas of the two type of sandstone and conglomerate reservoir fluid units are revealed. This article established the optimizing, identifying, classifying and appraising standard of the two-formation-type reservoir fluid units of the of sandstone and conglomerate reservoir of Sha3 lower member and Sha4 upper member, which settles the substantial foundations for static state model of the fluid units, reveals the macroscopic & microcosmic various laws of geometrical static state of the fluid units, and instructs the oil exploitation. This article established static state model of the two-formation-type sandstone and conglomerate reservoir fluid units by using the multi-subject theories, information and techniques, and reveals the geometrical configuration, special distribution and the oil-gas enrichment laws of the sandstone and conglomerate reservoir fluid units. For the first time, we established the nuclear magnetism log model of the two-formation-type sandstone and conglomerate reservoir of Sha3 lower member and Sha4 upper member, which reveals not only the character and distributing laws of the porosity and permeability, bat also the formation and distribution of the movable fluid. It established six type of microcosmic net model of the two-formation-type sandstone and conglomerate reservoir of Sha3 lower member and Sha4 upper member in the working area by using the advanced theories, such as rock thin section, SEM, image analysis, intrusive mercury, mold, rock C.T. measure & test image etc., which reveals the microcosmic characteristic of porosity & throat, filterate mode and microcosmic oil-gas enrichment laws of the sandstone and conglomerate reservoir. For the first time, it sets up the 4-D model and mathematic model of the sandstone and conglomerate reservoir, which reveals the distributing and evolving laws of macroscopic & microcosmic parameters of the two-formation-type sandstone and conglomerate reservoir and oil-gas in 4-D space. At the same time, it also forecasts the oil-gas distribution and instructs the oilfield exploitation. It established reservoir simulation model, which reveals the filterate character and distributing laws of oil-gas in different porosity & throat net models. This article established the assistant theories and techniques for researching, describing, indicating and forecasting the sandstone and conglomerate reservoir fluid units, and develops the theories and techniques of the land faces faulted basin exploitation geology. In instructing oilfield exploitation, it had won the notable economic & social benefits.

A Self-Organizing Neural Network Model for Redundant Sensory-Motor Control, Motor Equivalence, and Tool Use

A neural network is introduced which provides a solution of the classical motor equivalence problem, whereby many different joint configurations of a redundant manipulator can all be used to realize a desired trajectory in 3-D space. To do this, the network self-organizes a mapping from motion directions in 3-D space to velocity commands in joint space. Computer simulations demonstrate that, without any additional learning, the network can generate accurate movement commands that compensate for variable tool lengths, clamping of joints, distortions of visual input by a prism, and unexpected limb perturbations. Blind reaches have also been simulated.

A Self-Organizing Neural Model of Motor Equivalent Reaching and Tool Use by a Multijoint Arm

This paper describes a self-organizing neural model for eye-hand coordination. Called the DIRECT model, it embodies a solution of the classical motor equivalence problem. Motor equivalence computations allow humans and other animals to flexibly employ an arm with more degrees of freedom than the space in which it moves to carry out spatially defined tasks under conditions that may require novel joint configurations. During a motor babbling phase, the model endogenously generates movement commands that activate the correlated visual, spatial, and motor information that are used to learn its internal coordinate transformations. After learning occurs, the model is capable of controlling reaching movements of the arm to prescribed spatial targets using many different combinations of joints. When allowed visual feedback, the model can automatically perform, without additional learning, reaches with tools of variable lengths, with clamped joints, with distortions of visual input by a prism, and with unexpected perturbations. These compensatory computations occur within a single accurate reaching movement. No corrective movements are needed. Blind reaches using internal feedback have also been simulated. The model achieves its competence by transforming visual information about target position and end effector position in 3-D space into a body-centered spatial representation of the direction in 3-D space that the end effector must move to contact the target. The spatial direction vector is adaptively transformed into a motor direction vector, which represents the joint rotations that move the end effector in the desired spatial direction from the present arm configuration. Properties of the model are compared with psychophysical data on human reaching movements, neurophysiological data on the tuning curves of neurons in the monkey motor cortex, and alternative models of movement control.

Scoliosis Follow-Up Using Noninvasive Trunk Surface Acquisition

Adolescent idiopathic scoliosis (AIS) is a musculoskeletal pathology. It is a complex spinal curvature in a 3-D space that also affects the appearance of the trunk. The clinical follow-up of AIS is decisive for its management. Currently, the Cobb angle, which is measured from full spine radiography, is the most common indicator of the scoliosis progression. However, cumulative exposure to X-rays radiation increases the risk for certain cancers. Thus, a noninvasive method for the identification of the scoliosis progression from trunk shape analysis would be helpful. In this study, a statistical model is built from a set of healthy subjects using independent component analysis and genetic algorithm. Based on this model, a representation of each scoliotic trunk from a set of AIS patients is computed and the difference between two successive acquisitions is used to determine if the scoliosis has progressed or not. This study was conducted on 58 subjects comprising 28 healthy subjects and 30 AIS patients who had trunk surface acquisitions in upright standing posture. The model detects 93% of the progressive cases and 80% of the nonprogressive cases. Thus, the rate of false negatives, representing the proportion of undetected progressions, is very low, only 7%. This study shows that it is possible to perform a scoliotic patient's follow-up using 3-D trunk image analysis, which is based on a noninvasive acquisition technique.

An infrared desert dust index for the Along-Track Scanning Radiometers

A new aerosol index for the Along-Track Scanning Radiometers (ATSRs) is presented that provides a means to detect desert dust contamination in infrared SST retrievals. The ATSR Saharan dust index (ASDI) utilises only the thermal infrared channels and may therefore be applied consistently to the entire ATSR data record (1991 to present), for both day time and night time observations. The derivation of the ASDI is based on a principal component (PC) analysis (PCA) of two unique pairs of channel brightness temperature differences (BTDs). In 2-D space (i.e. BTD vs BTD), it is found that the loci of data unaffected by aerosol are confined to a single axis of variability. In contrast, the loci of aerosol-contaminated data fall off-axis, shifting in a direction that is approximately orthogonal to the clear-sky axis. The ASDI is therefore defined to be the second PC, where the first PC accounts for the clear-sky variability. The primary ASDI utilises the ATSR nadir and forward-view observations at 11 and 12 μm (ASDI2). A secondary, three-channel nadir-only ASDI (ASDI3) is also defined for situations where data from the forward view are not available. Empirical and theoretical analyses suggest that ASDI is well correlated with aerosol optical depth (AOD: correlation r is typically > 0.7) and provides an effective tool for detecting desert mineral dust. Overall, ASDI2 is found to be more effective than ASDI3, with the latter being sensitive only to very high dust loading. In addition, use of ASDI3 is confined to night time observations as it relies on data from the 3.7 μm channel, which is sensitive to reflected solar radiation. This highlights the benefits of having data from both a nadir- and a forward-view for this particular approach to aerosol detection.

Dually discrete spaces

A neighbourhood assignment in a space X is a family O = {O-x: x is an element of X} of open subsets of X such that X is an element of O-x for any x is an element of X. A set Y subset of X is a kernel of O if O(Y) = U{O-x: x is an element of Y} = X. We obtain some new results concerning dually discrete spaces, being those spaces for which every neighbourhood assignment has a discrete kernel. This is a strictly larger class than the class of D-spaces of [E.K. van Douwen, W.F. Pfeffer, Some properties of the Sorgenfrey line and related spaces, Pacific J. Math. 81 (2) (1979) 371-377]. (c) 2008 Elsevier B.V. All rights reserved.

3-dimensional characterization of membrane with nanoporous structure using TEM tomography and image analysis

The nanoporous structure of membrane varies in 3-dimensional (3-D) space and has remarkable influences on the filtration or desalination achieved, fouling potentials and therefore, the quality of yielded water. Knowledge of the 3-D nanoporous structure is thus vital to understanding and predicting its performance. A novel method by incorporating transmission electronic microtomography, image processing and 3-D reconstruction is introduced to characterize membranes with nano structures. The reconstruction algorithm allows for the visualization of 3-D nanoporous structure in a non-destructive way from any directions. This novel technique Ieads to in-depth understanding and accurate prediction of filtration performance.

3-dimensional characterization of membrane with nanoporous structure using TEM tomography and image analysis

The nanoporous structure of a membrane varies in a 3-dimensional (3-D) space and has remarkable influences on the filtration or desalination achieved, fouling potentials and therefore, the quality of yielded water. Knowledge of the 3-D nanoporous structure is thus vital to understanding and predicting its performance. A novel method by incorporating transmission electronic microtomography, image processing and 3-D reconstruction is introduced to characterize membranes with nano structures. The reconstruction algorithm allows for the visualization of 3-D nanoporous structure in a non-destructive way from any directions. This novel technique leads to in-depth understanding and accurate prediction of filtration performance.

Main maximum power point tracking strategies intended for photovoltaics

This paper presents evaluations among the most usual MPPT techniques, doing meaningful comparisons with respect to the amount of energy extracted from the photovoltaic panel (PV) (Tracking Factor - TF) in relation to the available power, PV voltage ripple, dynamic response and use of sensors. Using MatLab/Simulink® and DSpace platforms, a digitally controlled boost DC-DC converter was implemented and connected to an Agilent Solar Array E4350B simulator in order to verify the analytical procedures. The main experimental results are presented and a contribution in the implementation of the IC algorithm is performed and called IC based on PI. Moreover, the dynamic response and the tracking factor are also evaluated using a Friendly User Interface, which is capable of online program power curves and compute the TF. Finally, a typical daily insulation is used in order to verify the experimental results for the main PV MPPT methods. © 2011 IEEE.

Evaluation of the main MPPT techniques for photovoltaic applications

This paper presents evaluations among the most usual maximum power point tracking (MPPT) techniques, doing meaningful comparisons with respect to the amount of energy extracted from the photovoltaic (PV) panel [tracking factor (TF)] in relation to the available power, PV voltage ripple, dynamic response, and use of sensors. Using MatLab/Simulink and dSPACE platforms, a digitally controlled boost dc-dc converter was implemented and connected to an Agilent Solar Array E4350B simulator in order to verify the analytical procedures. The main experimental results are presented for conventional MPPT algorithms and improved MPPT algorithms named IC based on proportional-integral (PI) and perturb and observe based on PI. Moreover, the dynamic response and the TF are also evaluated using a user-friendly interface, which is capable of online program power profiles and computes the TF. Finally, a typical daily insulation is used in order to verify the experimental results for the main PV MPPT methods. © 2012 IEEE.

Modelos não-lineares de dois campos e aplicações em cenários de mundos-brana

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

High temperature limit in static backgrounds

We prove that the hard thermal loop contribution to static thermal amplitudes can be obtained by setting all the external four-momenta to zero before performing the Matsubara sums and loop integrals. At the one-loop order we do an iterative procedure for all the one-particle irreducible one-loop diagrams, and at the two-loop order we consider the self-energy. Our approach is sufficiently general to the extent that it includes theories with any kind of interaction vertices, such as gravity in the weak field approximation, for d space-time dimensions. This result is valid whenever the external fields are all bosonic.