“探索者”号无缆自治水下机器人的信息系统

介绍了“探索者”号无缆自治水下机器人信息系统及构成，它分为水上、水下两大部分。最后，详细介绍了水上信息系统的特点。

“探索者”号无缆水下机器人水下回收系统的设计与应用

本文详细介绍了"探索者"号无缆水下机器人水下回收系统的设计思想及电控系统的实现方法.本系统分为水上水下两部分.ROV式潜水平台型回收器,可在水下灵活运动,并可定向、定深.依靠电视跟踪技术和声纳定位技术实现回收器与水下机器人的对接.

“探索者”号自治式无缆水下机器人控制软件体系结构

本文详细介绍了我们为“探索者”号自治式无缆水下机器人（以下简称ＡＵＶ）设计的控制软件体系结构。该体系结构可分为使命控制，运动监控与设备操作，实时调度和实时处理四个不同的控制层次及一个全局数据区五部分。

自治式水下机器人回收系统的研究与设计

本文介绍了我们承担研制的国家“８６３”计划１０００ｍ及６０００ｍ无缆水下机器人的回收系统．回收系统在４级海况下不用专用母船能够成功地回收水下机器人，依据母船、海况、水下机器人及其他具体情况，介绍了两种不同的回收方案和回收器，经海上试验证明是有效和可行的。

海洋机器人变参数大时延控制系统补偿方法的研究

本文提出一种变参数大时延系统的补偿方法，具有传输滞后系统的幅相频率特性和时域特性，流体动力学变参数的修正方法和具有传输滞后和零阶保持器滞后的补偿仿真。

一种先进的轻型水下机器人——金鱼Ⅲ号

本文叙及一种新的轻型水下机器人(亦称无人遥控潜水器或ROV)——金鱼Ⅱ号。概要地描述了它的主要技术特点,系统总体结构,简要工作原理,及其适用范围。文中以在丰满电站进行实际作业为例,说明了该型水下机器人的应用前景。

无缆水下机器人组合导航系统

无缆水下机器人是我国首次开展的高技术课题,组合导航系统是无缆水下机器人研究中的关键部分,本文介绍了多种导航设备同时工作,经过信息综合处理获得高精度导航信息的组合导航系统和组合导航系统中所需要的坐标转换及卡尔曼滤波器的计算,为无缆水下机器人建立一个较理想的导航方式。

动态补偿的水下机器人路径规划

本文研究水下机器人在障碍位置未知条件下,进行路径规划的方法,使自治水下机器人以最短的行程距离,避开障碍,达到预定目标.针对变化的、复杂的海洋情况,本文采用动态与静态相结合、规划与控制相结合的手段,应用人工势场理论,引入距离误差做动态反馈补偿,实现全局规划控制.本文提出的这种适于自治水下机器人导航的动态路径规划-控制方法,可以解决障碍环境参数已知、未知的路径规划问题.仿真结果表明该方法具有较强的稳定性和适应性.

2马力水下钕铁硼电机的特点及其在中型海洋机器人上的应用

本文介绍了我们研制的2马力水下钕铁硼电机与美国1马力电机相比所具有的特点,以及在研制中所遇到的难题及解决的方法,同时简要分析了水下钕铁硼电机在海洋机器人上的应用前景.

海洋机器人动态定位的坐标变换与系统结构

本文给出海洋机器人的原理性流体动力学模型.动态定位的基本定义,海洋机器人既定向又定位的坐标变换与系统结构,和只定位不定向的坐标变换与系统结构.

滑动控制理论在海洋机器人动态定位系统中的应用

本文论述了一种新的鲁棒性控制方法——滑动控制理论.并将该方法应用于海洋机器人的动态定位系统设计.仿真结果表明该方法是相当成功和有效的,对系统的参数变化有强鲁棒性.

水下机械手液压控制系统动力机构参数的分析计算

本文所介绍的水下机械手液压控制系统为一典型的具有变回油压力封闭式系统。文中阐述了此种系统液压动力机构的设计原理及静、动态参数的分析计算方法。对于在变回油压力下,由四通阀控制的非对称油缸的静态特性进行了详细的分析。给出了在不同回油压力下,不同面积比的非对称油缸、阀的负载压降及最大空载流量的变化规律。这对于确定水下机械手的液压动力机构的参数提供了依据。

双线性系统辨识及其在海洋机器人中的应用

本文用双线性系统的辨识方法对海洋机器人航向与侧推的控制系统建模,并对所得模型进行了计算机仿真,仿真结果表明了模型的有效性。

土石混合体细观结构力学及其边坡稳定性研究

Soil-rock mixture (S-RM) refers to one extremely uneven loose rock and soil materials system with certain stone content. Its formation has started since Quaternary and it is composed of block stone, fine grained soil and pore with certain project scale and high strength. S-RM has extensive distribution in nature, especially in southwest China where the geotectonic background is complicated, the fracture activity is developed and the geomorphological characteristics of high mountain and steep gorge area are protuberant. This kind of complicated geologic body has developed wider in these areas. S-RM has obvious difference with the general soil or rock (rock mass) in physical and mechanical properties because its two components-“soil” and “rock-block” has extreme differences in physical and mechanical properties. The proposition of S-RM and its deep research are needed in the modern engineering construction. It is also the necessity in the modern development of rock and soil mechanics. The dissertation starts from the meso-structural characteristics of soil-rock and takes a systematic research on its meso-structural mechanics, deformation and failure mechanism and the stability of S-RM slope. In summary, it achieves the following innovative results and conclusions. There are various views on the conception of S-RM and its classification system. Based on the large number of field tests, the dissertation makes the conception and classification of S-RM more systematic. It systematically proposed the conception of meso-structural mechanics of S-RM. Thus the dissertation has laid a foundation for its deep study. With the fast development of the computer technology and digital image processing theory, digital image processing technology has been successfully applied in many fields and provided reliable technology support for the quantitative description of the structural characteristics of S-RM. Based on the digital image processing technology, the dissertation systematically proposes and developed the quantitative analysis method and quantitative index for the meso-structure of S-RM. The results indicate that the meso-structure such as its internal soil-rock granularity composition, the soil-rock shape and the orientability has obvious self-organization in the macro statistical level. The dissertation makes a systematic research on the physical mechanical properties, deformation and failure mechanism of S-RM based on large field test. It proposes the field test for the underwater S-RM and deduces the 3D data analysis method of in-situ horizontal push-shear test. The result indicates that S-RM has significant phenomenon of shear dilatancy in the shearing process, and its dilatancy will be more obvious with the increased proportion of rock or the decreased confining pressure. The proportion of rock has great effect on the strength of S-RM and rock-block, especially the spatial position of particles with comparatively big size has great effect on the shape and spatial position of the sample shear zone. The dissertation makes some improvements in the single ring infiltration test equipment and its application on the permeability of S-RM. The results indicate that the increasing of rock-block would make it more difficult for the soil to fill in the vacuity between the rock-block and the proportion would increase which would result in the increased permeability coefficient. The dissertation builds the real meso-structural model of S-RM based on the digital image processing technology. By using geometric reconstruction technology, it transfers the structural mode represented by Binary image into CAD format, which makes it possible to introduce the present finite element analysis software to take research on numerical experimental investigation. It systematically realizes leaping research from the image，geometric mode, to meso-structural mechanics numerical experiment. By using this method, the dissertation takes large scale numerical direct-shear test on the section of S-RM. From the mesoscopic perspective, it reveals three extended modes about the shear failure plane of S-RM. Based on the real meso-structural model and by using the numerical simulation test, the character and mechanics of seepage failure of S-RM are studied. At the same time, it builds the real structural mode of the slope based on the analysis about the slope crosssection of S-RM. By using the strength reduction method, it takes the research on the stability of S-RM and gets great achievements. The three dimensional geometric reconstruction technology of rock block is proposed, which provides technical support for the reconstruction of the 3D meso-structural model of S-RM. For the first time, the dissertation builds the stochastic structure model of two-dimensional and three-dimensional polygons or polyhedron based on the stochastic simulation technique of monte carlo method. It breaks the traditional research which restricted to the random generation method of regular polygon and develops the relevant software system (R-SRM2D/3D) which has great effect on meso-structural mechanics of S-RM. Based on the R-SRM software system which randomly generates the meso-structural mode of S-RM according to the different meso-structural characteristics, the dissertation takes a series of research on numerical test of dual axis and real three-axis, systematically analyses the meso destroy system, the effects of meso-structural characteristics such as on the stone content, size composition and block directionality on the macro mechanical behavior and macro-permeability. Then it proposes the expression of the upper and lower limit for the macro-permeability coefficient of the inhomogeneous geomaterials, such as S-RM. By using the strength reduction FEM, the dissertation takes the research on the stability of the slope structural mode of the randomly formed S-RM. The results indicate that generally, the stability coefficient of S-RM slope increases with the increasing of stone content; on the condition of the same stone content, the stability coefficient of slope will be different with different size composition and the space position of large block at the internal slop has great effect on the stability. It suggests that meso-structural characteristics, especially the space position of large block should be considered when analyzing the stability of this kind of slope and strengthening design. Taking Xiazanri S-RM slope as an example, the dissertation proposes the fine modeling of complicated geologic body based on reverse engineering and the generation method of FLAC3D mode. It resolves the bottleneck problem about building the fine structural mode of three-dimensional geological body. By using FLAC3D, the dissertation takes research on the seepage field and the displacement field of Xiazanri S-RM slope in the process of reservoir water level rising and decreasing. By using strength reduction method, it analyses the three-dimension stability in the process of reservoir water level rising and decreasing. The results indicate that the slope stability firstly show downward trend in the process of reservoir water level rising and then rebound to increase; the sudden drawdown of reservoir water level has great effect on the slope stability and this effect will increase with the sudden drawdown amplitude rising. Based on the result of the rock block size analysis of S-RM, and using R-SRM2D the stochastic structure model of Xiazanri S-RM slope is built. By using strength reduction method, the stability of the stochastic structure model is analysis, the results shows that the stability factor increases significantly after considering the block.

鄂尔多斯盆地志丹地区延长组储层综合评价

Sedimentary provenance direction，sedimentary facies，reservoir geological characteristic，pore structure； physical property characteristic，reservoir classification and evaluation ，forthermore，favorable area area are forecasted of Yanchang formation in ZhiDan region， by mainly study on the data of field section observation ，core observation, well logging explaination and routine microscope slice identification，scanning Electron Microscope and reservoir analysis of lithology and physical property , Under the guidance of such advanced theories and methods as sedimentology，reservoir sedimentology，lithological oil pool and so on，in the thesis. The following fruits are mainly achieved in this paper： Yanchang formation stratum is divided and correlated in this entire region， and the characteristic of oil layer unit is detailed discussed , respectively. According to main marker bed and supplementary ones.and research result shows that the source of provenance direction during Yanchang Formation mianly is north-east. Delta and lake are mainly developed in study area ，sub-facies and micro-facies are divided，distribution of sedimentary micro-facies in plane and palaeogeographic evolution are described，and gentle slope type- shallow water delta depositional model is established. Fine-grain arkose sandstone is the main reservoir，and which have experienced such different degree diagenesis as compaction, cementation, replacement and dissolution, and in which compaction and cementation are mainly factors to reduce sandstone physical property and dissolution effectively improved physical property during burial diagenesis procedure. All reservoirs of Yanchang Formation have entered A period of late diagenetic stage according to scheme of diagenesis period division . Intergranular porosity，dissolution porosity，fissure porosity are main pore types. And porosity structure are analyse by mercury penetration capillary pressure parameter，fine-shortness type and fine- length throat type are mainly developed. as a whole，the reservoir， with the characteristic of porosity and permeability altering apparently，strong inhomogeneity ， is a medium- porosity and medium permeability one. In plane，higher- porosity and higher-permeability are corresponded well with distributary channel area， physical property and inhomogeneity are affected by both deposition and diagenesis，and distributary channel and underwater distributary channel are favorable facies . According to such characteristic as lithology，physical property，pore structure ，diagenesis and sandstone distribution, the sandy reservoir can be classified 4 types, and the main sandy in every oil layer unit are evaluated according to the standard. The analysis result of petroleum concentration rule shows that Yanchang Formation are with not only favourable oil source rock，reservoir，covering combination ，but also good entrapment condition in study area. Lithology and structure-lithology oil pool are mainly developed ，based on condition of favorable reservoir developments，accounting for deliverability and sandstone superface elevation，zone of profitabilitis are forecasted.