三维环境中基于ESMF的多机器人协作观测方法

提出了一种基于扩展集员估计（ESMF）的多机器人协作观测方法，该方法将多机器人之间的观测数据融合过程嵌入到估计过程当中，从而减少了数据处理的过程，增强了算法的快速性。同时，这种方法在实现协作观测时只需要协作机器人传送观测信息而不是整个的估计信息，因此可以减轻多机器人系统的通信负担。除此之外，该方法在融合多机器人的观测数据过程中避免了多余的近似过程，增加了观测的准确性。最后，给出了三维环境下的仿真结果，验证了方法的可行性。

基于OMAP的废墟搜救机器人监控终端

针对废墟搜救机器人的实际需要和当前监控终端的不足,设计开发了一种新的监控终端。这种监控终端基于OMAP架构,包含了人机界面、遥控、无线通讯、数据处理等功能,实现了对机器人本体的无线操控,并实现了与指挥中心的远程无线连接。由于在功耗与性能之间取得了平衡,这种监控终端减小了体积,提高了便携性。

移动机器人分布式超声探测系统设计

设计制作了一种基于多处理器的移动机器人分布式超声环境探测系统.该系统由上位工作模式控制模块和下位智能超声传感器阵列组成.下位智能超声传感器选用收发一体式超声传感器,每个传感器均由独立的微处理器控制,完成实时数据处理、抗干扰处理、故障报警以及并行数据通信等功能.上位工作模式控制模块可以根据不同的控制策略,使下位传感器阵列采用“阈值比较法”和“改进型递推均值滤波”算法及EERUF方法并行循环工作模式,实现不同方向传感器分组并行工作,提高了探测的实时性和准确性,以及对移动机器人控制的鲁棒性.仿真和实验的结果都验证了该系统的可靠性和有效性.

基于多微处理器的智能超声探测系统

设计了一种基于多微处理器的智能超声探测系统。该系统采用由上位工作模式控制单元和下位智能超声传感器阵列组成的分布式结构。每个超声传感器均由独立的微处理器控制,并完成实时数据处理、抗干扰处理、故障报警以及数据通信等功能。上位控制单元根据移动机器人的运动状态采用不同的控制策略,使下位传感器阵列分组并行工作,提高了探测系统的实时性;下位传感器采用"阈值比较法"、"改进型递推均值滤波"算法和模糊信息处理技术,提高了探测系统的准确性、可靠性。将该探测系统安装于RIRA-II移动机器人上,进行了基于主动视觉和超声信息的运动目标跟踪实验,实验表明超声探测系统运行可靠、稳定。

数字图像处理中多窗口下的自适应中值滤波

根据心理物理学、神经生理学、认知神经学等学科在视觉认知领域的部分研究成果，结合机器视觉、图像处理领域在图像增强方面已经提出的一些方法，提出了结合先验知识的多窗口结构下的分块中值滤波方法，在每一个窗口内单独进行处理与分析，突出了视觉处理目的，减少了运算量， 节省数据存储空间，达到了令人满意的滤波效果，能够在原始图像比较复杂的情况下，较好地对其进行预处理，可以改善、提高后期图像处理过程，如图像分割、图像分析的正确性和有效性。

微型遥控潜水器视频监控系统

介绍了一种微型遥控潜水器视频监控系统,包括硬件装置及基于软件技术的视频数据处理技术。硬件装置完成视频信号的采集、传输、显示。视频数据处理技术解决了视频信号的捕获、存储、画面质量调节等。该系统已经在微型遥控潜水器中应用,效果良好。

一种基于视觉的移动机器人定位系统

具有自主的全局定位能力是自主式移动机器人传感器系统的一项重要功能 .为了实现这个目的 ,国内外均在不断地研究发展各种定位传感器系统 .这里介绍了一种采用光学原理的全方位位置传感器系统 .该传感器系统由主动式路标、视觉传感器、图象采集与数据处理系统组成 .其视觉传感器和数据处理系统可安装在移动机器人上 ,然后可通过观测路标和视角定位的方法 ,计算出机器人在世界坐标系中的位置和方向 .实验证明 ,该系统可以实现机器人的在线定位 ,其采样速率和精度能够满足实用要求 .

一种基于 PSD 的机器人动态轨迹测量系统的研制

本文介绍了一个基于 PSD 的机器人动态位置测量系统,描述了系统的构成,并对该系统中的标定方法,数据处理方法和为提高系统的性能所采取的硬件措施进行探讨,本系统通过长期考机和初步应用,表明了它具有良好的可靠性和有效性.

用光学阵列传感器的机器人物体分类系统

本文介绍用光学阵列传感器的机器人物体分类系统。传感器直接安装在机器人的两个手指上。被抓物体的阴影通过光导纤维传到安放在“安全区”的光敏元件上。计算机识别物体的轮廓后命令机器人抓握物体,并把它运送到指定的地点从而达到物体分类的目的。

CCD-微型计算机图象数据处理系统

本文主要介绍用于图象数据处理的 CCD-微机系统。该系统使用电荷耦合器件(CCD)作为传感器,并与微型计算机连接,进行图象数据的采集和处理。系统还包括有光学系统、CCD 驱动控制线路、计算机 I/O 接口和应用软件。数据采集程序用汇编语言编写,数据处理和打印程序用 BASIC 语言编写,整个软件用BASIC 语言编写的程序管理。应用该系统曾对静止和运动物体尺寸进行过非接触测量,重复性很好。

基于FPGA高速并行FFT处理器设计与实现

在研究快速傅里叶变换(FFT)算法的基础上,根据FPGA性能高、灵活性强、速度快的特点,提出了高效的基4-FFT处理器的实现方法。数据存储采用分块存储的方法,大大提高了存取速度。数据寻址采用新型的地址产生方法,可并行产生所需数据地址。同时,在蝶形单元的设计中很好的将并行运算技术和流水线技术相结合了起来,又进一步提高了运算速度。测试结果表明,时钟在50MHz时完成1024点FFT的时间为25.6μs,满足了应用实时性的要求。

提高勘探成熟区地震资料精度的方法研究

With the Oil field exploration and exploitation, the problem of supervention and enhaning combination gas recovery was faced.then proposing new and higher demands to precision of seismic data. On the basis of studying exploration status,resource potential,and quality of 3D seismic data to internal representative mature Oil field, taking shengli field ken71 zone as study object, this paper takes advantage of high-density 3D seismic technique to solving the complex geologic problem in exploration and development of mature region, deep into researching the acquisition, processing of high-density 3D seismic data. This disseration study the function of routine 3D seismic, high-density 3D seismic, 3D VSP seismic,and multi-wave multi-component seismic to solving the geologic problem in exploration and development of mature region,particular introduce the advantage and shortage of high-density 3D seismic exploration, put forward the integrated study method of giving priority to high-density 3D seismic and combining other seismic data in enhancing exploration accuracy of mature region. On the basis of detailedly studying acquisition method of high-density 3D seismic and 3D VSP seismic,aming at developing physical simulation and numeical simulation to designing and optimizing observation system. Optimizing “four combination” whole acquisition method of acquisition of well with ground seimic and “three synchron”technique, realizing acquisition of combining P-wave with S-wave, acquisition of combining digit geophone with simulation geophone, acquisition of 3D VSP seismic with ground seimic, acquisition of combining interborehole seismic,implementing synchron acceptance of aboveground equipment and downhole instrument, common use and synchron acceptance of 3D VSP and ground shots, synchron acquisition of high-density P-wave and high-density multi-wave, achieve high quality magnanimity seismic data. On the basis of detailedly analysising the simulation geophone data of high-density acquisition ,adopting pertinency processing technique to protecting amplitude,studying the justice matching of S/N and resolution to improving resolution of seismic profile ,using poststack series connection migration,prestack time migration and prestack depth migration to putting up high precision imaging,gained reliable high resolution data.At the same time carrying along high accuracy exploration to high-density digit geophone data, obtaining good improve in its resolution, fidelity, break point clear degree, interbed information, formation characteristics and so on.Comparing processing results ,we may see simulation geophone high-density acquisition and high precision imaging can enhancing resolution, high-density seismic basing on digit geophone can better solve subsurface geology problem. At the same time, fine processing converted wave of synchron acquisition and 3D VSP seismic data,acquiring good result. On the basis of high-density seismic data acquisition and high-density seismic data processing, carry through high precision structure interpretation and inversion, and preliminary interpretation analysis to 3D VSP seismic data and multi-wave multi-component seismic data. High precision interpretation indicates after high resolution processing ,structural diagram obtaining from high-density seismic data better accord with true geoligy situation.

高阶广义屏波动方程叠前深度偏移

Attaining sufficient accuracy and efficiency of generalized screen propagator and improving the quality of input gathers are often problems　of wave equation presack depth migration,　in this paper,a high order formula of generalized screen propagator　for one-way wave equation is proposed by using the asymptotic expansion of single-square-root operator. Based on the formula，a new generalized screen propagator is developed ,which is composed of split-step Fourier propagator and high order correction terms，the new generalized screen propagator not only improving calculation precision without sharply increasing the quantity of computation，facilitates the suitability of generalized screen propagator to the media with strong lateral velocity variation.　As wave-equation prestack depth migration is sensitive to the quality of input gathers, which greatly affect the output，and the available seismic data processing system has inability to obtain traveltimes corresponding to the multiple arrivals, to estimate of great residual statics， to merge seismic datum from different projects and to design inverse Q filter, we establish　difference equations with an embodiment of Huygens’s principle for obtaining traveltimes corresponding to the multiple arrivals,bring forward a time variable matching filter for seismic datum merging by using the fast algorithm called Mallat tree for wavelet transformations， put forward a method for estimation of residual statics by applying the optimum model parameters estimated by iterative inversion with three organized algorithm,i.e,the CMP intertrace cross-correlation algorithm,the Laplacian image edge extraction algorithm,and the DFP algorithm, and present phase-shift inverse Q filter based on Futterman’s amplitude and phase-velocity dispersion formula and wave field extrapolation theory. All of their numerical and real data calculating results shows that our theory and method are practical and efficient. Key words: prestack depth migration, generalized screen propagator, residual statics，inverse Q filter ,traveltime，3D seismic datum mergence

柴达木盆地地震勘探关键技术研究

The rugged surface topography determined the seismic data acquisition construction conditions and the seismic wave explosive and receiver quality in Qaidam Basin. This dissertation systematically researched the seismic acquisition, imaging process and the attribute analysis techniques of complicated oil and gas reservoir. The main research achievements and cognitions are as follows: 1. Through the stimulation effects research and analysis from the aspect of lithologic water-containing differences, it’s specific that stable hydrous sand layer can effectively enhance the stimulation effects combined with the corresponding field tests. The seismic data S/N ratio has been improved due to the combination explosive stimulation. Through the fold number and maximum offset analyses of target horizon, the complicated geometry has been optimized and the S/N ratio of seismic data has been improved, which made an important basis for improvement of 3D seismic data. 2. It has been proved that the first arrival refraction static correction method under the model constraint of fine surface survey is suitable to the Qaidam Basin of western areas by the real seismic data processing. Although the refraction horizon of near surface has some changes in a certain extent, it’s steady basically. The refraction horizon can be continuously traced in sections, so it’s qualified for the refraction static correction method on the whole. 3. The research is based on the curved-ray pre-stack time migration techniques of rough topography, and improved the imaging precision of complex areas. This techniques adopted the constant and variable velocity scanning mode and enhanced the velocity analysis precision. The 3D pre-stack time migration techniques reasonably solved the imaging and velocity multiple solutions problems of steep-dip faults and the intersections of horizontal layers. What’s more, fine velocity analysis and mute are very important to enhance the imaging precision of the seismic data in complicated Wunan areas. 4. The 3D seismic data edge-preserving processing methods have been realized due to the image process techniques. Because this method uses the large range filter, it can attenuate the noise maximally. The faults, break points, lithologic pinchout points and lithologic body of small scale such as river will not be influenced by blur because of the edge-preserving characterization of the method which is really an effective assistant technique of low S/N ratio seismic data attribute analysis. 5. The use of spectral decomposition technique can effectively identify the reservoirs. The special geology body which will not be identified (or without obvious characters) in the seismic profile may be found through the details changes of different frequencies in the amplitude profiles.

层析静校正技术研究和应用

Static correction is one of the indispensable steps in the conventional onshore seismic data processing, particularly in the western part of China; it is theoretically and practically significant to resolve the issue of static correction. Conventional refraction static correction is put forward under the assumption that layered medium is horizontal and evenly distributed. The complicated nature of the near surface from western part of China is far from the assumption. Therefore, the essential way to resolve the static correction problem from the complex area is to develop a new theory. In this paper, a high-precision non-linear first arrival tomography is applied to solve the problem, it moved beyond the conventional refraction algorithm based on the layered medium and can be used to modeling the complex near surface. Some of the new and creative work done is as follows: One. In the process of first arrival tomographic image modeling, a fast high-order step algorithm is used to calculate the travel time for first arrival and ray path and various factors concerning the fast step ray tracing algorithm is analyzed. Then the second-order and third-order differential format is applied to the step algorithm which greatly increased the calculation precision of the ray tracing and there is no constraint to the velocity distribution from the complex areas. This method has very strong adaptability and it can meet the needs of great velocity variation from the complicated areas. Based on the numerical calculation, a fast high-order step is a fast, non-conditional and stable high-precision tomographic modeling algorithm. Two, in the tomographic inversion, due to the uneven fold coverage and insufficient information, the inversion result is unstable and less reliable. In the paper, wavelet transform is applied to the tomographic inversion which has achieved a good result. Based on the result of the inversion from the real data, wavelet tomographic inversion has increased the reliability and stability of the inversion. Three. Apply the constrained high-precision wavelet tomographic image to the static correction processing from the complex area. During tomographic imaging, by using uphole survey, refraction shooting or other weathering layer method, weathering layer can be identified before the image. Because the group interval for the shot first arrival is relatively big, there is a lack of precision for the near surface inversion. In this paper, an inversion method of the layer constraint and well constraint is put forward, which can be used to compensate the shallow velocity of the inversion for the shot first arrival and increase the precision of the tomographic inversion. Key words: Tomography ，Fast marching method，Wavelet transform, Static corrections, First break