全地形轮式移动机器人运动学建模与分析

提出全地形轮式移动机器人的正逆运动学问题。将机器人看成一个混合串-并联多刚体系统,从每个轮-地接触点到机器人车体分别构成一个串联子系统,抛弃车轮纯滚动假设,在轮-地接触点处建立瞬时坐标系,考虑车轮的平面滑移,从而对每个串联子系统形成一个封闭的速度链。对于每个速度闭链,可直接在驱动轮轮心处写出从机器人各驱动轮到机器人本体之间的运动方程,将每个速度闭链的运动方程合并即可得到机器人的整体运动学模型。以一个具有被动柔顺机构的六轮全地形移动机器人为对象进行推导,该方法既考虑了地形不平的影响,又考虑了车轮的前向、侧向及转向滑移,已知机构参数后就可以直接写出机器人的速度方程,且便于运动学求解。该方法对于轮式移动机器人的运动学建模具有一般性,且具有物理意义明确、推导过程简洁等特点。

多目标追逐问题的一种混合整数线性规划解

研究多车辆多目标追逐的路径规划问题。提出两个基于混合整数线性规划(Mixed integer linear programming,MILP)的多目标追逐(Multi-target pursuit,MTP)模型:就近追逐和"一对一"使能追逐。在两个MIP追逐模型中,小车运动的状态方程考虑为具有线性阻尼的质点动力学方程。采用整数变量描述小车与障碍物的相对位置信息,提出"目标膨胀尺寸"的概念来描述对目标的追逐,定义小车的"追逐方向"。采用选取整变量的等高面法求解MILP追逐问题,并给出初始内点整变量的确定方法。最后给出仿真试验1对两个多目标追逐模型进行对比研究,仿真试验2证实了算法的效率。

一种基于线性模型的机器人手眼标定新方法

针对基于传统手眼标定模型AX=XB的标定问题,引入了由摄像机投影矩阵M构成的数学模型MY=M'YB,并针对该模型提出了一种新解法。该方法运用矩阵直积和特征向量理论,将关于机器人手眼关系矩阵X的问题描述转换成关于关联矩阵Y的线性方程,运用最小二乘法求得线性闭解。该方法消除了传统方法多次分解摄像机传感器系统的内外参数而引入的摄像机传感器系统的固有误差和随机误差的影响。实验表明该方法可以提高手眼系统标定精度。

模型无关的无定标视觉伺服控制

本文首先介绍了视觉伺服的一般原理 .然后提出了一种模型无关的无定标视觉伺服控制方法 ,在这种方法中不需要机器人模型和摄像机模型 ,应用方差最小化的原理推导出了模型无关的无定标视觉伺服控制律 .此外还给出了图像雅可比矩阵的递推公式 .文章最后通过一个轨线跟踪的仿真实验验证了算法的正确性和有效性

拟人机器人交互作用力的研究

拟人机器人的动力学具有高度非线性、高度耦合的特点,分析清楚各组成部分之间的交互作用力是实施高级控制方法的基础。文章在以往分析移动机械手的基础上,从整体建模的角度入手,对拟人机器人的交互作用力提出了一个新的模型,即神经网络模型。利用该模型对一个特殊的单一手臂运动的例子进行了拟合,其结果是收敛的。这说明提出的模型是有效的,此后,我们将陆续给出研究成果。

潜水器恒张力收放绞车系统的建模与仿真

在潜水器收放过程中,要求收放绞车具有恒张力控制功能,减小由于波浪起伏对潜水器的冲击。本文根据液压系统的流量连续性方程,建立恒张力收放绞车泵控液压马达系统的数学模型,并对该系统进行了仿真分析,仿真结果表明:该系统能够满足实际的作业工况,且具有良好的动态和稳态工作性能。仿真结果为收放系统的设计提供了依据。

载人潜水器及其运动控制

介绍了载人潜水器的构成及推进器的布置,在此基础上导出了载人潜水器的推力分配方程。阐述了载人潜水器的运动控制。最后,将运动控制系统在载人潜水器半物理仿真平台上进行了验证,运动控制效果良好。

强流脉冲离子束辐照45钢表面热效应的模拟

以Fourier瞬态传热方程为基础,确定了强流脉冲离子束(HIPIB)热效应的基本传热方程,对靶材45钢进行不同能量参数的HIPIB辐照热效应的模拟计算.针对离子注入金属内部的情况,在模拟束流加载方式上分别采用体加载和面加载,比较了两种加载计算结果之间的差距.本算法的另一个改进就是在高能量辐照下,用单元死活法对蚀坑部分材料的消失进行模拟.结果表明,用单元死活法模拟单元的失效,更能符合HIPIB辐照金属表面热效应的蚀坑机制;单元死活法对靶材的升温过程没有明显影响,但对冷却阶段,可以显著提高模拟的精度.

随钻地震技术的研究及应用

Seismic While Drilling (SWD) is a new wellbore seismic technique. It uses the vibrations produced by a drill-bit while drilling as a downhole seismic energy source. The continuous signals generated by the drill bit are recorded by a pilot sensor attached to the top of the drill-string. Seismic wave receivers positioned in the earth near its surface receive the seismic waves both directly and reflection from the geologic formations. The pilot signal is cross-correlated with the receiver signals to compute travel-times of the arrivals (direct arrival and reflected arrival) and attenuate incoherent noise. No downhole intrusmentation is required to obtain the data and the data recording does not interfere with the drilling process. These characteristics offer a method by which borehole seismic data can be acquired, processed, and interpreted while drilling. As a Measure-While-Drill technique. SWD provides real-time seismic data for use at the well site . This can aid the engineer or driller by indicating the position of the drill-bit and providing a look at reflecting horizons yet to be encountered by the drill-bit. Furthermore, the ease with which surface receivers can be deployed makes multi-offset VSP economically feasible. First, this paper is theoretically studying drill-bit wavefield， interaction mode between drill-bit and formation below drill-bit , the new technique of modern signal process was applied to seismic data, the seismic body wave radiation pattern of a working roller-cone drill-bit can be characterized by theoretical modeling. Then , a systematical analysis about the drill-bit wave was done, time-distance equation of seismic wave traveling was established, the process of seismic while drilling was simulated using the computer software adaptive modeling of SWD was done . In order to spread this technique, I have made trial SWD modeling during drilling. the paper sketches out the procedure for trial SWD modeling during drilling , the involved instruments and their functions, and the trial effect. Subsurface condition ahead of the drill-bit can be predicted drillstring velocity was obtained by polit sensor autocorrelation. Reference decovolution, the drillstring multiples in the polit signal are removed by reference deconvolution, the crosscorrelation process enhance the signal-to-noise power ratio, lithologies. Final, SWD provides real-time seismic data for use at the well site well trajectory control exploratory well find out and preserve reservoirs. intervel velocity was computed by the traveltime The results of the interval velocity determination reflects the pore-pressure present in the subsurface units ahead of the drill-bit. the presences of fractures in subsurface formation was detected by shear wave. et al.

碳酸盐岩缝洞型储层地球物理响应特征及预测方法研究

Proven by the petroleum exploration activities, the karsts-fissure reservoir in carbonate rocks is significant to find out the large scale oil & gas field. They are made up of the four reservoir types: karsts-cave, karsts-crack, crack-cave and fracture-pore-cave. Each reservoir space and each reservoir bed has different features of reservoir heterogeneity and small scale of pore-crack-cave. The fracture-cave reservoir in carbonate rocks is characteristic by multi-types and long oiliness well. The reservoir shape is controlled by the irregular pore-crack-cave. The development level of fracture and karst-cave is the key element of hydrocarbon enriching, high productivity and stable production. However, most of Carbonate formation are buried deeply and the signal-ration-noise of seismic reflection are very low. It is reason why the fracture-cave reservoir are difficult to be predicted effectively. In terms of surveyed and studied lots of the former research outcome, The author applied the methods of synthetical reservoir geophysical prediction from two ways including macrosopic and microcomic technics in terms of the reservoir-cap condition, geophysics and geology feature and difficulty of prediction in carbonate rocks. It is guiden by the new ideas of stratigraphy, sedimentology, sedimentography, reservoir geology and karst geology. The geophysics technology is key technics. In aspects of macroscopic studies, starting off the three efficiencies of controlling the reservoir distribution including sedimental facies, karst and fracture, by means of comprehensive utilization of geology, geophysics, boring well and well log, the study of reservoir features and karst inside story are developed in terms of data of individual well and multiple well. Through establishing the carbonate deposition model, karstic model and fracture model, the macro-distribution laws of carbonatite are carried out by the study of coherence analysis, seismic reflection feature analysis and palaeotectonics analysis. In aspects of microcosmic studies, starting off analysis in reservoir geophysical response feature of fracture and karst-cave model according to guidance of the macroscopic geological model in carbonate reservoir, the methods of the carbonate reservoir prediction are developed by comprehensively utilization of seismic multi-attribution intersection analysis, seismic inversion restricted by log, seismic discontinuity analysis, seimic spectrum attenuation gradient, moniliform reflection feature analysis and multiparameter karst reservoir appraisement.Through application of carbonate reservoir synthetical geophysics prediction, the author r successfully develops the beneficial reservoir distribution province in Ordovician of Katake block 1in middle Tarim basin. The fracture-cave reservoir distributions are delineated. The prospect direction and favorable aims are demonstrated. There are a set of carbonate reservoir prediction methods in middle Tarim basin. It is the favorable basic technique in predicting reservoir of the Ordovician carbonate in middle Tarim. Proven by exploration drilling, the favorable region of moniliform reflection fracture and pore-cave and cave-fracture in lower-middle Ordovician are coincidence with the region of hydrocarbon show. It’s indicated that the reservoir prediction methods described in the study of Ordovician carbonate formation are feasible practicably.

砂泥岩储层测井产能预测方法研究

Productivity prediction is very important in the exploration and development of oilfields. Using well log data to predict productivity is a front-line technology， which is key issue in petroleum exploration phase. The essential factors of productivity prediction is building practical models and correcting various causes to improve precision of prediction parameters. Any errors of parameters selections can affect the calculation of productivity prediction; therefore， how to improve research means and calculation accuracy is an important task of productivity prediction. Theory and case examples are deeply and comprehensively studied in the paper. Based on the theory of mud-filtrate invasion and experimental results， the damage of drilling， cementing， perforating，acidizing and fracturing were investigated. The damage depth was quantitatively evaluated by log data， based on this， the processing results of reservoir sensitivity were used to analysis quantitatively the damage of reservoir. The productivity prediction and reservoir damage were initiatively incorporated according to well logging， and the precision of productivity prediction was effectively improved. The method of NMR was explored to calculate the fluid viscosity on the basis of reservoir physical method， and the differences between the two methods were compared in the paper. From the theory fluid flow in porous media， various of theoretical models of production prediction were explored and several practical models were consided， such as productivity index method， improved productivity index method， improved Bearder method， SVM and so on. The characteristic and the application scope of these methods were studied. The inflow productivity and outflow productivity were incorporated and nodal analysis method was used to forecast wellhead yield， thus achieved scientifically production. On the applied background of conventional logging suite， the applying of special items or new logging method which is practical in the research area were studied， the logging suite was further optimized， and the precision of forecast was improved. On the basis of the modeling and the calculation of parameters， these methods were verified and analyzed， and the reconstruct principle was also built for block reservoir. The research block was processed by these methods and compared with testing data. Based on above the research， a technological system which is practical for shaly sand profiles in Shengli Oilfield was built. The system can reach commercialized degree，and satisfied the need of exploration and development of the oilfield.

复杂条件地层滤波预测的理论与关键技术研究

The theory researches of prediction about stratigraphic filtering in complex condition are carried out, and three key techniques are put forward in this dissertation. Theoretical aspects: The prediction equations for both slant incidence in horizontally layered medium and that in laterally variant velocity medium are expressed appropriately. Solving the equations, the linear prediction operator of overlaid layers, then corresponding reflection/transmission operators, can be obtained. The properties of linear prediction operator are elucidated followed by putting forward the event model for generalized Goupillaud layers. Key technique 1: Spectral factorization is introduced to solve the prediction equations in complex condition and numerical results are illustrated. Key technique 2: So-called large-step wavefield extrapolation of one-way wave under laterally variant velocity circumstance is studied. Based on Lie algebraic integral and structure preserving algorithm, large-step wavefield depth extrapolation scheme is set forth. In this method, the complex phase of wavefield extrapolation operator’s symbol is expressed as a linear combination of wavenumbers with the coefficients of this linear combination in the form of the integral of interval velocity and its derivatives over depth. The exponential transform of the complex phase is implemented through phase shifting, BCH splitting and orthogonal polynomial expansion. The results of numerical test show that large-step scheme takes on a great number of advantages as low accumulating error, cheapness, well adaptability to laterally variant velocity, small dispersive, etc. Key technique 3: Utilizing large-step wavefield extrapolation scheme and based on the idea of local harmonic decomposition, the technique generating angle gathers for 2D case is generalized to 3D case so as to solve the problems generating and storing 3D prestack angle gathers. Shot domain parallel scheme is adopted by which main duty for servant-nodes is to compute trigonometric expansion coefficients, while that for host-node is to reclaim them with which object-oriented angle gathers yield. In theoretical research, many efforts have been made in probing into the traits of uncertainties within macro-dynamic procedures.

基于随机介质理论的多尺度储层非均质性定量描述

Application of long-term exploration for oil and gas shows that the reservoir technology of prediction is one of the most valuable methods. Quantitative analysis of reservoir complexity is also a key technology of reservoir prediction. The current reservoir technologies of prediction are based on the linear assumption of various physical relationships. Therefore, these technologies cannot handle complex reservoirs with thin sands, high heterogeneities in lithological composition and strong varieties in petrophysical properties. Based on the above-mentioned complex reservoir, this paper conducts a series of researches. Both the comprehending and the quantitative analysis of reservoir heterogeneities have been implemented using statistical and non-linear theories of geophysics. At the beginning, the research of random media theories about reservoir heterogeneities was researched in this thesis. One-dimensional (1-D) and two-dimensional (2-D) random medium models were constructed. The autocorrelation lengths of random medium described the mean scale of heterogeneous anomaly in horizontal and deep directions, respectively. The characteristic of random medium models were analyzed. We also studied the corresponding relationship between the reservoir heterogeneities and autocorrelation lengths. Because heterogeneity of reservoir has fractal nature, we described heterogeneity of reservoir by fractal theory based on analyzing of the one-dimensional (1-D) and two-dimensional (2-D) random medium models. We simulated two-dimensional (2-D) random fluctuation medium in different parameters. From the simulated results, we can know that the main features of the two-dimensional (2-D) random medium mode. With autocorrelation lengths becoming larger, scales of heterogeneous geologic bodies in models became bigger. In addition, with the autocorrelation lengths becoming very larger, the layer characteristic of the models is very obvious. It would be difficult to identify sandstone such as gritstone, clay, dense sandstone and gas sandstone and so on in the reservoir with traditional impedance inversion. According to the obvious difference between different lithologic and petrophysical impedance, we studied multi-scale reservoir heterogeneities and developed new technologies. The distribution features of reservoir lithological and petrophysical heterogeneities along vertical and transverse directions were described quantitatively using multi-scale power spectrum and heterogeneity spectrum methods in this paper. Power spectrum (P spectrum) describes the manner of the vertical distribution of reservoir lithologic and petrophysical parameters and the large-scale and small-scale heterogeneities along vertical direction. Heterogeneity spectrum (H spectrum) describes the structure of the reservoir lithologic and petrophysical parameters mainly, that is to say, proportional composition of each lithological and petrophysical heterogeneities are calculated in this formation. The method is more reasonable to describe the degree of transverse multi-scale heterogeneities in reservoir lithological and petrophysical parameters. Using information of sonic logs in Sulige oil field, two spectral methods have been applied to the oil field, and good analytic results have been obtained. In order to contrast the former researches, the last part is the multi-scale character analysis of reservoir based on the transmission character of wave using the wavelet transform. We discussed the method applied to demarcate sequence stratigraphy and also analyzed the reservoir interlayer heterogeneity.

高温高压下H2O-CH4体系PVTx性质的分子动力学模拟研究

Geological fluids are important components in the earth system. To study thephysical chemistry properties and the evolution of fluid system turns out to be one of the most challenging issues in geosciences. Besides the conventional experimental approaches and theoretical or semi-theoretical modeling, molecular level computer simulation(MLCS) emerges as an alternative tool to quantificationally study the physico-chemical properties of fluid under extreme conditions in order to find out the characteristics and interaction of geological fluids in and around earth. Based on our previous study of the intermolecular potential for pure H2O and thestrict evaluation of the competitive potential models for pure CH4 and the ab initio fitting potential surface across H2O-CH4 molecules in this study, we carried out more than two thousand molecular dynamics simulations for the PVTx properties of pure CH4 and the H2O-CH4 mixtures. Comparison of 1941 simulations with experimental PVT data for pure CH4 shows an average deviation of 0.96% and a maximum deviation of 2.82%. The comparison of the results of 519 simulations of the mixtures with the experimental measurements reveals that the PVTx properties of the H2O-CH4 mixtures generally agree with the extensive experimental data with an average deviation of 0.83% and 4% in maximum, which is equivalent to the experimental uncertainty. Moreover, the maximum deviation between the experimental data and the simulation results decreases to about 2% as temperature and pressure increase,indicating that the high accuracy of the simulation is well retained in the high temperature and pressure region. After the validation of the simulation method and the intermolecular potential models, we systematically simulated the PVTx properties of this binary system from 673 K and 0.05 GPa to 2573 K and 10 GPa. In order to integrate all the simulation results and the experimental data for the calculation of thermodynamic properties, an equation of state (EOS) is developed for the H2O-CH4 system covering 673 to 2573 K and 0.01 to 10 GPa. Isochores for compositions < 4 mol% CH4 up to 773 K and 600 MPa are also determined in this thesis.

有源电磁扩散场克希霍夫积分偏移

As active electromagnetic method, field data of CSAMT method follow the equation of diffusion. Propagting in solid earth media, diffusion EM signal has strong attenuation and dispersion, otherwise seismic wave shows weak attenuation and dispersion, therefore the resolution power of CSAMT method is not better than seismic reflection method. However, there is consistence and similarity between EM signal and seismic wave in wave equation, we can apply Kirchhoff integral migration technique, a proven one in seismic method in time domain, to carry out seduo-seismic processing for CSAMT signal in frequency domain so that the attenuation and dispersion could be made compensated in some extent, and the resolution power and interpretation precision of active EM wave could be improved. Satisfying passive homogeneous Helmholtz quation, we proceed with Green theorem and combine the active inhomogenous Helmholtz quation, the Kirchhoff integral formula could be derived. Given practical problems, if we only consider the surface integral value, and assume that the intergral value in other interface is zero, combined with Green theorem in uniform half space, the expression could be simplified, and we can obtain frequency-domain Kirchhoff integral formula in surface, which is also called downward continuation of EM field in frequency domain. With image conditions and energy compensation considered, in order to get image conditions in time domain Fourier inverse transformation in frequency domain can be performed, so we can formulate the active Kirchhoff integral migration expression. At first, we construct relative stratified model, with different frequency series taken into account, then we change the distances between transmitter and reciever, the EM response can be obtained. Analyzing the EM properties, we can clarify near and far zone that can instruct us to carry out transmitter layout in practical application. Combined with field data surveyed in far zone, We perform Kirchhoff integral migration and compare the results with model to interpret. Secondly, with far field EM data, we apply TM mode to get EM response of given 2D model, then apply Kirchhoff integral migration on modelling data and interpret the results.