便携式移动机器人姿态解算方法

本文根据便携式移动机器人的特点,采用四元数法解算机器人导航系统的姿态,避免了在机器人运动角度较大时出现奇异点的问题。文中应用改进的四阶龙格-库塔算法解算四元数微分方程,经仿真实验,精度完全能够达到要求。给出了合理的变换公式,在机器人运动范围内,满足了四元数与欧拉角之间转换的一一对应。

平面自由运动半物理仿真系统的初始条件实现

提出了一种平面自由运动半物理仿真系统的设计,对系统仿真试验的初始条件形成过程进行了具体阐述。系统中应用了一种平面两自由度直角坐标运动装置,用于完成系统驱动及速度和位置控制,同时这种运动装置能够进行直角坐标跟随运动,并与其末端测量机构共同实现对平面自由运动物体的高精度大范围位姿测量。建立了系统的运动学模型,并设计相应的控制算法实现试验所需的运动过程,采用半闭环和闭环相结合的方法有效控制系统的末端累积误差;针对提出的复合测量方法,建立了测量原理的数学模型,并进行了精度分析和仿真计算。实验证明这种设计和相应的控制测量方法合理可行。

基于坐标变换的六维力传感器静态标定方法

为了提高传感器的测量精度,研究了六维力传感器标定矩阵的构造方法。首先,指出了传统标定矩阵的物理意义。然后,在传统标定矩阵中引入坐标平移变换算式,提出了一种综合考虑位置、姿态、坐标轴刻度比例缩放变换关系的六维力传感器静态标定方法。在标定试验的基础上,构造了标定矩阵,并对实测数据进行了补偿计算。误差分析表明:在传感测量系统无平移系统误差时,与传统标定方法相比,该方法的补偿精度略有下降。当在传感测量中加入平移系统误差时,该方法的补偿精度不变,而传统标定方法的测量精度明显下降。该方法起到了消除平移系统误差作用。

一种平面运动位姿的并联组合测量方法研究

基于特殊的测量环境需要,提出了用于平面运动位姿测量的并联组合测量方法。介绍了并联组合测量方法的测量机构组成和测量原理,并进行了可行性论证;通过建立误差模型,对几何误差源与原始测量参数的映射关系及其对最终位姿测量误差的影响进行了分析,仿真结果和实际应用测量数据验证了分析的正确性。所述并联组合测量方法构思新颖,结构合理,适用于具有一定特殊测量条件的高精度平面大范围运动过程位姿测量。如果在工程应用中有效地控制几何误差源的影响,该方法则具有一定的推广应用价值。

一种五自由度机电测控系统的设计与实现

文章提出了一种基于五自由度机电系统的测控系统设计方法,并从机械系统构成、测控系统结构及软硬件设计方面论述了系统实现技术。针对系统特定的功能要求,文章详细介绍了位姿组合测量和各位姿自由度控制的测控方法,并应用模块化设计和数据流分析方法进行软硬件设计。通过实验进行系统特性分析,得到运行参数指标。实验证明这种设计方法和实现技术合理可行。

基于关节限位的自治水下机器人机械手系统运动规划研究

对自治水下机器人搭载的四功能水下电动机械手进行了简要描述。考虑到自治水下机器人机械手系统的运动学冗余,将关节限位算法用于系统逆运动学求解,避免载体大幅度姿态变化。利用Matlab仿真表明该算法在解决系统冗余的同时有效的限制了关节位移。

浮力调节系统在作业型AUV上的应用研究

本文根据我国正在研制开发的作业型水下机器人的特性及其对浮力调节和姿态控制的要求,应用PID控制策略,设计了一个浮力调节系统,仿真结果证明该设计方案可以达到预期的目标。(100039北京市中国科学院研究生院)常海龙

基于神经网络的三维物体姿态测定

利用单幅图象中物体的三条边与模型中的三条对应边,可求出三维物体姿态,但解不唯一,通过将这些可能姿态所产生的图象与实际图象匹配,可求出唯一正确姿态.二维图象特征对应问题是个NP完全问题,存在组合爆炸的困难,为此,我们把特征对应问题看作一个组合优化问题,利用Hopfield网络成功解决这一组合优化问题.该算法通用性强,而且适合于并行实现。文中给出了在Ⅵ-COM图象处理系统上对人造图象和实际图象进行的实验结果。

三维物体识别及姿态测定的推理系统

本文介绍了三维物体识别及姿态测定的一种新技术，从物体空间域模型出发，通过约束推理及几何推理，在物体三维信息部分给定的条件下，推断预测图象模型，并通过实测的图象数据反馈，推断出隐含在图象中未给定的三维信息，最终实现三维物体识别及姿态测定。整个系统在ＶＩＣＯＭ机上用Ｃ语言完成。

利用BP神经网络实现三维物体姿态的测定

本文利用BP(Back-Propagation)人工神经网络对三维物体的姿态测定进行了研究。姿态测定一直缺少通用而实际的方法,人工神经网络由于具有强大的自组织、自适应学习能力,迅速的并行信息处理能力,可望解决这个问题。但现有BP算法存在训练慢和易陷入局部最小两个问题.本文提出的级联形式网络结构,使BP网络的训练速度大为提高,陷入局部最小的可能性大为降低。利用这种级联结构对飞机模型姿态测定,取得了较好的实验结果。

一种新型平面组合传感器的误差建模与分析

设计了一种新型三自由度位姿测量平面组合传感器装置,用于完成对平面运动的两个移动自由度和一个转动自由度的动态测量。介绍了传感器的机构构成和测量原理,利用微分法原理建立了误差模型,对误差产生原因进行分析,得出了机构误差对测量精度的影响曲线,试验和仿真验证了新型平面组合传感器机构的合理性。新型平面组合传感器机构简单,测量精度高,适用于特定环境下的高精度平面运动位姿测量。

全信息精细储层预测方法研究与实践-以周清庄油田沙三段油藏为例

With the continuously proceeding of petroleum exploratory development in China, exploratory development becomes more and more difficult. For increasing reserve volume and production, lithologic hydrocarbon reservoir has been the most workable, potential and universality exploration targets. In the past, Dagang Oil Field use the complicated fault reservoir theory as the guide, develop and form a suit of matching construction and instrument in prospecting complicated fault reservoir that reach top of exploration industry in China. But the research of lithologic hydrocarbon reservoir is not much, which affects the exploitation progress of lithologic hydrocarbon reservoir. In this thesis, is object, through the depth study of lithologic deposition in Shasan segment of Zhouqingzhuang Oil Field, a suit of holographic fine reservoir bed forecasting techniques is built up and finally gets following main results: 1. Applying geology, seism, drilling, logging and other information to sensitivity preferences, geological model, inversion and integrated stratum evaluation, realizing the method and flow of refined multi-information stratum forecast. 2. Built up a full three dimensional fine structural interpretation method: in view of r problem of accurately demarcating 90% inclined well, propose a inclined well air space demarcating method, make bed demarcating more exactly; in view of problem of faults demarcating and combination in seismic interpretation, propose a computational method of seismic interference based on wavelet translation, make identify the fault in different level more dependable and reasonable; for exactly identifying structural attitude, propose a velocity modeling method under multi-well restriction, make structural attitude closer to the facts. 3. Built up a high accuracy reservoir bed inversion method: in view of problem in exactly identifying reservoir and nonreservoir with conventional wave impedance inversion method in this place, propose a reservoir log response characteristic analysis and sensible log parameter inversion method. ①analysis log response of reservoir and nonreservoir in region of interest, make definite the most sensible log parameter in identifying reservoir and nonreservoir in this region; ②make sensible log parameter inversion based on wave impedance inversion, to improve inversion accuracy, the thickness of recognizable reservoir bed reach 4-5m. 4. Built up a 4-D reservoir forcasting circuit: in view of difficulty that in lithologic hydrocarbon reservoir making reservoir space characteristic clear by using structural map and reservoir forecasting techniques once only, propose a 4-D reservoir forcasting circuit. In other words, based on development conceptual design, forcast reservoir of different time, namely multiple 3D reservoir forcasting in time queue, each time the accuracy degree of reservoir forcasting is improved since apply the new well material, thereby achieve high quality and highly efficient in exploratory development. During exploratory development lithologic depositin in Shasan segment of Zhouqingzhuang Oil Field, there are thirteen wells get 100% success rate, which sufficiently proves that this suit of method is scientific and effective.

山西堡子湾金矿角砾岩带控矿规律、成矿时代及隐伏矿体定位预测

The Puziwan gold deposit is located at the northern boundary of the North China platform where there are very favorable ore-forming conditions. The deposit is a medium-sized gold deposit associated with silver and copper polymetallic minerallization which were closely related to cryptoexplosive processes and fluidization and underwent multi-epoch superposition of mineralization. The mineralization consists of cryptoexplosive breccia-type, fluidizing-type, porphyry-type, quartz vein-type, etc. The ore-controlling law of ore-bearing brecciated zone is systematically studied in the paper. The shape, scale and attitude of ore bodies are dominat in the upper, the ore bodies of fluidizing breccia-type are dominant in the upper and the middle part, the porphyry-type ore bodies are dominant in the bottom. The quartz vein-type ore bodies are impenetrated in all the brecciated zone. The metallogenic epoch of Puziwan gold deposit is collated and stipulated. The Rb-Sr isochron age of quartz porphyry (wall rock) is 233 Ma, refering to the Ar-Ar age of gold-bearing quartz, excluded the former conclusion that the so-called metallogenic epoch (245.9Ma) is in Indosinian epoch. The nonage metallogenic age of Buziwan gold deposit shoule be in the Yanshanian epoch (142.5Ma). By applying the sub-specimen sampling technique, the Rb-Sr isochron age of gold-bearing pyrites in late mineralization epoch is dated to be 64 Ma. In conclusion, the metallogenetic epoch of Puziwan gold deposit is in late Yanshanian-early Himalayan epoch. On the above basis, the metallogenic model of the "train type" and new texture model of ore deposit are established. by applying the methods of geology, shallow seismic exploration, remote sensing, partial geochemical extraction and the study of inclusions in the late granite porphyry, the author has made the metallogenic progosis in the depth and the prephery of Puziwan gold deposit and eight prospecting targets are proposed.

沾化凹陷泥质岩油气藏成藏特征研究

Mudstone reservoir is a subtle reservoir with extremely inhomogeneous, whose formation is greatly related to the existence of fracture. For this kind of reservoir, mudstone is oil source rock, cover rock and reservoir strata, reservoir type is various, attitude of oil layer changes greatly, and the distribution of oil and gas is different from igneous or clastic rock reservoir as well as from carbonate reservoir of self-producing and self-containing of oil and gas. No mature experience has been obtained in the description, exploration and development of the reservoir by far. Taking Zhanhua depression as an example, we studied in this thesis the tectonic evolution, deposit characteristics, diagenesis, hydrocarbon formation, abnormal formation pressure, forming of fissure in mudstone reservoir, etc. on the basis of core analysis, physical simulation, numerical simulation, integrated study of well logging and geophysical data, and systematically analyzed the developing and distributing of mudstone fissure reservoir and set up a geological model for the formation of mudstone fissure reservoir, and predicted possible fractural zone in studied area. Mudstone reservoir mainly distributed on the thrown side of sedimentary fault along the sloping area of the petroleum generatiion depression in Zhanhua depression. Growing fault controlled subsidence and sedimentation. Both the rate of subsidence and thickness of mudstone are great on the thrown side of growing fault, which result in the formation of surpressure in the area. The unlocking of fault which leads to the pressure discharges and the upward conduct of below stratum, also makes for the surpressure in mudstone. In Zhanhua depression, mudstone reservior mainly developed in sub-compacted stratum in the third segment of Shahejie formation, which is the best oil source rock because of its wide spread in distribution, great in thickness, and rich in organic matter, and rock types of which are oil source mudstone and shale of deep water or semi-deep water sediment in lacustrine facies. It revealed from core analysis that the stratum is rich in limestone, and consists of lamina of dark mudstone and that of light grey limestone alternately, such rock assemblage is in favor of high pressure and fracture in the process of hydrocarbon generation. Fracture of mudstone in the third segment of Shahejie formation was divided into structure fracture, hydrocarbon generation fracture and compound fracture and six secondary types of fracture for the fist time according to the cause of their formation in the thesis. Structural fracture is formed by tectonic movement such as fold or fault, which develops mainly near the faults, especially in the protrude area and the edge of faults, such fracture has obvious directivity, and tend to have more width and extension in length and obvious direction, and was developed periodically, discontinuously in time and successively as the result of multi-tectonic movement in studied area. Hydrocarbon generation fracture was formed in the process of hydrocarbon generation, the fracture is numerous in number and extensively in distribution, but the scale of it is always small and belongs to microfracture. The compound fracture is the result of both tectonic movement and hydrocarbon forming process. The combination of above fractures in time and space forms the three dimension reservoir space network of mudstone, which satellites with abnormal pressure zone in plane distribution and relates to sedimentary faces, rock combination, organic content, structural evolution, and high pressure, etc.. In Zhanhua depression, the mudstone of third segment in shahejie formation corresponds with a set of seismic reflection with better continuous. When mudstone containing oil and gas of abnormal high pressure, the seismic waveform would change as a result of absorb of oil and gas to the high-frequency composition of seismic reflection, and decrease of seismic reflection frequency resulted from the breakage of mudstone structure. The author solved the problem of mudstone reservoir predicting to some degree through the use of coherent data analysis in Zhanhua depression. Numerical modeling of basin has been used to simulate the ancient liquid pressure field in Zhanhua depression, to quantitative analysis the main controlling factor (such as uncompaction, tectonic movement, hydrocarbon generation) to surpressure in mudstone. Combined with factual geologic information and references, we analyzed the characteristic of basin evolution and factors influence the pressure field, and employed numerical modeling of liquid pressure evolution in 1-D and 2-D section, modeled and analyzed the forming and evolution of pressure in plane for main position in different periods, and made a conclusion that the main factors for surpressure in studied area are tectonic movement, uncompaction and hydrocarbon generation process. In Zhanhua depression, the valid fracture zone in mudstone was mainly formed in the last stage of Dongying movement, the mudstone in the third segment of Shahejie formation turn into fastigium for oil generation and migration in Guantao stage, and oil and gas were preserved since the end of the stage. Tectonic movement was weak after oil and gas to be preserved, and such made for the preserve of oil and gas. The forming of fractured mudstone reservoir can be divided into four different stages, i.e. deposition of muddy oil source rock, draining off water by compacting to producing hydrocarbon, forming of valid fracture and collecting of oil, forming of fracture reservoir. Combined with other regional geologic information, we predicted four prior mudstone fracture reservoirs, which measured 18km2 in area and 1200 X 104t in geological reserves.

热察绥地区过去300年土地利用覆被变化

The historical land use and land cover changes is one of the key issues in LUCC research. However, the achievement of China in this field doesn't match her position in the world yet. And the reliability of the quantitive records in Chinese historical literature, the basic data for historical land use research, has been doubted. This research focuses on Re-Cha-Sui, a typical area for the farming-pastoral region in the north of China, to make a detailed case study in this field. Based on a deep mining and calibration on the data from massive historical documents and land-use surveys, the author gives a detailed analysis on the administrative region evolution, historical population dynamics, reclamation policy, and the land statistic system. According to textual researches, parallel validation and physical geographical analysis, a unified land use series for recent 300 years, which founded on the results of modern land-use surveys, is constructed. And the thematic maps on the cultivation index for different counties in several temporal sections are plotted. Based on the endeavor above, the dynamic of forest and steppe is reconstructed as well. The temporal-spatial patterns of land use/land cover changes in the area is analyzed. And the influence of different driving forces are discussed. The main conclusions of the research are as followed: 1. The quantitive records in literatures on Re-Cha-Sui area are reflection of real amounts of croplands. It is practical to reconstruct a result comparable with the modern land-use surveys, based of a deep mining and considerate validation on historical documents. The unexceptional negative attitude towards the numerical records in historical documents is unnecessary. 2. In recent 300 years, 3 climax of reclamation appeared in Re-Cha-Sui area and altered the pure pastoral area into a farming-pastoral region. The interval were respectively the early time till mid time of the Qing dynasty, the end of the Qing dynasty till early time of the Republic of China(ROC), and the time after A.D. 1949. After the first expansion, the area of cropland in this region reached 2.0 million ha. Among them, Guisui area, which was most densely cultivated, had a cultivation index over 30%, which is similar with modern situation. The second expansion covered broader area, and the amount of cropland reached 3.5 million ha. The increase of farming area after 1949 is due to the recultivation of abandoned farmland. The current area of cropland in this region is 5.6 million ha. In the southern area where the land was reclaimed early, the amount on of the cropland has some fluctuation in 300 years. While in the new reclaimed area in the north, the area of cropland has kept the trend of increasing. 3. Due to the different natural conditions, most forests in Re-Cha-Sui area distribute in the mountain area of North Hebei province, and the upland of West Liaoning province, especially the former, which has a forest coverage near 70%. However, most of these forests were destroyed before the end of the Qing dynasty. In 1949, the natural forest near Chengde was nearly cleared up. They were partly renewed after 1949 due to plantation. 4. In the steppe zone such as northern Rehe, Suiyuan and Chahar, the area of steppe has a negative correlation with that of cropland. With the expansion of cropland, the percentage of steppe has shrunk from over 80% to 53%. In the mountain area of North Hebei province, steppe expanded with the shrinkage of forest, though cropland was expanding. The percentage once reached 60%, and then fell with the renew of forest. However, in the upland of West Liaoning province, the steppe shrink slowly from original 50% to current 26%, with the expansion of cropland. 5. The land use and land cover change in Re-Cha-Sui area in recent 300 years is driven by various factors, including human dimensions such as population, policy of the government, disorder of the society, cultural tradition, and natural factors such as climate change and natural disasters. Among them, pressure from surplus population is the basic driving force.