一种新型爬壁机器人机构及运动学研究

提出了一种新型爬壁机器人机构,介绍了机构的构型及结构特点,推导了运动学正、逆解方程式,规划了直线行走、平面旋转及交叉面跨越三种运动模式.机构构型及运动模式的分析表明,该机构具有体积小、运动特性较好的特点.仿真结果证明,该机器人在运动过程中所需吸附力矩较小且占据的空间较少.

可重构机器人体系结构及模块化控制系统的实现

本文提出了一种适用于新型可重构星球机器人的模块化控制系统,根据机构和运动特性,基于CAN总线和分布式控制器技术,将系统结构和功能分解成不同模块由各自的控制器独立执行,建立具有任务层和运动层的分层次控制结构,实现了组合式规划、分布式控制的混合式控制方法。本文设计了两种不同的控制器,并采用PPG脉冲宽度调节方法实现了对在机器人上使用的R/C电机的标定和控制。通过在子机器人原理样机上进行实验,验证了这套控制系统和控制体系结构的可行性。

动态未知环境下基于相对坐标系的移动机器人实时运动规划

提出了一种简单、新颖的在动态未知环境下的移动机器人运动规划方法．此方法基于相对坐标系，通过传感器信息实时调整机器人的行为来实现规划．在规划过程中，机器人有两种行为：向目标运动和避碰，且避碰行为具有优先权．机器人两种行为的切换是基于加速度空问的，首先解决的是避碰问题，而向目标运动是作为避碰的反问题来考虑的．仿真研究验证了此规划方法的有效性。

蛇形机器人的转弯和侧移运动研究

介绍了沈阳自动化研究所研制的蛇形机器人机械结构和控制结构。在分析蛇形曲线的基础上,提出幅值调整法、相位调整法和侧移调整法三种新方法,来处理蛇形机器人侧向滑动带来的方位偏转和完成蛇形机器人自主转弯控制,并给出几种方法的量化关系,建立动力学仿真模型进行了运动仿真。幅值调整法虽然使蛇形机器人转弯角度受到限制但却保证了运动的连续性和稳定性。相位调整法能够使蛇形机器人准确地完成转弯运动。侧移调整法能够实现蛇形机器人前进过程中的侧向位置调整,同时保证运动方向的准确性。将上述方法应用到蛇形机器人的控制中,用仿真和试验验证了以上方法的有效性。

基于输入和机械手扰动补偿的水下机器人控制实验研究

以搭建的自治水下机器人-机械手系统为对象,通过水池实验分析了载体分系统的响应特性。针对传统的反馈控制在载体控制中的不足,将输入补偿项和机械手扰动补偿项作为载体控制的前馈项,设计了水下机器人复合校正控制器。水池实验验证了方法的可行性和有效性。

水下滑翔机器人系统研究

水下滑翔机器人是一种新型的水下机器人,可以作为水下监测平台用于大范围、长时间的大尺度海洋环境监测作业。文中调查了水下滑翔机器人的国内外发展现状,分析了其可能的应用领域。详细介绍了中国科学院沈阳自动化研究所开发的水下滑翔机器人系统,包括载体外形优化设计、载体结构设计和控制系统设计。分析了水下滑翔机器人定常滑翔运动和空间螺旋会转运动的运动性能。

载人潜器半物理虚拟仿真系统及其性能分析

为了缩短深海载人潜器控制系统的开发周期,测试系统性能,根据载人潜器的自身特点,构建和实现了载人潜器所有传感器、执行器设备模拟,以及潜器在海底实景的运动状态的半物理虚拟仿真系统。首先,以仿真系统的硬件架构和数据流程为基础,重点介绍了潜器设备模拟的软件体系结构;其次,在仿真平台上测试了各种网络数据的传输延迟,分析了其整体性能;最后,得出了潜器控制器设计的时间约束。现阶段整个系统已经开发成功,并投入运行到潜器控制系统的安装调试中。

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。

小襟翼对自治式水下机器人潜浮运动的影响

无动力大纵倾角的下潜和上浮方式对自治式水下机器人具有很大的意义．但是这种潜浮方式却无法满足自治式水下机器人潜浮位置范围及航向控制的要求．采用在稳定翼上加装小襟翼的方法，即可以解决这一难题．本文介绍了小襟翼对自治式水下机器人无动力潜浮运动轨迹的影响，并通过自治式水下机器人的运动方程，结合“ＣＲ－０１”６０００ｍ自治式水下机器人的深海试验结果，对这一影响作了定性地分析．为通过试验找出最佳小襟翼提供了理论基础

遥控作业移动机器人环境建模方法研究

本文介绍了用于遥控机器人作业虚拟环境生成的建模方法．重点研究了基于人机交互的双目立体视觉和多视点建模方法，以克服视觉自动建模方法计算复杂、鲁棒性差的缺点．给出了环境建模的实验系统和实验结果。

新型数字液压驱动单元流动状态及补偿液控阀设计研究

根据数字液压驱动单元的运行原理,分析了在空载与加载情况下该数字驱动单元的内部液体流动状态,并以这一流动状态原理为依据,改进设计了传统的液控单向阀。数字液压驱动单元样机及试验结果表明:该数字液压驱动单元与应用传统液控单向阀体的驱动单元相比,具有更加紧凑的体积、更高的响应速度及运行可靠性和显著的节能效果。

地球介质非线性与各向异性的地震波响应及其成像效应

The practice of geophysical prospecting shows us the complex interior earth. The studies of the complexity play an important role and practical guide for the subsurface structure. At present, the complexity of the earth mainly means lateral and vertical homogeneity, anisotropy and non-linear quality. And the anisotropy and non-linear media studies become the frontier in seismology and exploration seismology. This paper summarizes the development of complexities and presents the forward and inverse in the non-linear and anisotropic media. Firstly, the paper introduces the theory of seismic wave propagation in the non-linear and anisotropic media, the theoretical basis for simulation and inversion research. Secondly, high quality numerical simulation method with little dispersion has been developed to investigate the influence of complexity including anisotropy and non-linear multi-component seismograms. Because most real data in seismology have a single component, we developed two aspects work on anisotropic multi-component imaging. One is prestack reflection migration. The result show that distorted images are obtained if data from anisotropic media are migrated using isotropic extrapolation. Moreover, image quality will be improved greatly after considering anisotropy in subsurface layers. The other one is the we take advantage of multi-component data to inversion of the anisotropic parameters jointly seimic reflection travel time and polarization information. Based on these research works, we get the following results: 1.Combing numerical simulation, systematical studies indicate that anisotropy and non-linear seismograms characters are significant to detect cracked belts in the earth and to understand deformation field and mechanism. 2.Based on anisotropic media models, we developed an efficient prestack migration method for subsurface structure and different observation methods seismic data, which improving the imaging quality with VSP, seismograms and real data. 3.Jointly seismic inversion combining seismic anisotropic reflection traveltimes and polarizations data show that the complete wrong inversion and the following explanation will be resulted by ignoring anisotropy.

利用接收函数方位变化研究地壳各向异性

Because of its sensitivity to the velocity discontinuity of the earth, receiver function technique has become a routine procedure used to probe interior structure of the earth. Receiver functions contain anisotropic information of the earth’s interior, however, traditional receiver function techniques such as migration imaging and waveform inversion method, which are based on isotropic media assumption, can not effectively extract the anisotropy information contained in the azimuth variation pattern. Only by using the anisotropic media, e.g. a model with symmetric axis of arbitrary orientation, computing the response, can we obtain the detailed anisotropy information hidden in the radial and transversal receiver function. Focusing on the receiver function variation pattern changing wtih different back azimuths, we introduced different kinds of symmetric systems of seismic anisotropy used often, and summarized some possible causes of anisotropy formation. We show details about how to calculate the response of a stratified anisotropy model with symmetric axis of arbitrary orientation. We also simulated receiver functions among different models and analyzed how the changing of anisotropic parameters influence the azimuth variation pattern of receiver functions. The anisotropy study by receiver function analysis was applied to Taihang Mountain Range (TMR) in North China in this thesis. The maximum entropy spectrum deconvolution technique was used to extract radial and transversal receiver functions from the waveforms of 20 portable seismic stations deployed in TMR. Considering the signal-to-noise ratio and the azimuth coverage, we got the variation pattern of receiver functions for 11 stations. After carefully analyzing the pattern of the receiver functions that we got, we obtained the reliable evidence on the existence of anisotropy in the shallow crust in TMR. Our results show that, although the thickness of the upper crustal layer is only about 1 km, the layer shows a strong anisotropy with magnitude of 8~15%; in the deeper of crust, the magnitudes of anisotropy is about 3%~5%, showing a pattern with fast-symmetric-axis. The crust anisotropy beneath TMR in North China obtained in this study also shows a significant difference in both the lateral and vertical scale, which might imply a regional anisotropy characteristic in the studied region.

陕北地区石家湾-李家岔探区三叠系延长组石油成藏条件分析

Shijiawan –Lijiacha area, lying on the northeastern part of the Shanbei Slope of Ordos Basin, was selected as studying area. The previous explorations proved that the 2nd segment and 6th segment of the Yanchang Formation are the most important oil-bearing formations. It is indicated that the sedimentary facies and reservoir characteristics restricted the hydrocarbon accumulation regularity. Therefore, with petrology methodologies, such as outcrop observation, core description, geophysical logging interpretation, thin section determination, scanning electron microscope, as well as rock property analysis, the reservoirs was were systematically studied and characterized. The sedimentary micro-facies, seals, reservoir-seal combines, migration pathways and entrapping modes were taken into account. The author tempted to establish a base for further studies on reservoirs and on petroleum geology, and to provide some reliably geological evidences for later prospect activities. It was found that the sediments in the 2nd and 3rd segments of the Yanchang Formation in Shijiawan –Lijiacha area were deposited in braided rivers, and most sandy-bodies were identified as channel sandbars. The 4+5th and 6th segments were principally deposited in deltaic-plain environment, consisting of corresponding sub-facies such as distributary channels, natural levee, crevasse-splay and marsh. The skeleton sandy-bodies were identified as sandy sediments of distributary channels. The sand grains in reservoir in studied area possess generally low mineralogical maturity and moderate structural maturity, and the form of pores may be classified into intergranular types and dissolved types. Most reservoirs of Yanchang Formation in Shijiawan –Lijiacha area belong to extreme low-porosity low-permeability ones (type III), and the 2nd sediments belongs to low permeability one (type II) and the 6th segment belong to super low-permeability one(type Ⅳ). The reservoirs in the 2nd segment behave more heterogeneous than those in the 6th segment. The statistic analysis results show that, for 6th and 4+5th segments, the high quality reservoir-seal combines may be found everywhere in the studied area except in the northwest and the southwest parts; and for 1st and 2nd segments, in the northeast, central and southwest parts Petroleum migration happened in the duration of the Early Cretaceous period in both lateral and vertical directions. The migration paths were mainly constructed by permeable sandy-bodies. The superimposed channel sandy-bodies consist of the principal part of the system of carriers. the vertical fractures, that may travel through the seals between reservoirs, offered the vertical paths for migrating oil. It may be synthesized that oil coming from south kitchens migrated first laterally in carriers in the 6th segment. When arrived at the studied area, oil will migration laterally or/and vertical within both the sandy-bodies and fractures, in a climbing-stair way. The results demonstrate that the oil was entrapped in traps structure-lithology and/or lithology traps. In some cases, the hydrodynamic force may help to trap oil. Accumulation of oil in the area was mainly controlled by sedimentary facies, seals, structure, and heterogeneity of reservoir in the 2nd, 4+5th and 6th segments. Especially, the oil distributions in both the 2nd and 6th segments were obviously influenced by seals in the 4+5th segment. The existence of seals in 1st segment seems important for accumulation in the 2nd segment.

准噶尔盆地中拐东北斜坡油气成藏条件研究——西部压性盆地含油气系统理论的研究与实践

This paper builds the model of oil accumulation and achieves the prediction of exploration goal. It uses multiple subject means, the ways of synthetic research and the viewpoint of analyzing genesis, with the academic guidance of sedimentology, structural geology, petroleum geology and geochemistry, the basis of strata sequence frame and structural frame, the frame of "four history" - the burying history, the structural history, the filling history and the evolving history of oil, the masterstroke of hydrocarbon's generation, migration and accumulation, the aim of revealing the genetic relation between mature source rock and oil reservoir in space and time. Some achievements and viewpoints in this study are following. 1. It is proposed that the structural evolution in this area had many periods, and the structural movement of the Xiazijie group telophase formed the structural pattern for the first time. 2. The character of strata sequence in this area is divided by the character of episodic cycle firstly. The study of dividing the facies of single well and the facies of well tie is based on the data of single well. The character of sedimentary facies is con-structed initially. 3. It is believed that Jiamuhe group is the main source rock, which can supply considerable oil and gas resources for the first time. Some criterions of source rock such as the type ,the abundance in Jiamuhe group are analysed. Using the thermal history of source rock, we drawn a conclusion that the original type of source rock in Jiamuhe group is II_1-III, and the abundance achived the level of good source rock, and this set of source rock had contributed to this area. 4. The reservoir strata in this area are assessed and analysed with the reservoir evaluation. There are multi-type reservoirs, such as volcanic lava facies, sedimentary clast facies, continental belch facies. The physical property in reservoir strata is characterized by low porosity and low permeability. The study of diagenetic stage show that the diageneses in Jiamuhe group is A-Bsubage, and the reservoir room is mainly secondary corroded hollow and cleft. 5. The synthetic research on oil system in Jiamuhe group is made for the first time. The type of petroleum system is divided , and we consider that the petroleum system of Jiamuhe group is at the reliable rank. There are two critical time in oil accumulation through studying the critical time of oil accumulation : the early generation of hydrocarbon is oil, and the later is gas. 6. The mechanism of accumulation is analysed. We consider that the accu-mulation of oil in this area has many periods, and the early generated hydrocarbon is expeled by the later , and formed the character of zonal distribution in planar. 7. A bran-new model of oil and gas is proposed. Beneficial enrichment area of oil and gas is analyzed, which can be divided into three sections: Section I can be divided into two sections: I_1 and I_2. The lower subgroup of Jiamuhe is covered by the triassic layer of I_1 section. Fault zone and near the foot wall of fault are charactered with thick phase belt. Then the cover capability in this area is relatively poor, oil can migrate into triassic layer by vertical or lateral migration , and forms I_1 Kelamayi triassic oil pool consequently. The lower subgroup of Jiamuhe is covered by the triassic layer of I_2 section ,which is charactered with thin phase belt. Then the cover capability in this area is relatively good, and forms I_1 Kelamayi triassic oil pool consequently. Section II can be divided into two sections: II_1-I_(I~2). The cover of Jiamuhe group in section II_1 is the low resistivity segment in Wuerhe group, which has thin lithology and poor porosity and permeability. Oil and gas in Jiamuhe group can be covered to form beneficial accumulation area. There are some wells in this area, such as Ke 007 well, 561 well. The thick phase belt layer of Wuerhe high resistivity segment in section II_2 has unconformable relation with Jiamuhe group. The cover ability of the high resistivity segment is poor, petroleum in Jiamuhe can migrate into Wuerhe layer vertically. This area is the beneficial area for accumulating petroleum in Wuerhe layer. there are some wells in this area, such as Ke 75 well, Ke 76 well, Ke 77 well, Ke 78 well, Ke 79 well. Section III can also be divided into two sections: III_1 and III_2. Wuerhe group in section III_1 has unconformable relation with Jiamuhe group. There is thick lithology and poor cover in Wuerhe group, but the strata sequence evolution character of upper subgroup in Jiamuhe group has determined that it has lateral and vertical cover ability. thus, this area is petroleum abundant belt of jiamuhe group, which has the trap. Section III_2 is an area controled by wedgeout of Fengcheng group, Fengcheng group in this area has quite thick lithology so that It has beneficial resevoir phase belt. It can accumulate oil in itself or accept some oil in Jiamuhe group. Jiamuhe group has some oil accumulation condition in this area. Thus, section III_2 is jiamuhe-Fengcheng multiple petroleum accumulation belt, such as Ke 80 well. 8. The goal of exploration is suggested: Depositional trap or combination trap is the important aspect in later exploration. Both types of traps are the goal of the next drilling: Fault block trap in the east of 576 well and the NO. 2 fault block trap in the north of Ke 102 well It is suggested that we should study the law of oil and gas in Jiamuhe group and enhance the study of combination in forming reservoir and trap scale. We do some lithology forecast and reservoir diatropic forecast in order to know the area of oil and gas.