一种新型四自由度并联机器人

提出一种用铅垂导轨上 4个滑块作为原动件的新型四自由度并联机器人 .该并联机器人的动平台能够实现两个方向的移动以及绕两个方向轴线的转动 .研究了该并联机器人的运动学建模方法 ,给出了运动学正、逆解 ,用 Grassmann几何法分析了该并联机器人在其工作空间内不会出现奇异形位 .基于该四自由度并联机器人可以非常方便地开发具有大工作空间的五轴联动数控机床

五轴并联铣床特征参数误差灵敏度分析

将并联机构等效为由串联机构构成的空间闭环机构，运用 D－ H方法系统研究了五轴并联铣床的特征参数误差对运动平台位姿误差的影响，揭示出特征参数沿机床各位姿方向误差灵敏度变化规律。仿真结果不仅证实了现有机床机构设计合理，而且为今后并联机床进一步精度设计提供了可靠依据。

一种四滑块驱动的并联机构及其运动学建模

提出了一种用水平导轨上 4个滑块作为原动件的 4自由度并联平台机构 ,该机构的动平台能够实现两个方向的移动以及绕两个方向轴线的转动 ,同时研究了该机构的运动学建模方法 ,给出了运动学正、逆解 ,并阐述了其应用前景。

基于四自由度并联机构的数控机床研究

介绍一种基于混合型四自由度并联平台机构开发的五坐标并联机床 .由于其独特的机构设计 ,与基于 Stewart平台的并联机床相比 ,X方向的进给运动与运动平台分离 ,改由工作台单独进给 ,因而其工作空间成倍增大 .采用龙门框架结构和滚珠丝杠支承方案使机床获得更高的刚度 .给出了该机床运动学逆解 ,控制系统采用基于 PC的数控系统进行五轴联动控制

一种并联机床运动平台位姿测量方法

提出一种采用附加测量机构直接测量并联机床运动平台位姿精度的方法。其基本思想是根据运动平台的运动特性在固定平台和运动平台之间增设附加测量机构，当运动平台运动时带动测量机构运动，通过安装在测量机构上的传感器测得广义坐标参量， 经运动学建模即可得到运动平台的位姿。当测量机构位姿正解求解速度满足实时控制要求时，利用该反馈信息对机床进行实时精度补偿和控制。基于上述思想建立的并联机床位姿测量系统可部分排除机床切削力变形和运动副间隙等误差， 从而提高机床的位姿测量精度。以一种五坐标并联机床为例，介绍采用附加测量机构直接测量运动平台位姿精度的建模方法。其中， 测量机构的综合十分重要。测量机构的组成决定了运动学模型的复杂程度， 即决定了运动学模型的计算效率。

最优控制具有非完整性的两轮驱动机器人小车

研究了移动机器人反馈控制问题．这里所考虑的机器人是一个两轮驱动的具有非完整性的移动机器人小车．考虑了笛卡儿空间中轨线跟踪问题的扩展．且表明只要参考小车保持运动，在虚设的参考小车位形周围的小车位形的稳定成为可能．提出了最优控制律并给出了仿真结果。

东濮凹陷低阻油层形成机理与评价方法研究

In order to effectively identify and accurately evaluate low resistivity reservoir in Dongpu depression, using various logging data synthetically, geological and logging characteristics are summarized in term of different blocks on the basis of core analysis, cutting logging, oil testing and commissioning data. The formation mechanism of low resistivity reservoir is studied, and the main factors that cause low resistivity reservoir are discovered. The first factor is fine lithology, high shale content and hydrophilic rock. The second factor is high salinity formation water. The third factor is light oil, high gas quantity dissolved and large difference density of oil-water. The last factor is low amplitude structure of reservoir and low differential degree of oil-water. According to the characteristics of low resistivity reservoir, the method of compound lithology, the method of movable fluid, the method of phase permeability and the method of nuclear magnetic resonance logging are put forward. The compound lithology criterion of distinguishing hydrocarbon is founded in term of different blocks on the basis of electrical efficiency. The evaluation models of reservoir parameters are founded; whose core is oil saturation and phase permeability. In order to calculate oil saturation, the compound lithology model on the basis of electrical efficiency theory is chosen on condition that there is only the combination logging data of acoustic and induction; the W-S model is chosen on condition that there is all-around logging data. The calculational precision of oil saturation in low resistivity reservoir of work area is enhanced when the selection method is utilized. There are 1212 layers of reservoir newly added by the old well reexamination in the ten oil areas. The coincidence rate of logging interpretation reaches 83.2 percent according to the 74 well-times of oil testing or commissioning, which indicates that the distinguishing method and evaluation models of low resistivity reservoir above are feasible.By the reexamination, a ten million tons of proved reserves related to the low resistivity reservoir are newly added, consequently, the groundwork is established to increase reserve and production of old oilfields in the east of China and new livingness is added for the petroleum exploration and development in Dongpu depression.

基于窗口精细结构描述的岩体质量评价及力学参数综合优选

This thesis bases on horizontal research project “The research about the fine structure and mechanical parameters of abutment jointed rock mass of high arch dam on Jinping Ⅰ Hydropower Station, Yalong River” and “The research about the fine structure and mechanical parameters of the columnar basalt rock mass on Baihetan Hydropower Station, Jinsha River”. A rounded system about the fine structure description and rock mass classification is established. This research mainly contains six aspects as follow: (1) Methods about fine structure description of the window rock mass; (2) The window rock mass classification about the fine structure; (3) Model test study of intermittent joints; (4) Window rock mass strength theory; (5) Numerical experimentations about window rock mass; (6) The multi-source fusion of mechanical parameters based on Bayes principle. Variation of intact rock strength and joint conditions with the weathering and relaxation degree is studied through the description of window rock mass. And four principal parameters: intact rock point load strength, integration degree of window rock mass, joint conditions, and groundwater condition is selected to assess the window rock mass. Window rock mass is classified into three types using the results of window rock mass fine structure description combined with joints develop model. Scores about intact rock strength, integrality condition, divisional plane condition and groundwater conditions are given based on window rock mass fine structure description. Then quality evaluation about two different types of rock mass: general joint structure and columnar jointing structure are carried out to use this window rock mass classification system. Application results show that the window rock mass classification system is effective and applicable. Aimed at structural features of window structure of “the rock mass damaged by recessive fracture”, model tests and numerical models are designed about intermittent joints. By conducting model tests we get shear strength under different normal stress in integrated samples, through samples and intermittent joints samples. Also, the changing trends of shear strength in various connectivity rates are analyzed. We numerically simulate the entire process of direct shear tests by using PFC2D. In order to tally the stress-strain curve of numerical simulation with experimental tests about both integrated samples and through samples, we adjust mechanical factors between particles. Through adopting the same particle geometric parameter, the numerical sample of intermittent joints in different connective condition is re-built. At the same time, we endow the rock bridges and joints in testing samples with the fixed particle contacting parameters, and conduct a series of direct shear tests. Then the destructive process and mechanical parameters in both micro-prospective and macro-prospective are obtained. By synthesizing the results of numerical and sample tests and analyzing the evolutionary changes of stress and strain on intermittent joints plane, we conclude that the centralization of compressive stress on rock bridges increase the shear strength of it. We discuss the destructive mechanics of intermittent joints rock under direct shear condition, meanwhile, divide the whole shear process into five phases, which are elasticity phase, fracture initiation phase, peak value phase, after-peak phase and residual phase. In development of strength theory, the shear strength mechanisms of joint and rock bridge are analyzed respectively. In order to apply the deducted formulation conveniently in the real projects, a relationship between these formulations and Mohr-Coulomb hypothesis is built up. Some sets of numerical simulation methods, i.e. the distinct element method (UDEC) based on in-situ geology mapping are developed and introduced. The working methods about determining mechanical parameters of intact rock and joints in numerical model are studied. The operation process and analysis results are demonstrated detailed from the research on parameters of rock mass based on numerical test in the Jinping Ⅰ Hydropower Station and Baihetan Hydropower Station. By comparison，the advantages and disadvantages are discussed. Results about numerical simulation study show that we can get the shear strength mechanical parameters by changing the load conditions. The multi-source rock mass mechanical parameters can be fused by the Bayes theory, which are test value, empirical value and theoretical value. Then the value range and its confidence probability of different rock mass grade are induced and these data supports the reliability design.

鄂尔多斯盆地陇东地区长8段砂岩输导体定量表征研究

Migration carriers act as the “Bridges��� connecting source rock and traps and play important roles in petroleum migration and accumulation system. Among various types of carriers, sandstone carrier constitutes the basis of carrier system consisting of connected sandstone bodies, of sand-bodies connected with other carriers, such as faults and/or unconformities. How do we understand sandstone carrier beyond the traditional reservoirs concept? How could we characterize quantitatively this kind of carriers for petroleum migration? Such subjects are important and difficult contents in dynamic studies on hydrocarbon migration and accumulation. Sandstone carrier of Chang 8 member in Longdong area of Ordos Basin is selected as the research target in this thesis. Through conducting integrated reservoir analysis on many single wells, the correlation between single sandstone thickness and oil thickness seems good. Sketch sandstone is defined in this thesis as the principal part of carrier based on systematical analysis on lithology and sandstone thickness. Geometry connectivity of sandstone bodies was identified by the spatial superposition among them and was proved by the oil property features in oilfields. The connectivity between sandstone carriers is also hydrodynamically studied by observing and analyzed various diagenetic phenomena, especially the authigenic minerals and their forming sequence. The results were used to characterize transporting capability of sandstone carriers during the key petroleum migration periods. It was found that compaction and cementation are main causes to reduce pore space, and resolution may but not so importantly increases pore space after the occurrence of first migration. The cements of ferrocalcite and kiesel seem like the efficient index to demonstrate the hydraulic connection among sandy bodies. Diagenetic sequence and its relationship with petroleum migration phases are analyzed. Sandstone carrier of Chang 8 member was then characterized by studying their pore space and permeable properties. The results show an average porosity and permeability of Chang 8 carriers are respectively 8% and 0.50md, belongs to low porosity - low permeability reservoirs. Further, the physical properties of Chang 81 member are commonly better than those of Chang 82 member. Methods to reconstruct property of sandstone carrier during petroleum migration phase (late Jurassic) are built based on diagenetic sequence. Planal porosity, porosity and permeability of sandstone carrier in this period are statistically analyzed. One combining index - product of thickness and ancient porosity - is selected as the idea parameter to characterize sandstone carrier of late Jurassic after contrast with other parameters. Reservoirs of Chang 8 member in Longdong area are lithological reservoir controlled by sand body in which oil layers in middle part are clamped with dry layers in upper and lower parts, in a sandwich way. Based a newly proposed “migration-diagensis-remigration” model in low permeability sandstone of Chang 8 member in Longdong area, oil migration and accumulation processes during different periods are simulated with the reconstructed sandstone carriers system. Results match well with current reservoir distributions. Finally, suggestions for next favorable exploration areas are given based on all research achievements.

块体理论赤平投影解析法与关键块体滑落概率研究—以锦屏二级水电站皮带机隧道为例

Block theory is an effective method on stability analysis of fractured rigid rock mass. There are a lot of discontinuous planes developed in rock mass of Jinping II hydropower station conveyor tunnel, so the stability of conveyor tunnel is related with whether there are unstable blocks on excavation planes. This paper deals with the stability of conveyor tunnel with stereo-analytical method for block theory on the basis of detailed investigation of rock mass data, and makes judgements on the movable blocks sliding types which are induced by all rock discontinuous planes and every excavation plane of conveyor tunnel. A conclusion is obtained that the sliding type of blocks is mainly single sliding, and a relatively few sliding types of double-sided sliding and vertical block falling; Also, the obvious statistical distribution result on movable blocks in conveyor tunnel indicates that there are a bit more instability blocks in left wall, left and right arches than right wall. In this paper, the stochastic probability model is drawn into block theory to study the sliding probability of key block on the basis of detailed investigation of its rock mass data and the development of the discontinuous planes in rock mass of Jinping II hydropower station conveyor tunnel. And some following conclusions are obtained. The relationship between trace length and the probability of instability of key block is inverse ratio. The probability of 1-3m primary joints are relatively higher. Key block containing joints J2 is relatively stable and the reinforcement of the arch would be crucial in the conveyor tunnel. They are all useful to offer effective reinforcement design and have important engineering values.

砂砾岩储层流动单元四维模型研究

This article is an important part of "95" technological subject of SINOPEC. It has a large number of difficulties and workloads, and has significant theoretical meanings and practical value. The study area is composed of sandstone & conglomerate reservoir of alluvial fan & fan delta, which belong to Sha3 lower member and Sha4 upper member of lower tertiary of Yong'an Town Oilfield in Dongying Depression. The target stataum develops in the hanging wall of the synsedimentary fault in the scarp zone of Dongying Depression. The frequently intense movements result in the variation of sandstone and conglomerate reservoir and the evolution of the time and space of Sha3 lower member and Sha4 upper member in Yong'an Town Oilfield. As a result, it is difficult for the individual reservoir correlation at the root of fan, which bring about a tackle problem for the exploitation of oilfield. In this background, the research of fluid units will be more difficult. In this article, the new concepts, the new methods, and the new techniques of sedimentology, petroleum geology, reservoir geology, physics of crystal surface, dynamic & static state reservoir description and well logging geology are synthetically applied, and the computer technology are made full uses of, and the identifying, dividing and appraising of the two-formation-type sandstone & conglomerate reservoir fluid units of Sha3 lower member and Sha4 upper member systemically analyzed in Yong'an Town Oilfield, Dongying Depression. For the first time, the single-well model, the section model, the plane model, the nuclear magnetism log model, the microcosmic network model, the 4-D geology model and the simulation model of the two-formation-type reservoir fluid units of the of sandstone & conglomerate reservoir of Sha3 lower member and Sha4 upper member are established, and the formative mechanism and distributing & enrichment laws of oil-gas of the two type of sandstone and conglomerate reservoir fluid units are revealed. This article established the optimizing, identifying, classifying and appraising standard of the two-formation-type reservoir fluid units of the of sandstone and conglomerate reservoir of Sha3 lower member and Sha4 upper member, which settles the substantial foundations for static state model of the fluid units, reveals the macroscopic & microcosmic various laws of geometrical static state of the fluid units, and instructs the oil exploitation. This article established static state model of the two-formation-type sandstone and conglomerate reservoir fluid units by using the multi-subject theories, information and techniques, and reveals the geometrical configuration, special distribution and the oil-gas enrichment laws of the sandstone and conglomerate reservoir fluid units. For the first time, we established the nuclear magnetism log model of the two-formation-type sandstone and conglomerate reservoir of Sha3 lower member and Sha4 upper member, which reveals not only the character and distributing laws of the porosity and permeability, bat also the formation and distribution of the movable fluid. It established six type of microcosmic net model of the two-formation-type sandstone and conglomerate reservoir of Sha3 lower member and Sha4 upper member in the working area by using the advanced theories, such as rock thin section, SEM, image analysis, intrusive mercury, mold, rock C.T. measure & test image etc., which reveals the microcosmic characteristic of porosity & throat, filterate mode and microcosmic oil-gas enrichment laws of the sandstone and conglomerate reservoir. For the first time, it sets up the 4-D model and mathematic model of the sandstone and conglomerate reservoir, which reveals the distributing and evolving laws of macroscopic & microcosmic parameters of the two-formation-type sandstone and conglomerate reservoir and oil-gas in 4-D space. At the same time, it also forecasts the oil-gas distribution and instructs the oilfield exploitation. It established reservoir simulation model, which reveals the filterate character and distributing laws of oil-gas in different porosity & throat net models. This article established the assistant theories and techniques for researching, describing, indicating and forecasting the sandstone and conglomerate reservoir fluid units, and develops the theories and techniques of the land faces faulted basin exploitation geology. In instructing oilfield exploitation, it had won the notable economic & social benefits.

高山峡谷地区大跨度桥梁岸坡稳定性分析、趋势预测及应用研究

In order to realize fast development of the national economy in a healthy way and coordinate progress with whole society, the country has implemented the strategy of development of the western region. An important action of finishing this strategic task is to accelerate the highway construction in the western region, join the western region and places along the coast, the river, the border with goods and materials, technology, and personnel interchanges, and then drive development of the local economy.The western region was influenced by the Himalaya Tectonization in Cenozoic, and the crust rose and became the plateau. In the course of rising, rivers cut down sharply to form a lot of high mountains and gorges.Because of topography and geomorphology, bridges in the traffic construction in the alpine gorge area are needed. Rivers have characteristics of large flow, fast velocity and high and steep river valley, so building a pier in the river is not only very difficult, but also making the cost increase. At the same time, the impact that the pier is corroded and the bridge base that is drawn to be empty by flow are apt to cause destruction of the pier. For those reasons, suspending bridge and cable-stay bridge are usually adopted with the single and large span. For the large span bridge, the pier foundation could receive ten thousand and more vertical strength, bending moment and near kiloton horizontal thrust.Because bank slope in the alpine gorge district is cut deeply and unsettled big, natural stability is worse under endogenic and exogenic force. When bank slope bears heavy vertical strength, bending moment and horizontal thrust facing the river, it will inevitably make the balance state of rock and soil mass change, bridge bank slope deform, and even destroyed. So the key problem at the time of the large span's bridge construction in the alpine gorge area is how to make it stable.So based on the spot investigation, the Engineering Geology Analysis Method is very important to grasp the bank slope stability. It can provide the bank slope stability macroscopic ally and qualitatively, and reference to the indoor calculation. The Engineering Geology Analysis Method is that by way of analyzing and investigating terms of bank slope instability, stability development trend, the ancient rock slide and devolution in the site, stability comprehensive evaluation primarily, current and future stability of bank slope is gotten, realizing the intention to serving the concrete engineering.After the Engineering Geology Analysis Method is applied to project instances of BeiPan River Bridge and BaLin River Bridge, results are accord with bank slope actual conditions, which proves sites are suited to building bridges from site stability.we often meet bank slope stability issues in the traffic construction in the alpine gorge areao Before the evaluation of the bank slope stability, the engineering geological condition is investigated first. After that, the next exploration target and geology measures are decided. So, the Engineering Geology Analysis Method that the investigation of the engineering geological condition is the main content is quite important in practice. The other evaluations of the bank slope stability are based on it. Because foundation receives very heavy load, for the big span's bridge in the alpine gorge area, a long pile of the large diameter (D^0.8m) is usually selected. In order to reflect rock mass's deformation properties under rock-socketed pile function, the author has used the FLAG30 software for rock and soil mass and done many numerical simulations. By them, the author launches the further investigation on deformation properties of bank slope under different slope angle, pile length, diameter, elastic modulus, load, bank slope's structure, etc. Some conclusion meaningful to the design and produce are obtained.

A Planning System for Robot Construction Tasks

This paper describes BUILD, a computer program which generates plans for building specified structures out of simple objects such as toy blocks. A powerful heuristic control structure enables BUILD to use a number of sophisticated construction techniques in its plans. Among these are the incorporation of pre-existing structure into the final design, pre-assembly of movable sub-structures on the table, and use of the extra blocks as temporary supports and counterweights in the course of construction. BUILD does its planning in a modeled 3-space in which blocks of various shapes and sizes can be represented in any orientation and location. The modeling system can maintain several world models at once, and contains modules for displaying states, testing them for inter-object contact and collision, and for checking the stability of complex structures involving frictional forces. Various alternative approaches are discussed, and suggestions are included for the extension of BUILD-like systems to other domains. Also discussed are the merits of BUILD's implementation language, CONNIVER, for this type of problem solving.

Fragments of place : revealing sense of place through shared phone images.

Is an interactive new media art installation that explores how the sharing of images, normally hidden on mobile phones, can reveal more about people's sense of place and this ultimately shared experience. Traditional views on sense of place, as exemplified by Wagner (1972) and Relph (1976), characterise the experience as a fusion of meaning, act and context. Indeed, Relph suggests that it is not just the identity of a place that is important, but also the identity that a person or group has with that place, in particular whether they are experiencing it as an ‘insider’ or ‘outsider’. This work stimulates debate concerning the impact of technology on sense of place. Technology offers a number of bridges between the real and virtual worlds, but in so doing places an increased tension on the sense of place and subsequently the identity of the individual. This, coupled with the increased use of camera phones, has enabled the documentation of all aspects of our lives, the things we do, the objects we encounter and the places we inhabit. The installation taps into these hidden electronic resources by letting people share their sense of place associated with a large scale event. The work explores the changing nature of the sense of place of performers, visitors and residents over the duration of the event. Interaction with the installation will transform the viewer into performer, echoing Relph’s insider-outsider dichotomy

Rodent models for resolving extremes of exercise and health

The extremes of exercise capacity and health are considered a complex interplay between genes and the environment. In general, the study of animal models has proven critical for deep mechanistic exploration that provides guidance for focused and hypothesis driven discovery in humans. Hypotheses underlying molecular mechanisms of disease, and gene/tissue function can be tested in rodents in order to generate sufficient evidence to resolve and progress our understanding of human biology. Here we provide examples of three alternative uses of rodent models that have been applied successfully to advance knowledge that bridges our understanding of the connection between exercise capacity and health status. Firstly we review the strong association between exercise capacity and all-cause morbidity and mortality in humans through artificial selection on low and high exercise performance in the rat and the consequent generation of the "energy transfer hypothesis". Secondly we review specific transgenic and knock-out mouse models that replicate the human disease condition and performance. This includes human glycogen storage diseases (McArdle and Pompe) and α-actinin-3 deficiency. Together these rodent models provide an overview of the advancements of molecular knowledge required for clinical translation. Continued study of these models in conjunction with human association studies will be critical to resolving the complex gene-environment interplay linking exercise capacity, health, and disease.