一种新型并联机器人工作空间分析

对一种新型并联机器人的工作空间问题作了讨论,基于运动学逆解,通过极限边界数值搜索算法求取了并联机器人工作空间,并通过MATLAB仿真得到了该并联机器人工作空间的实体模型。

油田高含水期剩余油分布规律研究

After systemic investigation of the techniques，route lines and mechanisms about the remaining oil，the dynamic migration and congregation behavior of the remaining oil are discussed on base of interaction between flowing and enriching of water and oil.After the micro-scope modeling of the fluid flow in porous media and the changes in petrol-physical properties of the flowing system, the characters of fluid fields and the dynamic distribution of oil are discussed, among which the preference-flowing is focused on. Based on the preference-flowing in porous media, the concept of the preference-flowing channels is developed. According to above, heterogeneous distribution of water and oil in the field and dynamic mechanism of remaining oil are all obvious. media can be divided into three kinds, directional, stochastic, arbitrary porous media. The main research results are as following: 1. Treating the characteristic parameters such as permeability, porosity and wettability as regional parameter, the fluid field with high water-cut has been established by geostatistical method, among which the difference of flowing pores and the changes of its petrol-physical properties during flooding are studied. 2. The flow process of water and oil are recurrent in physical simulation experiments, in which the mechanisms and phenomena are caught and analyzed. Fluid flow mechanics in porous media with preference-flowing channels have been studied. 3. The mutual coupling between water and oil is induced and the mathematical evolution equations including this interaction were built. . 4. Through coupling effect between flowing water and oil, the dynamic migration and congregation behavior of remaining oil depend upon this coupling. 5. Coupling between water and oil act as driving force and trapping force for the remaining oil. The coupling model of thesis has been verified by simplified the numerical model and compared results with Ng35 oil reservoir in Gudao oil field, it has important theoretical and application values for improving precision of remaining oil and production performance prediction, and is a new method for studying the mechanics of remaining oil in channeled porous media has been established. Key words：flow field，high water-cut，coupling，dominant flow in porous media，remaining oil

地震层析成像与天山地区的壳幔深部结构研究

The Tien Shan is the most prominent intracontinental mountain belt on the earth. The active crustal deformation and earthquake activities provide an excellent place to study the continental geodynamics of intracontinental mountain belt. The studies of deep structures in crust and upper mantle are significantly meaningful for understanding the geological evolution and geodynamics of global intracontinental mountain belts. This dissertation focuses on the deep structures and geodynamics in the crust and upper mantle in the Tien Shan mountain belt. With the arrival time data from permanent and temporal seismic stations located in the western and central Tien Shan, using seismic travel time tomographic method, we inversed the P-wave velocity and Vp/Vs structures in the crust and uppermost mantle, the Pn and Sn velocities and Pn anisotropic structures in the uppermost mantle, and the P-wave velocity structures in the crust and mantle deep to 690km depth beneath the Tien Shan. The tomographic results suggest that the deep structures and geodynamics have significant impacts not only on the deformations and earthquake activities in the crust, but also on the mountain building, collision, and dynamics of the whole Tien Shan mountain belt. With the strongly collision and deformations in the crust, the 3-D P-wave velocity and Vp/Vs ratio structures are highly complex. The Pn and Sn velocities in the uppermost mantle beneath the Tien Shan, specially beneath the central Tien Shan, are significantly lower than the seismic wavespeed beneath geological stable regions. We infer that the hot upper mantle from the small-scale convection could elevate the temperature in the lower crust and uppermost mantle, and partially melt the materials in the lower crust. The observations of low P-wave and S-wave velocities, high Vp/Vs ratios near the Moho and the absences of earthquake activities in the lower crust are consistent with this inference. Based on teleseismic tomography images of the upper mantle beneath the Tien Shan, we infer that the lithosphere beneath the Tarim basin has subducted under the Tien Shan to depths as great as 500 km. The lithosphere beneath the Kazakh shield may have subducted to similar depths in the opposite direction, but the limited resolution of this data set makes this inference less certain. These images support the plate boundary model of converge for the Tien Shan, as the lithospheres to the north and south of the range both appear to behave as plates.

太阳活动变化对中低纬电离层的影响

With the variations of solar activity, solar EUV and X-ray radiations change over different timescales (e.g., from solar cycle variation to solar flare burst). Since solar EUV and X-ray radiations are the primary energy sources for the ionosphere, theirs variations undoubtedly produce significant and complicated effects on the ionosphere. So the variations of solar activity significantly affect the ionosphere. It is essential for both ionospheric theory and applications to study solar activity effects on the ionosphere. The study about solar activity variations of the ionosphere is an important part of the ionospheric climatology. It can enhance the understanding for the basic processes in the ionosphere, ionospheric structure and its change, ionosphere/thermosphere coupling, and so on. As for applications, people need sufficient knowledges about solar activity variations of the ionosphere in order to improve ionospheric models so that more accurate forecast for the ionospheric environments can be made. Presently, the whole image about the modalities of ionospheric solar activity variations is still unknown, and related mechanisms still cannot be well understood. This paper is about the effects of the 11-year change in solar activity to the low- and mid-latitude ionosphere. We use multi-type ionospheric observations and model to investigate solar activity effects on the electron density and ionospheric spatial structure, and we focus on discussing some related mechanisms. The main works are as follows: Firstly, solar activity variations of ionospheric peak electron density (NmF2) around 1400 LT were investigated using ionosonde observations in the 120°E sector. The result shows that the variation trend of NmF2 with F107 depends on latitudes and seasons. There is obvious saturation trend in low latitudes in all seasons; while in middle latitudes, NmF2 increases linearly with F107 in winter but saturates with F107 at higher solar activity levels in the other seasons. We calculated the photochemical equilibrium electron density to discuss the effects induced by the changes of neutral atmosphere and dynamics processes on the solar activity variations of NmF2. We found that: (1) Seasonal variation of neutral atmosphere plays an important role in the seasonal difference of the solar activity variations of NmF2 in middle latitudes. (2) Less [O]/[N2] and higher neutral temperature are important for the saturation effect in summer, and the increase of vibrational excited N2 is also important for the saturation effect. (3) Dynamics processes can significantly weaken the increase of NmF2 when solar activity enhances, which is also a necessary factor for the saturation effect. Secondly, solar activity variations of nighttime NmF2 were investigated using ionosonde observations in the 120°E sector. The result shows that the variation trends of NmF2 with F107 in nighttime are different from that in daytime in some cases, and the nighttime variation trends depend on seasons. There is linear increase trend in equinox nighttime, and saturation trend in summer nighttime, while the increase rate of NmF2 with F107 increases when solar activity enhances in winter nighttime (we term it with “amplification trend”). We discussed the possible mechanisms which affect the solar activity variations of nighttime NmF2. The primary conclusions are as follows: (1) In the equatorial ionization anomaly (EIA) crest region, the plasma influx induced by the pre-reversal enhancement (PRE) results in the change of the variation trend between NmF2 and F107 from “saturation” to “linear” after sunset in equinoxes and winter; while the recombination process at the F2-peak is the primary factor that affects the variation trend of NmF2 with F107 in middle latitudes. (2) The recombination coefficient at the F2-peak height reaches its maximum at moderate solar activity level in winter nighttime, which induces NmF2 attenuates more quickly at moderate solar activity level. This is the main reason for the amplification trend. (3) The change of the recombination process at the F2-peak with solar activity depends on the increases of neutral parameters (temperature, density et al.) and the F2-peak height (hmF2). The seasonal differences in the changes of neutral atmosphere and hmF2 with solar activity are the primary reasons for the seasonal difference in the variation trend of nighttime NmF2 with F107. Finally, we investigated the solar activity dependence of the topside ionosphere in low latitudes using ROCSAT-1 satellite (at 600 km altitude) observations. The primary results and conclusions are as follows: (1) Latitudinal distribution of the plasma density is local time, seasonal, and solar activity dependent. In daytime, there is a plasma density peak at the dip equator. The peak is obviously enhanced at high solar activity level, and the strength of the peak strongly depends on seasons. While at sunset, two profound plasma density peaks (double-peak structure) are found in solar maximum equinox months. (2) Local time dependence of the latitudinal distribution is due to the local time variation of the equatorial dynamics processes. Double-peak structure is attributed to the fountain effect induced by strong PRE. Daytime peak enhances with solar activity since the plasma density increases with solar activity more strongly at the dip equator due to the equatorial vertical drift, and its seasonal dependence is mainly due to the seasonal variations of neutral density and the equatorial vertical drift. In the sunset sector, seasonal and solar activity dependences of the latitudinal distribution are related to the seasonal and solar activity variations of PRE. (3) The variation trend of the plasma density with solar activity shows local time, seasonal, and latitudinal differences. That is different from the changeless amplification trend at the DMSP altitude (840 km). Profound saturation effect is found in the dip equator region at equinox sunset. This saturation effect in the topside ionosphere is realated to the increase of PRE with solar activity. Solar activity variation trend of the topside plasma density was discussed quantitatively by Chapman-α function. The result shows that the effect induced by the change of the scale height is dominant at high altitudes; while the variation trend of ROCSAT-1 plasma density with solar activity is suggested to be related to the changes of the peak height, the scale height, and the peak electron density with solar activity.

成矿流体构造动力学研究—以冀西北后沟金矿和山东七宝山金矿为例

Tectonic dynamics of metallogenetic fluids is a new crossed subjects among fluid geology, mineral deposit geology and structural geology, and is one of the major current projects of geosciences. It is mainly focused on structures and tectonic dynamic induced by fluid motion, variation of physical condition of fluids (such as temperature and pressure), and interaction between chemical component of fluids and wall rocks in the crust. It takes features of deformation and metamorphysim, which formed during interaction between fluids and rocks and have been perserved in rocks, as basic research objects. After studying types, orders, distributions and fabrics of these features, and analyzing and testing physical and chemical information from these features by some techniques, it is intended to reconstruct moving process of fluids, dynamics of interaction between fluids and rocks, and dynamics of mineralizations. Three problems of tectonic dynamics of metallogenetic fluids, which have not been paid much attentions before, have been studied and discussed in this report. Three relative topics are including: 1)Double-fracturing induced by thermal stress and pressure of fluids and mineralization of Gold-copper in Breccia Pipe at the Qibaoshan in Shandong Province; 2)Parting structures induced by K-metasomatism in the Hougou area, northwestern Heibei province; 3)Migration mechanism of dissolved mass in Fe&S-rich fluids in Hougou gold deposit in Heibei province. After a synthetical study of two years, the author has made some new processes and progresses. The main new advances can be summaried as the following: 1)Thermal stress of fluids formed by temperature difference between fluids and country rock, during upword migration process of fluids with high temperature and pressure, can make rock to break, and some new fractures, which surfaces were uasally dry, formed. The breccia pipe at the Qibaoshan area in Shandong province has some distinct texture of fluidogenous tectonics, the breccia pipe is caused by double-fracturing induced by thermal stress and pressure, distribution of gold-corpper ore bodies are controlled powerfully by fluidogenous tectonics in the breccia pipe. 2)The author discovered a new kind of parting structures in K-alterated rocks in the northwestern part of Hebei province. The parting structures have some distinct geometry and fabrics, it is originated from the acting and reacting fores caused by K-metasomatism. Namely, the crystallizations of metasomatic K-feldspars are a volume expansion process, it would compress the relict fluid bodies, and the pressures in the relict fluid bodies gathered and increased, when the increased pressure of the fluid relict bodies is bigger than the strength of K-feldspars, the K-feldspars were broken with the strong compression, and the parting structures formed. 3)Space position replacing is a important transport pattern of dissolved mass in Fe&S-rich fluid. In addition, basing on views of tectonic dynamics of metallogenic fluids, and time-space texture of fluid-tectonic-lithogenetic-mineralization of the known gold-corpper mineral deposit and the subvolcanic complex at Qibaoshan area in Shandong province, this report does a detail prodict of position-shape-size of two concealed ore-bearing breccia pipe.

南海北部大陆边缘盆地深部地热特征用地球动力学演化

This report is a conclusion of the major research outcome during my post-doctoral residence of research and work. Its content covers the researches of the deep thermal characteristic and dynamics evolution beneath the northern margin basin of South China Sea. In this report, the each other action and effect between lithosphere ad mantle convection were regarded by the combine of deep and shallow study, subdivision from whole to part, and pay equal attention to determine the nature and fixed quantity. The investigative method we used in this report is geothermal and gravity methods. By the help of geological model and geophysics modeling, we calculated lithosphere thermal structure, rheology structure and mantle convection. Firstly, the report introduces concisely the purpose and the previous achievement to this research. Then, it analyzed the characteristic of heat flow on South China Sea. The structure of deep temperature and thermal has been calculated in some models of heat generation and conduction. The rock rheology structure also was computed by the relationship between temperature and viscosity. All these calculations were finished under the guidelines of combine with geology and geophysics. Meanwhile, the fields both deep mantle convection and small scale upper mantle convection are computed. Beside, the density and temperature disorder resulted by mantle convection were also computed with the convection field. After these, the report bring the contribution of local field of mantle convection, thermal construct and effective viscosity beneath the northern margin basin of South China Sea. And, base on the tectonic background and evolution feature, this report discussion the evolution mechanism of south China Sea and its northern margin basin. The end of this report, the main conclusion of this research was summarized and brings out.

东营凹陷辛镇复杂断块油藏形成机制和剩余油分布规律研究

In this paper, the complex faulted-block oil reservoir of Xinzhen area in Dongying depression is systematically studied from basic conditions forming faulted-block oil and gas reservoir integrating geology, seismic, logging and reservoir engineering information and computer; guided by petroleum geology, geomechanics, structural geology and geophysics and other theories. Based on analysis of background condition such as regional strata, structure and petroleum geology, structural research on geometry, kinemaitcs and dynamics, oil-controlling fault research on the seal features, sealing mechanism and sealing pattern, and research on enrichment rules and controlling factors of complex faulted-block oil reservoir are carried out to give out the formation mechanics of oil reservoir of Xinzhen complex faulted-block oil reservoir. As a result, the reservoir formation pattern is established. At the same time, through dissecting the characteristics and hydrocarbon enrichment law of complex faulted-block oil reservoir, and studying its distribution law of remaining oil after entering extra high water-cut period, a set of technologies are formed to predict complex faulted-block oil reservoir and its remaining oil distribution and to enhance oil recovery (EOR). Based on the time relationship between migration of hydrocarbon and trap formation, accumulating period of Xinzhen oil reservoir is determined. The formation of Xinzhen anticlinal trap was prior to the primary migration. This is favorable to formation of Xinzhen anticlinal hydrocarbon reservoir. Meanwhile, because anticline top caving isn't at the sane time as that of moving or faulted-trap forming inner anticline, oil and gas migrated many times and Xinzhen complex faulted-block oil reservoir formed from ES_3~(upper) to EG. Accumulating law and controlling factors of complex faulted-block reservoir are analyzed from many aspects such as regional structure background controlling hydrocarbon accumulating, plastic arch-open structure controlling oil-bearing series and reservoir types, sealing-opening of fault controlling hydrocarbon distribution and structure pattern controlling enriched trap types. Also, we established the structure pattern in Xinzhen a'ea: the arch-open of underlying strata cause expanding fracture. The main block groups developed here are shovel-like normal fault block group in the north area of Xinzhen and its associated graben block group. Block groups dominate the formation and distribution of reservoirs. We studied qualitatively and quantitatively the sealing characteristics, sealing history and sealing mechanism of faults, too. And, the sealing characteristics are evaluated and the distribution pattern of hydrocarbon controlled by faults is researched. Due to movement intensity of big faults, deep falling of downthrown block, high degree of repture and development of fracture, shallow layers close to the downthrown block of secondary faults are unfavorable to hydrocarbon accumulation. This is confirmed by the exploration practice in Xinzhen anticline. In terms of the downthrown blocks of sencondary contemporaneous faults lied in the south and north area of Xinzhen, hydrocarbon is poor close to fracture belt, while it is relatively abundant in tertiary companion faults. Because of long-term movement of faults that control hydrocarbon, fi'om ES3 to EG, six set of oil-bearing series formed. And their opening causes the inhomogeneity in hydrocarbon abundance among each block--in two flanks of anticline reservoirs are abundant while in the axial area, oil and gas are sporadic. There the sealing characteristics control oil-bearing area of oil/gas accumulation and the height of oil reservoir. Longitudinally, oil and gas are enriched in dip-flat areas in mid-plane of faults. It is established that there are four types of accumulating patterns in complex faulted-block oil reservoirs in Xinzhen. The first is accumulating pattern of lithologic oil reservoirs in E~S_3~(mid-lowwer), that is, self-generating-self-reserving-self-covering lithologic trap pattern. The second is drag-anticline accumulating pattern in Xinzhen. The structure traps are drag anticlines formed by the contemporaneous faults of the second basement in the north of Xinzhen, and the multiple source rocks involve Ek_2, Es_4, Es_3 and Es_1 members. The reservoirs are fluvial-delta sandstones of the upper member of Shahejie formation and Guantao formation, covered by regional thick mudstone of the upper member of Guantao formation and MingHuazhen formation. The third is the accumulating pattern of reverse listric fault, the third-degree fault of Xinzhen anticline limb and the reservoirs form reservoir screened by reverse listric faults. The forth is accumulating pattern of crossing faults which form closing or semi-closing faulted-blocks that accumulate hydrocarbon. The technologies of predicting remaining oil in complex faulted-block reservoir during the mid and late development stage is formed. Remaining oil in simple large faulted-blocks enriches in structural high, structural middle, structural low of thick bottom water reservoirs, points near bent edge-fault oftertiary faults and part the fourth ones with big falling displacement, microstructure high place of oil-sandbodies and areas where local well pattern isn't perfect. While that in small complex faulted-blocks enriches near small nose, small high point, angle of small faults, small oil-bearing faulted-blocks without well and areas with non-perfect well pattern. The technologies of enhancing recovery factor in complex faulted-block reservoir during the mid and late development stage is formed as follows: fine reservoir description, drilling adjust wells, designing directional wells, sub-dividing layer series of development, improving flooding pattern, changing water-injection direction and enhancing swept volume, cyclic waterflooding and gas-injection, etc. Here, directional wells include directional deflecting wells, lateral-drilling wells, lateral-drilling horizontal wells and horizontal wells. The results of this paper have been used in exploration and development of Shengli oilfield, and have achieved great social and economic profit, especially in predicting distribution of complex faulted-block reservoir, remaining oil distribution during middle and late stage of development, and in EOR. Applying the achievement of fault-closure research, new hydrocarbon-bearing blocks are discovered in flanks of Dongying central uplift and in complex blocks with proved reserves 15 million tons. With the study of remaining oil distribution law in complex faulted-block reservoirs, recovery factors are increased greatly in Dongxin, Xianhe and Linpan complex faulted-block reservoirs and accumulated oil production increment is 3 million tons.

胶东地区三类金矿成矿系统地质地球化学及动力学

The East Shandong gold province is located on the southeastern margin of the North China Craton and features uplift in the north and depression in the south. The uplift area is made up of the Archaean Jiaodong Group, the Proterozoic Jingshan Group and Yanshannian granites. Most gold deposits in the uplift area are spatially associated with the Yanshannian granites. Two types of gold mineralization occur in the region: the quartz-vein type hosted in the Linglong granite suite, and the shear zone type hosted by either the Linglong granite or Guojialing granitoid suites. The mineralization ages are 113～126 Ma. The southern part of East Shandong contains the Mesozoic Jiaolai basin, which formed during regional extension. The basin is bounded by the Wulian-Rongcheng fault in the southeast and the Tanlu fault in the west. The Pengjiakuang, Fayunkuang and Dazhuangzi gold deposit occurs on the northeastern margin of the basin. The mineralization ages of these deposits are 110～128 Ma. This paper focuses on a low-angle detachment fault developed between the Proterozoic Jingshan Group metamorphic complex and the northeastern margin of the basin. Our field work shows that the distribution of the Pengjiakuang gold deposit was controlled by the detachment fault. Moreover, the Fayunkuang, Guocheng and Liaoshang gold deposits also occurr in the periphery of the basin, and their features are similar to Pengjiakuang gold deposit. The study of geological geochemistry of the gold deposits has shown: ①three-type gold deposit was situated in the Jiaodong area, including altered rock type (Jiaojia type), quartz vein type (Linglong type) and breccia type (Pengjiakuang type); the ore-forming materials and fluid for Pengjiakuang type gold deposit shows multiple source; ②the ore materials of Jiaojia and Linglong type deposits are mainly from deep source. The author has studied geological-geochemical dynamics of three types deposits in Jiaodong area. The study of tectonic dynamics shows that ore-forming structure differential stress values of Pengjiakuang gold deposit is 100 * 10~6～130 * 10~6 Pa, and that of Jiaojia gold deposit is 100 * 10~5～194 * 10~6 Pa. Dynamics of hydrothermal ore-forming fluid has also been studied in this paper. Author applies Bernoulli equation to dynamic model of hydrothermal fluid motion in brittle fracture and cracks (quartz vein type gold mineralization), and applies Darcy law to dynamic model of hydro thermal fluid motion in porous medium (altered rock type gold mineralization). Author does daring try in order to study quantitativly transport mechanism of hydrothermal ore-forming fluid in this paper. The study of fluid inclusions and crystal dynamics shows that reaction system of hydrothermal ore-forming includes three types, as follows: ore-forming reaction, controlling reaction and buffer controlling reaction. They depend on each other, controlling each other, which form a organic system. Further research shown that formation of ore shoots was controlled by coincidence processes of tectonic dynamic condition and thermodynamic evolution. This paper has summaried reginoal metallogenic laws and seted up metallogenic(dynamics) models for Jiaodong gold ore belt.

西南天山托云盆地白垩-新生代古地磁结果及其构造意义

Western China is regarded as an assemblage of blocks or microplates. The India/Asia postcollisional kinematics of these blocks has attracted many geologists to pay attentions, especially on the geodynamics and intracontinental deformation of Tibetan and adjoining parts of central Asia. So far there are still many debates on the amount of continental shortening and extrusion within Western China blocks. Paleomagnetism plays a very important role in the paleogeographic reconstruction and depiction of kinematics of the blocks, however the unequilibrium of paleomagentic data obtained from Western China prevents paleomagnetists from studying the kinematics and intracontinental deformation on the Tibetan plateau and the central Asia. Moreover, shallower inclinations observed in the Cretaceous and Cenozoic terrestrial red sediments in central Asia makes it difficult to precisely estimate the northward convergence of Tibetan plateau and its adjacent areas since the onset of the Indian/Asian collision. In this thesis, detailed rock magnetic, chronological and paleomagnetic studies have been carried out on the Tuoyun Basin in the southwestern Tianshan to discuss the possible continental shortening and tectonic movements since the Cretaceous-Tertiary. Ar-Ar geochronological study has been conducted on the upper and lower basalt series from the Tuoyun Basin, yielding that the lower and upper basalt series were extruded during 115-113 Ma and 61.8-56.9 Ma, respectively. Both the age spectrum and inverse isochron show that the samples from the upper and lower basalt series have experienced no significant thermal events since extrusion of the baslts. Rock magnetic studies including temperature dependence of magnetization and susceptibility during a heating-cooling cycle from temperature up to 600 ℃ suggest that the baslt samples from the lower and upper basalt series are ferromagnetically predominant of magnetite and a subordinate hematite with a few sites of titanomagnetite. The predominant magnetic mineral of the intercalated red beds is magnetite and hematite. Anisotropy of magnetic susceptibility shows that both the baslts and the intercalated red beds are unlikely to have undergone significant strain due to compaction or tectonic stress since formation of the rocks. The stable characteristic remanent magnetization (ChRM) isolated from the most samples of the upper and lower basalt series and intercalated red beds, passes fold test at the 99% confidence level. Together with the geochronological results, we interpret the characteristic component as a primary magnetization acquired in the formation of rocks. Some sites from both the upper and lower basalts yielded shallower inclinations than the reference field computed from the Eurasia APW, we prefer to argue that these shallow inclinations might be related to geomagnetic secular variation, whereas the shallow inclination in the intercalated red beds is likely to be related to detrital remanent magnetization. Paleomagnetic results from the early Cretaceous-Paleogene basalts indicate that no significant N-S convergence has taken place between the Tuoyun Basin and the south margin of Siberia. Furthermore, the Cretaceous and Tertiary paleomagnetic results suggest that the Tuoyun Basin was subjected to a local clockwise rotation of 20°-30° with respect to Eurasia since the Paleocene time, which is probably subsequent to the Cenozoic northward compression of the Pamir arc.

Parameterization of the main ionospheric trough in the European sector

Pryse, Sian; Kersley, L.; Malan, D.; Bishop, G. J., 'Parameterization of the main ionospheric trough in the European sector, Radio Science (2006) 41 pp.RS5S14 RAE2008

Unsupervised Neural Network for the Control of a Mobile Robot

This article introduces an unsupervised neural architecture for the control of a mobile robot. The system allows incremental learning of the plant during robot operation, with robust performance despite unexpected changes of robot parameters such as wheel radius and inter-wheel distance. The model combines Vector associative Map (VAM) learning and associate learning, enabling the robot to reach targets at arbitrary distances without knowledge of the robot kinematics and without trajectory recording, but relating wheel velocities with robot movements.

Hearing family carers: report on research undertaken with family carers in Cork

This report details the findings of research undertaken with family carers in Cork during 2007 – 2008. The research was undertaken to elicit the views and experiences of family carers, and in so doing, to gain insight into their perspectives on family caring and on associated support mechanisms. It is hoped that, thereafter, policy can draw on these observations. Three key themes emerged from the research itself. These are (i) the role and position of the family carer in society, (ii) the process of family caring itself and (iii) access to and knowledge of key support services. This report, then, draws attention to the extent and dynamics of family caring, as seen through the opinions and experiences of carers located in and nearby Cork city. It has the following format. In the first instance we turn our attention to a discussion of family caring in Ireland, and associated supports more generally. This includes a discussion on key issues arising in the general discourse around family caring in Ireland and internationally, in order to provide a context from which to locate the experiences of carers involved in this research study. Thereafter, we detail the methodology employed in this research study, which followed a method of research enquiry that values the input of participants from the early stages of research focus and design, and which incorporates qualitative and quantitative methods of enquiry. The research was conceptualised and developed in conjunction with The Carers Association, Cork in keeping with an approach to social research that attempts to link academic and activist/advocacy interests. Its aims were to identify issues that family carers in the locality considered important, with a view to contributing to local knowledge, providing a forum for ongoing research, and to informing policy developments on carers. The focus of the report then turns to profiling carers who participated in the research, examining the care they provide, and discussing support they receive from family, friends and neighbours – from informal sources. We then look to the access carers have to formal and public, community-based support services. We examine their experiences of, and concerns with regard to some of these key services, and look at ways that such issues might be addressed. The next section concentrates on financial supports, a range of which are available to carers, for instance, to supplement income and to assist with home renovations. We look at their uptake and issues arising, again with a view to understanding and addressing them from the perspectives of the service users. Finally, the report turns its attention to aspirations that carers have for themselves; in terms of their own personal, training, and employment options. The report concludes by drawing attention to key issues discussed throughout and makes a number of key recommendations, aimed at addressing the voiced opinions and experiences of carers that have emerged through the research.

Techniques for engineering quantum states

In this thesis I theoretically study quantum states of ultracold atoms. The majority of the Chapters focus on engineering specific quantum states of single atoms with high fidelity in experimentally realistic systems. In the sixth Chapter, I investigate the stability and dynamics of new multidimensional solitonic states that can be created in inhomogeneous atomic Bose-Einstein condensates. In Chapter three I present two papers in which I demonstrate how the coherent tunnelling by adiabatic passage (CTAP) process can be implemented in an experimentally realistic atom chip system, to coherently transfer the centre-of-mass of a single atom between two spatially distinct magnetic waveguides. In these works I also utilise GPU (Graphics Processing Unit) computing which offers a significant performance increase in the numerical simulation of the Schrödinger equation. In Chapter four I investigate the CTAP process for a linear arrangement of radio frequency traps where the centre-of-mass of both, single atoms and clouds of interacting atoms, can be coherently controlled. In Chapter five I present a theoretical study of adiabatic radio frequency potentials where I use Floquet theory to more accurately model situations where frequencies are close and/or field amplitudes are large. I also show how one can create highly versatile 2D adiabatic radio frequency potentials using multiple radio frequency fields with arbitrary field orientation and demonstrate their utility by simulating the creation of ring vortex solitons. In the sixth Chapter I discuss the stability and dynamics of a family of multidimensional solitonic states created in harmonically confined Bose-Einstein condensates. I demonstrate that these solitonic states have interesting dynamical instabilities, where a continuous collapse and revival of the initial state occurs. Through Bogoliubov analysis, I determine the modes responsible for the observed instabilities of each solitonic state and also extract information related to the time at which instability can be observed.

The defining characteristics of alternative food initiatives in Ireland: a social movement battling for an alternative food future?

Alternative food initiatives (AFIs) have been described as an attempt to change and improve aspects of how the food system operates. They are focused around more traditional, local and sustainable food production and circulation. AFIs such as farmers’ markets, allotments and community gardens, share a desire to reduce the number of steps food goes through from production to plate. The role of these initiatives in the food system, and their potential to impact real change, has however been questioned. Working to better understand this issue is a central concern of this research. To do this a two tier analysis has been deployed. The first tier involves identifying the characteristics and general dynamics of AFIs. Bourdieu’s theory of practice, and the theories of field and capital, are the concepts applied. The research then uses these findings in the second tier of analysis concerned with relating AFI characteristics and dynamics back to their key traits, positive and negative, as well as arguments made about AFI’s role identified from previous research. Another part of this second tier of analysis is exploring if AFIs, the producers, consumers, organisations and groups that make up this phenomenon, can be considered a social movement. AFIs can be referred to collectively as a social movement, but are not often explored theoretically from this perspective. AFIs in Ireland provide the empirical context for this research. A series of qualitative interviews in four areas of Ireland, as well as evidence from primary and secondary sources are analysed. The research finds that AFIs can be understood as the potential beginnings of a lifestyle social movement. Leaders are of central importance to its development. It is also found that an important role of AFIs is revitalising, supporting and contributing to food culture.

Mechanistic study on spraying of blended biodiesel using phase Doppler anemometry

Droplet size and dynamics of blended palm oil-based fatty acid methyl ester (FAME) and diesel oil spray were mechanistically investigated using a phase Doppler anemometry. A two-fluid atomizer was applied for dispersing viscous blends of blended biodiesel oil with designated flow rates. It was experimentally found that the atomizer could generate a spray with large droplets with Sauter mean diameters of ca. 30 mm at low air injection pressure. Such large droplets traveled with a low velocity along their trajectory after emerging from the nozzle tip. The viscosity of blended biodiesel could significantly affect the atomizing process, resulting in the controlled droplet size distribution. Blended biodiesel with a certain fraction of palm oil-based FAME would be consistently atomized owing to its low viscosity. However, the viscosity could exert only a small effect on the droplet velocity profile with the air injection pressure higher than 0.2 MPa.