基于加速度反馈的柔性关节机械臂接触力控制

针对柔性关节机械臂从自由空间运动控制过渡到约束空间力控制的过程中,存在冲击、震荡甚至不稳定等问题,利用加速度传感器反馈控制,为柔性关节机械臂的接触力控制在较宽的带宽内提供阻尼,克服了利用单纯速度反馈控制带宽窄的局限。对柔性关节机械臂的接触力控制进行建模和基于加速度反馈的控制策略分析,并在柔性关节机械臂上进行了接触力控制的试验研究。结果表明,这种方法有效。

基于超冗余度机械臂动力学的时间最优轨迹规划

基于超冗余度机械臂的动力学方程 ,提出了一种超冗余度机械臂同时受速度和力矩约束的时间最优轨迹规划方法 .它首先采用 B样条曲线拟合无碰撞离散路径 ,得到由伪位移参数 s表示的超冗余度机械臂连续、光滑运动路径 ,然后对动力学方程和约束方程进行数学变换 ,得到由 s表示的动力学方程和约束方程 ,最后以 s和伪速度 s· 分别作为动态规划的阶段变量和状态变量 ,对超冗余度机械臂进行时间最优轨迹规划 .仿真结果表明 ,所给出的时间最优轨迹规划算法是正确的 ,所采取的解决方法是可行的

A QUASI-SIMPLEX METHOD FOR STRICTLY CONVEX QUADRATIC PROGRAMMING

本文提出一个不用 Kuhn- Tucker条件而直接搜索严格凸二次规划最优目标点的鲁棒方法 .在搜索过程中 ,目标点沿约束多面体边界上的一条折线移动 .这种移动目标点的思想可以被认为是线性规划单纯形法的自然推广 ,在单纯形法中 ,目标点从一个顶点移到另一个顶点。

UUV推进系统容错控制分配算法研究

针对水下机器人(UUV)推进系统容错控制分配问题,本文提出了基于SVD分解(奇异值分解)与定点分配的混合算法。与传统的方法相比,它回避了求伪逆矩阵的问题,降低了计算量;能够满足推进器饱和约束限制。利用水下实验平台推进系统模型进行了仿真实验,验证了算法的正确性和有效性。

一种新型四自由度并联机器人运动学正问题的求解

对一种新型四自由度并联机器人运动学正问题进行了研究，利用３个变量构造 出求解正问题的３个约束方程，然后运用符号计算和析配消元法推导出了只含有一 个变元的３２次多项式方程，并且应用计算机软件系统Ｍａｔｈｅｍａｔｉｃａ进行了求正问 题实解的数值验证。

双机械臂协调系统的一类最优轨迹规划方法

对Allen的时间理论的某些改进

Ａｌｌｅｎ的时间理论因直观、易懂而倍受推崇，但它存在不能处理连续变化事件等缺欠。本文提出更为一般的时间理论框架，以扩展Ａｌｌｅｎ的理论，本框架的特点为：（ｌ）将Ａｌｌｅｎ的理论纳入其中；（２）可由时间点构造时区，并可处理时区和时间点；（３）以时间元素集的２Ｄ图形表示为基础的约束传播算法，既高效又可视化。

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。

基于动力学约束的机械臂最优关节轨迹规划

本文提出了基于机械臂关节驱动力矩约束方程规划其关节最优运动轨迹的一种有效方法.该方法运用矩阵范数理论简化机械臂的动力学约束方程;在机械臂的关节空间内采用归一化的无因次量运用非线性规划法优化其运动轨迹.将所规划的无因次量轨迹方程作为机械臂产生实际运动轨迹的发生器,通过给定机械臂各运动段的起始和终止关节坐标,由系统的动力学约束方程计算出整个运动段所允许的最短运行时间,即生成所期望的运动轨迹.本文的轨迹规划方法计算效率高,可用于在线轨迹规划,文中通过算例证实了该方法的实用性.

柴达木盆地地震勘探关键技术研究

The rugged surface topography determined the seismic data acquisition construction conditions and the seismic wave explosive and receiver quality in Qaidam Basin. This dissertation systematically researched the seismic acquisition, imaging process and the attribute analysis techniques of complicated oil and gas reservoir. The main research achievements and cognitions are as follows: 1. Through the stimulation effects research and analysis from the aspect of lithologic water-containing differences, it’s specific that stable hydrous sand layer can effectively enhance the stimulation effects combined with the corresponding field tests. The seismic data S/N ratio has been improved due to the combination explosive stimulation. Through the fold number and maximum offset analyses of target horizon, the complicated geometry has been optimized and the S/N ratio of seismic data has been improved, which made an important basis for improvement of 3D seismic data. 2. It has been proved that the first arrival refraction static correction method under the model constraint of fine surface survey is suitable to the Qaidam Basin of western areas by the real seismic data processing. Although the refraction horizon of near surface has some changes in a certain extent, it’s steady basically. The refraction horizon can be continuously traced in sections, so it’s qualified for the refraction static correction method on the whole. 3. The research is based on the curved-ray pre-stack time migration techniques of rough topography, and improved the imaging precision of complex areas. This techniques adopted the constant and variable velocity scanning mode and enhanced the velocity analysis precision. The 3D pre-stack time migration techniques reasonably solved the imaging and velocity multiple solutions problems of steep-dip faults and the intersections of horizontal layers. What’s more, fine velocity analysis and mute are very important to enhance the imaging precision of the seismic data in complicated Wunan areas. 4. The 3D seismic data edge-preserving processing methods have been realized due to the image process techniques. Because this method uses the large range filter, it can attenuate the noise maximally. The faults, break points, lithologic pinchout points and lithologic body of small scale such as river will not be influenced by blur because of the edge-preserving characterization of the method which is really an effective assistant technique of low S/N ratio seismic data attribute analysis. 5. The use of spectral decomposition technique can effectively identify the reservoirs. The special geology body which will not be identified (or without obvious characters) in the seismic profile may be found through the details changes of different frequencies in the amplitude profiles.

层析静校正技术研究和应用

Static correction is one of the indispensable steps in the conventional onshore seismic data processing, particularly in the western part of China; it is theoretically and practically significant to resolve the issue of static correction. Conventional refraction static correction is put forward under the assumption that layered medium is horizontal and evenly distributed. The complicated nature of the near surface from western part of China is far from the assumption. Therefore, the essential way to resolve the static correction problem from the complex area is to develop a new theory. In this paper, a high-precision non-linear first arrival tomography is applied to solve the problem, it moved beyond the conventional refraction algorithm based on the layered medium and can be used to modeling the complex near surface. Some of the new and creative work done is as follows: One. In the process of first arrival tomographic image modeling, a fast high-order step algorithm is used to calculate the travel time for first arrival and ray path and various factors concerning the fast step ray tracing algorithm is analyzed. Then the second-order and third-order differential format is applied to the step algorithm which greatly increased the calculation precision of the ray tracing and there is no constraint to the velocity distribution from the complex areas. This method has very strong adaptability and it can meet the needs of great velocity variation from the complicated areas. Based on the numerical calculation, a fast high-order step is a fast, non-conditional and stable high-precision tomographic modeling algorithm. Two, in the tomographic inversion, due to the uneven fold coverage and insufficient information, the inversion result is unstable and less reliable. In the paper, wavelet transform is applied to the tomographic inversion which has achieved a good result. Based on the result of the inversion from the real data, wavelet tomographic inversion has increased the reliability and stability of the inversion. Three. Apply the constrained high-precision wavelet tomographic image to the static correction processing from the complex area. During tomographic imaging, by using uphole survey, refraction shooting or other weathering layer method, weathering layer can be identified before the image. Because the group interval for the shot first arrival is relatively big, there is a lack of precision for the near surface inversion. In this paper, an inversion method of the layer constraint and well constraint is put forward, which can be used to compensate the shallow velocity of the inversion for the shot first arrival and increase the precision of the tomographic inversion. Key words: Tomography ，Fast marching method，Wavelet transform, Static corrections, First break

南海大陆边缘地壳结构与盆地形成机制--以珠江口－琼东南盆地为例

South China Sea is located in the convergence of Eurasian plate, the Pacific Ocean plate and Indian Ocean-Australia plate. The total area is about 3,500,000 km2, the geologic structure is complicated, and the structure line cut off reciprocal is the marginal sea taking form by that the seafloor spreads during the middle Oligocene. South China Sea continental margin have developed more than 10 large oil-gas bearing basins and a number of medium-small sized basins. These basins contain abundant mineral resources such as oil & gas. The marginal deepwater area in the north part of South China Sea has become our country’s strategic energy prospecting frontier. The deepwater area of Zhujiangkou and Qiongdongnan basins is the research target in this thesis. The thesis studied deep structure and the earth dynamics of the north part of South China Sea margin, and these researches provide scientific basis for oil-gas resources strategic investigation and valuation in deepwater sea area of north part slope of South China Sea. In order to develop the research of rebuilding velocities and density architecture of earth shell in region of interest, in marginal deepwater area in the north part of South China, we adopted 14 long-cable seismic reflection profile data of 3556.41 kilometers in total, the gravity measurement data along profiles (3851.44 kilometers in total), the magnetic observation along profiles (3838.4 kilometers in total) and depth measurement along profile, the logging data of 11 wells in project, the interpreted fault parameter and preexisting geologic and geophysical research achievement. This thesis has carried out concretely studying research as follows: 1. Overlay-velocity data sampling and analysis, interval velocity calculation, time-depth conversion, model building of earth shell velocity and layering character of earth shell are studied on 14 deep sections. Velocity structure in region of interest has revealed: Changchang is the sag with thinnest crust in Qiongdongnan basin; the sedimentary thickness lowers gradually from north to south, and the thickness change from west to east is milder. The sags’ sedimentary velocities in Qiongdongnan basin have obvious demarcation. The velocity of the 8000 meters sedimentary rocks is 4700 m/s in Shunde sag and Baiyun sag, and is the lowest; at that depth, the velocity very different in Liwan sag and Baiyun sag, which is about 800m/s. 2. Extracting gravity data and building of initial crust density model along the section; With Bouguer gravity anomaly data as constraint, revising density distributes of initial model, and building the crust density model. 3. With crust velocity and density as constraint, correcting the effect of thermobaric field and constructing constitution structure of rock in region of interest. By this research, we known that rocks in Zhujiangkou upper crustal layer are chiefly granite-gneiss, quartzite, granodiorite and basalt, however, rocks in Qiongdongnan basin upper earth shell are chiefly composed of granite-gneiss, quartzite, granodiorite, diorite and basalt. 4. Synthetically crust velocity and density structure, gaining expanding factor on crust and entire crust along section. The result is indicated: the expanding factor in every sag rises from northwest to southeast, which have reflected thinning characteristic of crust from continent to ocean. Intra-crustal deformation degree in Changchang and Ledong-Lingshui sag is bigger than that in Songnan-Baodao sag. Entire crust extension factor in Changchang and Songnan-Baodao sag is greater than that in Ledong-Lingshui sag, which can make an explanation of frequently event and longer heating process in middle-east of Qiongdongnan basin. 5. Synthesize multidisciplinary information to discuss the earth dynamics significance of discordogenic seismic profile in deepwater area of Zhujiangkou and Qiongdongnan basins.

青岛晚白垩世岩石圈结构特征：劈石口晚白垩世基性脉岩及其捕虏体提供的证据

The occurrence of Late Cretaceous mafic dykes and their entrained peridotite and granulite xenoliths as well as clinopyroxene xenocrysts in the Qingdao region provide us a precious opportunity to unveil the nature and characteristics of the Late Mesozoic lithospheric mantle and lower crust beneath the Jiaodong region, and the change of the magma sources. These studies are of important and significant for understanding the lithospheric evolution in the eastern North China Craton. There were two periods of magma activities in Late Mesozoic in Qingdao Laoshan region, one was around 107Ma in the Early Cretaceous and the other around 86Ma in the Late Cretaceous according to the whole rock K-Ar age determination. The Early Cretaceous mafic dykes and the Late Cretaceous mafic dyke (i.e. Pishikou mafic dike) have completely different geochemical characteristics. The Early Cretaceous mafic dykes are enriched in LILE, strongly depleted in HFSE (Nb, Ta, Zr, Hf) and characterized by the highly radiogenic Sr and Nd isotopic compositions. These geochemical features indicate that the Early Cretaceous mafic dykes were derived from an enriched lithospheric mantle. In contrast, the Late Cretaceous mafic dyke is enriched in LILE, without HFSE depletion (Nb, Ta, Zr, Hf) and has less radiogenic Nd and Sr isotopic compositions. These geochemical features indicate that the Late Cretaceous mafic dyke was derived from the asthenosphere modified by subducted pelagic sediment contamination. The intrusive age of the Late Cretaceous mafic dyke provides further information for the termination of the lithosphere thinning for the eastern North China Crtaon. Pishikou Late Cretaceous mafic dyke contains abundant peridotitic xenoliths, granulite xenoliths and clinopyroxene xenocrysts. The peridotitic xenoliths can be divided into two types: high Mg# peridotites and low Mg# peridotites, according to their textural and mineral features. The high-Mg# peridotites have high Fo (up to 92.2) olivines and high Cr# (up to 55) spinels. The clinopyroxenes in the high# peridotites are rich in Cr2O3 and poor in Al2O3. The low-Mg# peridotites are typified by low Mg# (Fo <90) in olivines and low Cr# (Cr# <0.14) in spinels. The clinopyroxenes in the low-Mg# peridotites are rich in Al2O3 and Na2O and poor in Cr2O3. These two type peridotites have similar equilibrated temperatures of 950C-1100C. The Clinopyroxenes in the high-Mg# peridotites generally have high and variable REE contents (REE = 5.6-84 ppm) and LREE-enriched chondrite-normalized patterns ((La/Yb)N>1). In contrast, the clinopyroxenes in the low-Mg# peridotites have low REE contents (REE = 12 ppm) and LREE-depleted patterns ((La/Yb)N<1). The textural, mineral and elemental features of the low-Mg# peridotites are similar to those of the low-Mg peridotites from the Junan, representing the newly-accreted lithospheric mantle. However, the mineralogical and petrological features of the high-Mg# peridotites are similar to those of the high-Mg# peridotites from the Junan region, representing samples from the old refractory lithospheric mantle that was strongly and multiply affected by melts of different origins Late Cretaceous mafic dike in the Qingdao region also contains two types of granulite xenoliths according to the mineral constituents: the pyroxene-rich granulites and the plagioclase-rich granulites. Equilibrated temperatures calculated from the cpx-opx geothermometers are in a range of 861C - 910C for the pyroxene-rich granulites and of 847C - 890C for the plagioclase-rich granulites. The equilibrated pressure for the plagioclase-rich granulites is in a range of 9.9-11.7 kbar. Combined with the results of the peridotitic xenoliths, a 40C temperature gap exists between the peridotite and the granulite. The petrological Moho was 33~36 km at depths, broadly consistent with the seismic Moho estimated from the geophysical data. This indicates that there was no obvious crust-mantle transition zone in the Qingdao region in the Late Mesozoic. Pishikou Late Cretaceous mafic dyke entrained lots of clinopyroxene xenocrysts which are characterized by the chemical zoning. According to the zoning features, two types of clinopyroxene xenoliths can be classified, the normal zoning and the revise zoning. The normally-zoned clinopyroxene xenocrysts have LREE-depleted REE patterns in the cores. In contrast, the revisely-zoned clinopyroxenes have LREE-enriched REE patterns in the cores. According to the rim and core compositions of xenocrysts, all the rims are balanced with the host magma. Meanwhile, the origins of the cores were complicated, in which the normally-zoned clinopyroxenes were derived form the lithospheric mantle and some of the reversely-zoned clinopyroxnes were originated from the lower crust. Other revisely-zoned clinopyroxenes had experienced complex geological evolution and need to be further investigated. According to the above results, a simplified lithospheric profile has been established beneath the Qingdao region and a constraint on the nature and characteristics of the lithospheric mantle and lower crust has been made.

基于显式分形插值的高保真地震数据重建方法研究

Based on the fractal theories, contractive mapping principles as well as the fixed point theory, by means of affine transform, this dissertation develops a novel Explicit Fractal Interpolation Function（EFIF）which can be used to reconstruct the seismic data with high fidelity and precision. Spatial trace interpolation is one of the important issues in seismic data processing. Under the ideal circumstances, seismic data should be sampled with a uniform spatial coverage. However, practical constraints such as the complex surface conditions indicate that the sampling density may be sparse or for other reasons some traces may be lost. The wide spacing between receivers can result in sparse sampling along traverse lines, thus result in a spatial aliasing of short-wavelength features. Hence, the method of interpolation is of very importance. It not only needs to make the amplitude information obvious but the phase information, especially that of the point that the phase changes acutely. Many people put forward several interpolation methods, yet this dissertation focuses attention on a special class of fractal interpolation function, referred to as explicit fractal interpolation function to improve the accuracy of the interpolation reconstruction and to make the local information obvious. The traditional fractal interpolation method mainly based on the randomly Fractional Brown Motion (FBM) model, furthermore, the vertical scaling factor which plays a critical role in the implementation of fractal interpolation is assigned the same value during the whole interpolating process, so it can not make the local information obvious. In addition, the maximal defect of the traditional fractal interpolation method is that it cannot obtain the function values on each interpolating nodes, thereby it cannot analyze the node error quantitatively and cannot evaluate the feasibility of this method. Detailed discussions about the applications of fractal interpolation in seismology have not been given by the pioneers, let alone the interpolating processing of the single trace seismogram. On the basis of the previous work and fractal theory this dissertation discusses the fractal interpolation thoroughly and the stability of this special kind of interpolating function is discussed, at the same time the explicit presentation of the vertical scaling factor which controls the precision of the interpolation has been proposed. This novel method develops the traditional fractal interpolation method and converts the fractal interpolation with random algorithms into the interpolation with determined algorithms. The data structure of binary tree method has been applied during the process of interpolation, and it avoids the process of iteration that is inevitable in traditional fractal interpolation and improves the computation efficiency. To illustrate the validity of the novel method, this dissertation develops several theoretical models and synthesizes the common shot gathers and seismograms and reconstructs the traces that were erased from the initial section using the explicit fractal interpolation method. In order to compare the differences between the theoretical traces that were erased in the initial section and the resulting traces after reconstruction on waveform and amplitudes quantitatively, each missing traces are reconstructed and the residuals are analyzed. The numerical experiments demonstrate that the novel fractal interpolation method is not only applicable to reconstruct the seismograms with small offset but to the seismograms with large offset. The seismograms reconstructed by explicit fractal interpolation method resemble the original ones well. The waveform of the missing traces could be estimated very well and also the amplitudes of the interpolated traces are a good approximation of the original ones. The high precision and computational efficiency of the explicit fractal interpolation make it a useful tool to reconstruct the seismic data; it can not only make the local information obvious but preserve the overall characteristics of the object investigated. To illustrate the influence of the explicit fractal interpolation method to the accuracy of the imaging of the structure in the earth’s interior, this dissertation applies the method mentioned above to the reverse-time migration. The imaging sections obtained by using the fractal interpolated reflected data resemble the original ones very well. The numerical experiments demonstrate that even with the sparse sampling we can still obtain the high accurate imaging of the earth’s interior’s structure by means of the explicit fractal interpolation method. So we can obtain the imaging results of the earth’s interior with fine quality by using relatively small number of seismic stations. With the fractal interpolation method we will improve the efficiency and the accuracy of the reverse-time migration under economic conditions. To verify the application effect to real data of the method presented in this paper, we tested the method by using the real data provided by the Broadband Seismic Array Laboratory, IGGCAS. The results demonstrate that the accuracy of explicit fractal interpolation is still very high even with the real data with large epicenter and large offset. The amplitudes and the phase of the reconstructed station data resemble the original ones that were erased in the initial section very well. Altogether, the novel fractal interpolation function provides a new and useful tool to reconstruct the seismic data with high precision and efficiency, and presents an alternative to image the deep structure of the earth accurately.

反假频重建理论及其在储层预测中的应用

To extend the cross-hole seismic 2D data to outside 3D seismic data, reconstructing the low frequency data to high frequency data is necessary. Blind deconvolution method is a key technology. In this paper, an implementation of Blind deconvolution is introduced. And optimized precondition conjugate gradient method is used to improve the stability of the algorithm and reduce the computation. Then high-frequency retrieved Seismic data and the cross-hole seismic data is combined for constraint inversion. Real data processing proved the method is effective. To solve the problem that the seismic data resolution can’t meet the request of reservoir prediction in the river face thin-layers in Chinese eastern oil fields, a high frequency data reconstruction method is proposed. The extrema of the seismic data are used to get the modulation function which operated with the original seismic data to get the high frequency part of the reconstruction data to rebuild the wide band data. This method greatly saves the computation, and easy to adjust the parameters. In the output profile, the original features of the seismic events are kept, the common feint that breaking the events and adding new zeros to produce alias is avoided. And the interbeded details are enhanced compared to the original profiles. The effective band of seismic data is expended and the method is approved by the processing of the field data. Aim to the problem in the exploration and development of Chinese eastern oil field that the high frequency log data and the relative low frequency seismic data can’t be merged, a workflow of log data extrapolation constrained by time-phase model based on local wave decomposition is raised. The seismic instantaneous phase is resolved by local wave decomposition to build time-phase model, the layers beside the well is matched to build the relation of log and seismic data, multiple log info is extrapolated constrained by seismic equiphase map, high precision attributes inverse sections are produced. In the course of resolve the instantaneous phase, a new method of local wave decomposition --Hilbert transform mean mode decomposition(HMMD) is raised to improve the computation speed and noise immunity. The method is applied in the high resolution reservoir prediction in Mao2 survey of Daqing oil field, Multiple attributes profiles of wave impedance, gamma-ray, electrical resistivity, sand membership degree are produced, of which the resolution is high and the horizontal continuous is good. It’s proved to be a effective method for reservoir prediction and estimation.