基于扰动方法的广义最佳鉴别矢量集求解的一种迭代算法

本文对广义最佳鉴别矢量的求解方法进行研究 ,根据矩阵的扰动理论 ,改进了郭提出的求解广义最佳鉴别矢量的一种迭代算法 ,提出了求解广义最佳鉴别矢量的一种新的迭代算法 .本文算法的一个突出优点是随着类别数目的增加 ,计算时间反而缩短 ;而老算法随着类别数目的增加计算时间随着增加 ;不仅如此 ,新算法的识别率不劣于老算法 .在 ORL人脸数据库的数值实验 ,验证了上述论断的正确性

目标位姿测量中的三维视觉方法

要测量出一组特征点分别在两个空间坐标系下的坐标 ,就可以求解两个空间目标间的位姿关系 .实现上述目标位姿测量方法的前提条件是要保证该组特征点在不同坐标系下 ,其位置关系相同 ,但计算误差的存在却破坏了这种固定的位置关系 .为此 ,提出了两种基于模型的三维视觉方法——基于模型的单目视觉和基于模型的双目视觉 ,前者从视觉计算的物理意义入手 ,通过简单的约束迭代求解实现模型约束 ;后者则将简单的约束最小二乘法和基于模型的单目视觉方法融合在一起来实现模型约束 .引入模型约束后 ,单目视觉方法可以达到很高的测量精度 .而基于模型的双目视觉较传统的无模型立体视觉方法位移精度提高有限 ,但姿态精度提高很多

移动机器人激光全局定位系统的算法研究

介绍了一种新型的移动机器人激光全局定位系统。重点讨论了结构化环境中移动机器人的全局定位方法 ,提出了一种新的基于最小二乘法的迭代搜索定位算法。全方位移动机器人平台上进行的定位实验 ,证实了该算法的有效性。

Robust Learning Control for Manipulators with Uncertainty Disturbances Based on Internal Model

In this paper, a disturbance controller is designed for making robotic system behave as a decoupled linear system according to the concept of internal model. Based on the linear system, the paper presents an iterative learning control algorithm to robotic manipulators. A sufficient condition for convergence is provided. The selection of parameter values of the algorithm is simple and easy to meet the convergence condition. The simulation results demonstrate the effectiveness of the algorithm..

机器人机械手的离散时间学习控制

本文为机器人机械手提出了一种基于离散时间的重复学习控制法，这种学习控制法利用机器人动力学模型的部分知识，从它的特性和实用观点看，这种控制法比现有的其它学习控制法更有吸引力．本文还给出了学习控制法的收敛性证明和计算机仿真结果。

用光学反射传感器的机器人初始定位系统

本文叙述一种用光学反射传感器自动确定机器人在工作坐标中的起始参考位置的方法。装在机器人手爪边上的光学反射传感器与工作面上的T形目标相配合,用自动反复循环定位法确定机器人在工作坐标中的期望起始点。实践和理论分析表明,虽然开机时的机器人手爪的原始位置基本上是随机的,但手爪都能自动精确地收敛到期望的起始点上。

冷轧生产线机组作业计划过程中的投料混合比算法

为了实现冷轧生产线的均衡生产,提出了机组排产作业计划过程中的投料混合比算法。在该算法中,首先根据各道工序机组的生产能力、产品类型、故障和生产过程中的随机干扰等,计算在生产计划期内依概率平均的最佳缓冲区库存量,该库存量能够使机组实现均衡生产;其次,在现有在制库存条件下,考虑生产机组的生产能力和生产的产品类型,提出了本工序机组负荷平衡的机组排产作业计划在线生成方法;最后,结合上述两种方法,利用程序迭代搜索方式求解,既保证本道工序机组负荷平衡,也保证下道工序最佳库存的优化投料混合比,保证了冷轧生产线均衡生产的可行性。

高阶广义屏波动方程叠前深度偏移

Attaining sufficient accuracy and efficiency of generalized screen propagator and improving the quality of input gathers are often problems　of wave equation presack depth migration,　in this paper,a high order formula of generalized screen propagator　for one-way wave equation is proposed by using the asymptotic expansion of single-square-root operator. Based on the formula，a new generalized screen propagator is developed ,which is composed of split-step Fourier propagator and high order correction terms，the new generalized screen propagator not only improving calculation precision without sharply increasing the quantity of computation，facilitates the suitability of generalized screen propagator to the media with strong lateral velocity variation.　As wave-equation prestack depth migration is sensitive to the quality of input gathers, which greatly affect the output，and the available seismic data processing system has inability to obtain traveltimes corresponding to the multiple arrivals, to estimate of great residual statics， to merge seismic datum from different projects and to design inverse Q filter, we establish　difference equations with an embodiment of Huygens’s principle for obtaining traveltimes corresponding to the multiple arrivals,bring forward a time variable matching filter for seismic datum merging by using the fast algorithm called Mallat tree for wavelet transformations， put forward a method for estimation of residual statics by applying the optimum model parameters estimated by iterative inversion with three organized algorithm,i.e,the CMP intertrace cross-correlation algorithm,the Laplacian image edge extraction algorithm,and the DFP algorithm, and present phase-shift inverse Q filter based on Futterman’s amplitude and phase-velocity dispersion formula and wave field extrapolation theory. All of their numerical and real data calculating results shows that our theory and method are practical and efficient. Key words: prestack depth migration, generalized screen propagator, residual statics，inverse Q filter ,traveltime，3D seismic datum mergence

基于量子蒙特卡罗的地震波反演方法

The primary approaches for people to understand the inner properties of the earth and the distribution of the mineral resources are mainly coming from surface geology survey and geophysical/geochemical data inversion and interpretation. The purpose of seismic inversion is to extract information of the subsurface stratum geometrical structures and the distribution of material properties from seismic wave which is used for resource prospecting, exploitation and the study for inner structure of the earth and its dynamic process. Although the study of seismic parameter inversion has achieved a lot since 1950s, some problems are still persisting when applying in real data due to their nonlinearity and ill-posedness. Most inversion methods we use to invert geophysical parameters are based on iterative inversion which depends largely on the initial model and constraint conditions. It would be difficult to obtain a believable result when taking into consideration different factors such as environmental and equipment noise that exist in seismic wave excitation, propagation and acquisition. The seismic inversion based on real data is a typical nonlinear problem, which means most of their objective functions are multi-minimum. It makes them formidable to be solved using commonly used methods such as general-linearization and quasi-linearization inversion because of local convergence. Global nonlinear search methods which do not rely heavily on the initial model seem more promising, but the amount of computation required for real data process is unacceptable. In order to solve those problems mentioned above, this paper addresses a kind of global nonlinear inversion method which brings Quantum Monte Carlo (QMC) method into geophysical inverse problems. QMC has been used as an effective numerical method to study quantum many-body system which is often governed by Schrödinger equation. This method can be categorized into zero temperature method and finite temperature method. This paper is subdivided into four parts. In the first one, we briefly review the theory of QMC method and find out the connections with geophysical nonlinear inversion, and then give the flow chart of the algorithm. In the second part, we apply four QMC inverse methods in 1D wave equation impedance inversion and generally compare their results with convergence rate and accuracy. The feasibility, stability, and anti-noise capacity of the algorithms are also discussed within this chapter. Numerical results demonstrate that it is possible to solve geophysical nonlinear inversion and other nonlinear optimization problems by means of QMC method. They are also showing that Green’s function Monte Carlo (GFMC) and diffusion Monte Carlo (DMC) are more applicable than Path Integral Monte Carlo (PIMC) and Variational Monte Carlo (VMC) in real data. The third part provides the parallel version of serial QMC algorithms which are applied in a 2D acoustic velocity inversion and real seismic data processing and further discusses these algorithms’ globality and anti-noise capacity. The inverted results show the robustness of these algorithms which make them feasible to be used in 2D inversion and real data processing. The parallel inversion algorithms in this chapter are also applicable in other optimization. Finally, some useful conclusions are obtained in the last section. The analysis and comparison of the results indicate that it is successful to bring QMC into geophysical inversion. QMC is a kind of nonlinear inversion method which guarantees stability, efficiency and anti-noise. The most appealing property is that it does not rely heavily on the initial model and can be suited to nonlinear and multi-minimum geophysical inverse problems. This method can also be used in other filed regarding nonlinear optimization.

数据驱动型多次波衰减方法的研究

In the practical seismic profile multiple reflections tend to impede the task of even the experienced interpreter in deducing information from the reflection data. Surface multiples are usually much stronger, more broadband, and more of a problem than internal multiples because the reflection coefficient at the water surface is much larger than the reflection coefficients found in the subsurface. For this reason most attempts to remove multiples from marine data focus on surface multiples, as will I. A surface-related multiple attenuation method can be formulated as an iterative procedure. In this essay a fully data-driven approach which is called MPI —multiple prediction through inversion (Wang, 2003) is applied to a real marine seismic data example. This is a pretty promising scheme for predicting a relative accurate multiple model by updating the multiple model iteratively, as we usually do in a linearized inverse problem. The prominent characteristic of MPI method lie in that it eliminate the need for an explicit surface operator which means it can model the multiple wavefield without any knowledge of surface and subsurface structures even a source signature. Another key feature of this scheme is that it can predict multiples not only in time but also in phase and in amplitude domain. According to the real data experiments it is shown that this scheme for multiple prediction can be made very efficient if a good initial estimate of the multiple-free data set can be provided in the first iteration. In the other core step which is multiple subtraction we use an expanded multi-channel matching filter to fulfil this aim. Compared to a normal multichannel matching filter where an original seismic trace is matched by a group of multiple-model traces, in EMCM filter a seismic trace is matched by not only a group of the ordinary multiple-model traces but also their adjoints generated mathematically. The adjoints of a multiple-model trace include its first derivative, its Hilbert transform and the derivative of the Hilbert transform. The third chapter of the thesis is the application for the real data using the previous methods we put forward from which we can obviously find the effectivity and prospect of the value in use. For this specific case I have done three group experiments to test the effectiveness of MPI method, compare different subtraction results with fixed filter length but different window length, invest the influence of the initial subtraction result for MPI method. In terms of the real data application, we do fine that the initial demultiple estimate take on a great deal of influence for the MPI method. Then two approaches are introduced to refine the intial demultiple estimate which are first arrival and masking filter respectively. In the last part some conclusions are drawn in terms of the previous results I have got.

岩石磨蚀性和TBM滚刀磨损机理研究

Using the popular CERCHAR testing to measure the abrasiveness of rock which is CERCHAR abrasiveness index(CAI). The digital imagine processing program IPP is used to quantify the rock texture such as the grain size, the shape of grain and the index of grain homogeneity. And the rock mechanical testing machine are used to measure the strength, hardness and elastic modulus. Basic on these three experiments, this paper finds the relationship between the CAI and physical and mechanical properties of rock. They are both the mesostructure and macroscopical properties of rock. According to the theory of tribology and wear, this paper finds the disc cutter wear mechanism during the machine and rock interaction process. The detail research results are as follows: (1) The size and form of the mineral grains constituting the rocks affect the abrasiveness of the rock. The rock abrasiveness CAI is a function of the product of the texture coefficient(TC) multiplying equivalent quarts content(Q%). (2) There is no obvious relationship between the rock abrasiveness CAI and the single macroscopical property of rock such as hardness, unconfined compressive strength, tensile strength and elastic modulus. But when taking the texture coefficient(TC) and the mineral composition in consideration, it shows that the rock abrasiveness CAI is relative to the combination of the rock mechanical property, the texture coefficient(TC) and the mineral composition. That is to say various factors which are from the mesostructure feature to the macroscopical property of rock control the rock abrasiveness. (3) The disc cutter penetrating into rock is a machine/rock interaction process. During this interaction, the wear of disc cutter is mainly coming from the abrasive of abrasiveness matters. First, the surface of the cutter ring is hunched, and then the material of the cutter ring is being wiped off during the iterative interaction. Second, the hard mineral in the rock and the muck will microcosmic cutting the surface material of cutter ring. (4) The disc cutters consumption is determined by the machine parameters and the geology condition. The machine parameters include the thrust and the revolution rate of the cutterhead. The geology condition include two aspects: the macroscopical properties which are the strength and/or hardness of rock, the presence of discontinuities in rock mass, the hardness, sharp, edge and size of the muck and so on. And the mesostructure features which are the hard mineral composition, the sharp and size of the grain of the rock.

地震波阻抗反演的迭代正则化算法

Post-stack seismic impedance inversion is the key technology of reservoir prediction and identification. Geophysicists have done a lot of research for the problem, but the developed methods still cannot satisfy practical requirements completely. The results of different inversion methods are different and the results of one method used by different people are different too. The reasons are due to the quality of seismic data, inaccurate wavelet extraction, errors between normal incidence assumption and real situation, and so on. In addition, there are two main influence factors: one is the band-limited property of seismic data; the other is the ill-posed property of impedance inversion. Thus far, the most effective way to solve the band-limited problem is the constrained inversion. And the most effective way to solve ill-posed problems is the regularization method assisted with proper optimization techniques. This thesis systematically introduces the iterative regularization methods and numerical optimization methods for impedance inversion. A regularized restarted conjugate gradient method for solving ill-posed problems in impedance inversion is proposed. Theoretic simulations are made and field data applications are performed. It reveals that the proposed algorithm possesses the superiority to conventional conjugate gradient method. Finally, non-smooth optimization is proposed as the further research direction in seismic impedance inversion according to practical situation.

三维非均匀各向异性介质中的纵波走时反演研究

Many observations show that seismic anisotropy is very common in the crust and upper mantle of the Earth. Seismic anisotropy can provide some clue about the changing and transporting process inside the earth. in recent years, abundant earthquake travel time data are accumulated, computers become more powerful, and these make the inversion of earthquake travel time data practical. In this thesis we studied the theory of elastic wave in anisotropic media, some formule for travel time inversion were derived. We present an iterative procedure to determine 21 elastic parameters from qP wave travel times. No a priori assumptions about heterogeneity and anisotropy of the model are made. The procedure is suitable for the case when we know nothing about the symmetry of anisotropy of the media, as well as for the case of earthquake travel time inversion which may contain various symmetry of anisotropy. The procedure is tested with a synthetic multiple-source offset VSP experiment. The results proved that the formulae are correct, and the procedure is practical. The results and the related theory indicate that the anisotropic inversion needs more rays than isotropic case. For a 2-D weak anisotropic (WA) medium, we need at least 5 rays in different directions to retrieve the elastic parameters on one grid point, and for a 3-D WA medium we need at least 15 rays in different directions to retrieve the elastic parameters on one grid point. The results also indicate that the starting background velocity has no influence on the final results, at least for the model we specified. Our results also show that insufficient illumination coverage will slow down the convergence rate, and make the results more sensitive to noise. We apply the procedure to a set of field travel time data. The data is from an artificial seismic observation. This observation is for locating micro-seismic events around a tunnel, its purpose is to find out if the digging process and the stress condition around the tunnel can generate micro-cracks. The size of this area is around 100m. The anisotropy derived from qP travel times is the same as the anisotropy showed by apparent velocities, and is also consistent with the anisotropy derived from S-wave splitting phenomena.

电阻率测井反演方法应用研究

Formation resistivity is one of the most important parameters to be evaluated in the evaluation of reservoir. In order to acquire the true value of virginal formation, various types of resistivity logging tools have been developed. However, with the increment of the proved reserves, the thickness of interest pay zone is becoming thinner and thinner, especially in the terrestrial deposit oilfield, so that electrical logging tools, limited by the contradictory requirements of resolution and investigation depth of this kinds of tools, can not provide the true value of the formation resistivity. Therefore, resitivity inversion techniques have been popular in the determination of true formation resistivity based on the improving logging data from new tools. In geophysical inverse problems, non-unique solution is inevitable due to the noisy data and deficient measurement information. I address this problem in my dissertation from three aspects, data acquisition, data processing/inversion and applications of the results/ uncertainty evaluation of the non-unique solution. Some other problems in the traditional inversion methods such as slowness speed of the convergence and the initial-correlation results. Firstly, I deal with the uncertainties in the data to be processed. The combination of micro-spherically focused log (MSFL) and dual laterolog(DLL) is the standard program to determine formation resistivity. During the inversion, the readings of MSFL are regarded as the resistivity of invasion zone of the formation after being corrected. However, the errors can be as large as 30 percent due to mud cake influence even if the rugose borehole effects on the readings of MSFL can be ignored. Furthermore, there still are argues about whether the two logs can be quantitatively used to determine formation resisitivities due to the different measurement principles. Thus, anew type of laterolog tool is designed theoretically. The new tool can provide three curves with different investigation depths and the nearly same resolution. The resolution is about 0.4meter. Secondly, because the popular iterative inversion method based on the least-square estimation can not solve problems more than two parameters simultaneously and the new laterolog logging tool is not applied to practice, my work is focused on two parameters inversion (radius of the invasion and the resistivty of virgin information ) of traditional dual laterolog logging data. An unequal weighted damp factors- revised method is developed to instead of the parameter-revised techniques used in the traditional inversion method. In this new method, the parameter is revised not only dependency on the damp its self but also dependency on the difference between the measurement data and the fitting data in different layers. At least 2 iterative numbers are reduced than the older method, the computation cost of inversion is reduced. The damp least-squares inversion method is the realization of Tikhonov's tradeoff theory on the smooth solution and stability of inversion process. This method is realized through linearity of non-linear inversion problem which must lead to the dependency of solution on the initial value of parameters. Thus, severe debates on efficiency of this kinds of methods are getting popular with the developments of non-linear processing methods. The artificial neural net method is proposed in this dissertation. The database of tool's response to formation parameters is built through the modeling of the laterolog tool and then is used to training the neural nets. A unit model is put forward to simplify the dada space and an additional physical limitation is applied to optimize the net after the cross-validation method is done. Results show that the neural net inversion method could replace the traditional inversion method in a single formation and can be used a method to determine the initial value of the traditional method. No matter what method is developed, the non-uniqueness and uncertainties of the solution could be inevitable. Thus, it is wise to evaluate the non-uniqueness and uncertainties of the solution in the application of inversion results. Bayes theorem provides a way to solve such problems. This method is illustrately discussed in a single formation and achieve plausible results. In the end, the traditional least squares inversion method is used to process raw logging data, the calculated oil saturation increased 20 percent than that not be proceed compared to core analysis.

Pump-dump control and the related transient absorption spectroscopies

We combine theories of optimal pump-dump control and the related transient probe absorption spectroscopy in order to elucidate the relation between these two optical processes and the possibility of experimental realization. In the weak response regime, we identify the globally optimal pair of pump-dump control fields, and further propose a second-order difference detection scheme to monitor the wave packets dynamics that is jointly controlled by both the pump and dump fields. The globally optimal solution serves also as the initial input for the iterative search for the optimal control fields in the strong response regime. We use a model I-2 molecule to demonstrate numerically the pump-dump control and the detection of a highly vibrationally excited wave packet focusing dynamics on the ground X surface in both the weak and strong response regimes. The I2B surface serves as the intermediate to assist the pump-dump control and the optical detection processes. Demonstrated in the strong response regime are the optimal pair of pump-dump molecular-pi pulses that invert nearly total population onto the predefined target region within a half period of vibration motion. (C) 1999 American Institute of Physics. [S0021-9606(99)00115-4].