2-(Benzotriazol-1-yl)-2-(alpha-hydroxybenzyl)-N-phenylthioacrylamide

In the title compound, C21H16N4OS, the dihedral angles between the planes of the benzotriazole and N-phenyl rings and the plane of the atoms that link these two rings are 79.56 (6) and 59.02 (5) degrees, respectively, while that between the two benzene rings is 64.12 (6) degrees. There are some inter- and intramolecular interactions in the crystal structure.

4-(4-chlorobenzylideneamino)-3-(1H-1,2,4-triazol-1-ylmethyl)-1H-1,2,4-triazole-5(4H)-thione

In the title compound, C12H10ClN7S, the dihedral angles made by the plane of the thione-substituted triazole ring with the planes of the other triazole ring and the benzene ring are 73.57 (3) and 46.65 (2)degrees, respectively. Inter-and intramolcular hydrogen bonds and pi-pi stacking interactions stabilize the structure.

5-[(1H-1,2,4-yriazol-1-yl)methyl]-4-(4-fluorobenzylideneamino)-2H-1,2,4-triazole-3(4H)-thione

In the title compound, C12H10FN7S, the dihedral angles made by the plane of the thione-substituted triazole ring with the planes of the other triazole ring and the benzene ring are 71.94 (3) and 40.10 (2)degrees, respectively. Inter- and intramolecular hydrogen-bond and pi-pi stacking interactions stabilize the structure.

基于神经网络的机器人视觉伺服控制

视觉伺服可以应用于机器人初始定位自动导引、自动避障、轨线跟踪和运动目标跟踪等控制系统中。传统的视觉伺服系统在运行时包括工作空间定位和动力学逆运算两个过程,需要实时计算视觉雅可比矩阵和机器人逆雅可比矩阵,计算量大,系统结构复杂。本文分析了基于图像的机器人视觉伺服的基本原理,使用BP神经网络来确定达到指定位姿所需要的关节角度,将视觉信息直接融入伺服过程,在保证伺服精度的情况下大大简化了控制算法。文中针对Puma560工业机器人的模型进行了仿真实验,结果验证了该方法的有效性。

便携式移动机器人姿态解算方法

本文根据便携式移动机器人的特点,采用四元数法解算机器人导航系统的姿态,避免了在机器人运动角度较大时出现奇异点的问题。文中应用改进的四阶龙格-库塔算法解算四元数微分方程,经仿真实验,精度完全能够达到要求。给出了合理的变换公式,在机器人运动范围内,满足了四元数与欧拉角之间转换的一一对应。

自主移动机器人三角定位的路标优化

针对给出的机器人三角定位算法，推导出路标设置对定位影响的几何精度标准，证明了参与定位的路标数目为3个和3个以上的情况下，如果路标与机器人的距离都相等，那么当相邻路标与机器人所成夹角都相等时，机器人的定位精度最高；进而给出了最优路标选取算法.实验和实践结果也进一步证明所得结论的有效性。

LW-1型机器人重复位姿精度检测系统

本文介绍了一种非接触式（ＬＷ－１型）机器人重复位姿精度检测系统．该系统采用电涡流传感器作为位置信息传感器．以这种传感器的检测性能为基础，研究设计了相应的传感器测量结构、数学模型和坐标变换求解方法，使系统技术指标及使用性能达到了检测机器人重复位姿精度的实用要求．该系统具有鲁棒性强、设计合理、结构简单、造价低廉等特点，可以满足我国现阶段在机器人学研究和机器人开发应用方面的需求

线形脑啡肽(N—Tyr~1—Gly~2—Gly~3—Phe~4—Leu~5)的NMR溶液构象研究

本文在Bruker AM-400 NMR谱仪上,在不同温度下研究了线形脑啡肽(N-Tyr~1-Gly~2-Gly~3-Phe~4-Leu~5)在DMSO中的NMR溶液构象。由NMR测试结果,得到了NH化学位移温度梯度系数、扭转角φ、χ＇约束和~1H-~1H NOE距离约束,用目标函数法计算了脑啡肽的溶液构象,分析了优势边链构象。研究结果指明了多肽骨架的柔变性且处于构象平衡中。

Fourier有限差分法深度偏移与正演模拟

With the development of seismic exploration, the target becomes more and more complex, which leads to a higher demand for the accuracy and efficiency in 3D exploration. Fourier finite-difference (FFD) method is one of the most valuable methods in complex structure exploration, which keeps the ability of finite-differenc method in dealing with laterally varing media and inherits the predominance of the phase-screen method in stablility and efficiency. In this thesis, the accuracy of the FFD operator is highly improved by using simulated annealing algorithm. This method takes the extrapolation step and band width into account, which is more suitable to various band width and discrete scale than the commonely-used optimized method based on velocity contrast alone. In this thesis, the FFD method is extended to viscoacoustic modeling. Based on one-way wave equation, the presented method is implemented in frequency domain; thus, it is more efficient than two-way methods, and is more convenient than time domain methods in handling attenuation and dispersion effects. The proposed method can handle large velocity contrast and has a high efficiency, which is helpful to further research on earth absorption and seismic resolution. Starting from the frequency dispersion of the acoustic VTI wave equation, this thesis extends the FFD migration method to the acoustic VTI media. Compared with the convetional FFD method, the presented method has a similar computational efficiency, and keeps the abilities of dealing with large velocity contrasts and steep dips. The numerical experiments based on the SEG salt model show that the presented method is a practical migration method for complex acoustical VTI media, because it can handle both large velocity contrasts and large anisotropy variations, and its accuracy is relatively high even in strong anisotropic media. In 3D case, the two-way splitting technique of FFD operator causes artificial azimuthal anisotropy. These artifacts become apparent with increasing dip angles and velocity contrasts, which prevent the application of the FFD method in 3D complex media. The current methods proposed to reduce the azimuthal anisotropy significantly increase the computational cost. In this thesis, the alternating-direction-implicit plus interpolation scheme is incorporated into the 3D FFD method to reduce the azimuthal anisotropy. By subtly utilizing the Fourier based scheme of the FFD method, the improved fast algorithm takes approximately no extra computation time. The resulting operator keeps both the accuracy and the efficiency of the FFD method, which is helpful to the inhancements of both the accuracy and the efficiency for prestack depth migration. The general comparison is presented between the FFD operator and the generalized-screen operator, which is valuable to choose the suitable method in practice. The percentage relative error curves and migration impulse responses show that the generalized-screen operator is much sensiutive to the velocity contrasts than the FFD operator. The FFD operator can handle various velocity contrasts, while the generalized-screen operator can only handle some range of the velocity contrasts. Both in large and weak velocity contrasts, the higher order term of the generalized-screen operator has little effect on improving accuracy. The FFD operator is more suitable to large velocity contrasts, while the generalized-screen operator is more suitable to middle velocity contrasts. Both the one-way implicit finite-difference migration and the two-way explicit finite-differenc modeling have been implemented, and then they are compared with the corresponding FFD methods respectively. This work gives a reference to the choosen of proper method. The FFD migration is illustrated to be more attractive in accuracy, efficiency and frequency dispertion than the widely-used implicit finite-difference migration. The FFD modeling can handle relatively coarse grids than the commonly-used explicit finite-differenc modeling, thus it is much faster in 3D modeling, especially for large-scale complex media.

中低纬度变化磁场的暴时特征研究

Magnetic storm is a kind of severe disturbances in the whole solar-earth electromagnetic space. It has significant effects on communication, electric power, oil transport pipe and human activities in space. Therefore, magnetic storms are worth for applications systems, not only being a favorable issue for scientists. In this paper, the spatial and temporal distributions of the magnetic fields produced by the magnetosphere-ionosphere current systems during storms are studied. Four parts are included in this paper decomposion of different disturbances with different origins, topological structure of the ring current, the asymmetric characteristics of the ring current, and the statistic peculiarities of the day-to-day variability (DTD) of Sq. 1 The decomposition of magnetic disturbances at mid-low latitudes and its evolutions during storms Transient variations in the geomagnetic field recorded at mid-low latitudes mainly include the storm-time variation (Dst), solar quiet daily variation (Sq) and disturbance daily variation (SD). With the data of the geomagnetic meridian chain observatories in China, 25 storms during the period of 1997 to 1999 have been analyzed. According to the features of different variations, a method of “three-steps decomposition” is developed by using the method of Natural Orthogonal Components (NOC), Correlation Analysis and Fourier Analysis to separate those three components in turn. The results show that, the first eigenmode by the MNOC clearly describing the special distribution and temporal evolution of storm-time variation, in addition, Correlation Analysis and Fourier Analysis offer a useful method to extract the Sq and SD variations. The latitudinal shift of the Sq current focus seems to be the principal reason of the day-to-day variaitons in the daily range of Sq. The magnitude of SD reaches a maximum during the main phase, and then gradually decreases. 2 The topology structure of the ring current during storms Both the mechanism of the ring current and the geomagnetic data suggest that the central plane of the ring current is declining to the geomagnetic equator plane with a tilt angle δ. Using the H and Z component data at two stations in a meridian chain, we deduce a new parameter describing the invariable peculiarity of different storms. Then the δ angle is calculated by using the data from a meridian chain and tested with the ERC model. Finally the deduced tilt angles are used to modify Dst index. 3 The asymmetric characteristics of the ring current during storms The variations of the geomagnetic field at mid-low latitudes show a significant dawn-dusk asymmetry, resulting from the superposition of the fields from the symmetric ring current and the partial ring current. On the basis of the data from the 20°E, 30°E meridian chains and 30°N latitudinal chain, the dawn-dusk asymmetry is investigated by using three methods, namely, statistic analysis, ring current model calculation and typical event analysis. This characteristic implies the asymmetry of the spatial distribution of the ring current. In addition, during the main phase after the sudden commencement (SC), H field increases and reaches maximum around noontime, implying the effect of the Chapman-Ferraro current. 4 The statistic characteristics of the day-to-day variability and its mechanism The day-to-day variability of the geomagnetic Sq field is studied by using the magnetic data from a meridian chain of magnetometers along 120° E longitude. The method of NOC is applied to separate the Sq variation from complicated disturbances. The first eigenmode with the largest eigenvalue represents fairly well the Sq variation with a conspicuous day-to-day variability in the daily range. For the stations on the same north- or south-side of the Sq current system focus, the day-to-day variations show a positive correlation. In contrast, for the stations on the different sides of the Sq focus, they show a negative correlation, suggesting an important role of latitudinal shift of the Sq current system focus to the day-to-day variability of the Sq daily range. The Sq daily range is correlated with the magnetic indices Ap and Dst in a peculiar way: on some severe disturbed days, noticeably enhancements of the Sq are observed, implying increases of the ionospheric conductivities and/or tidal wind velocities; on other severe disturbed days, however, dramatically reduced Sq variations occur, suggesting dominant effects of the ‘disturbance dynamo’ process.

AVO分析与地震资料叠前储层预测技术

In this paper we base on the anisotropic theory and Zoeppritz function of the transmission theory and the law of amplitude versus offset simplify seismic reflection coefficient of different media, analyze the characteristic of the gas or oil saturated stratum or the VTI and HTI models. Discuss the P wave reflection relationship and the meanings of the different parameters. We use measured parameters of a reservoir to simulate the characteristic of the reservoir, study the different effects of stratum saturated with gas or oil and analyze the characteristic of the seismic response of different models which change with different incident angles and different azimuths. Using the field data of logs ,analyze the rock property parameters, build the relationship of logs and parameters by Gassmann theory or empirical function. Calculate the density and the shear modulus and bulk modulus, reconstruct the log curves, calculate shear wave logs and correlate the logs affected by mud and other environmental factors. Finally perform the relationship of the seismic data log of saturated stratum and enhance the ability and reliability in reservoir prediction. Our aim is by the prestack seismic processing to get high solution and amplitude preserved seismic data. Because in incident angle gathers or azimuthal gathers, the low signal to noise ratio and low different covers affect the result of the prestack reservoir prediction. We apply prestack noise erase, cell regularization process and relatively amplitude preservation in the high solution seismic process routine to preserve the characteristic of stratum response, and erase the effects of the noise. In this paper we finished prestack invertion in the BYT survey and fractured reservoir depiction in MB survey. By the invertion and multiple attributes crossplot. we can get the stratum profiles and oil indicator profiles which can predict the distribution of the reservoir and oil. In the MB survey, we get orientation and density of fractured reservoir by the azimuthal seismic amplitude and depict the potential oil and gas reservoir. Prestak invertion works better in distinguishing oil and reservoir.

安塞油田三叠系延长组长10油层组沉积相研究

Ordos basin is a large-scale craton overlapping basin, which locates in western North China platform and possesses abundant hydrocarbon resources. Ansai area in 2007 to extend the head of Chang10 of Yangchang Formation has made breakthrough progress in the region, long a high of Gao52 was Chang10 industrial oil flow, for oil exploration Ansai Oil Field opened a new chapter. in 2008, high of Gao52, Wang519, Gao34 producing wells area of building and found the existence of Chang10 great potential for the discovery of Chang10 Reservoir, Ansai Oil Field for a new direction, showing a good exploration development prospects.The study of occurrence and distribution features of hydrocarbon should be made by new theories and evolutions of sedimentology, sequence stratigraphy, reservoir sedimentology and petroleum geology form different angles on the base of regional geology background. Ansai Oil Field is in mid Shanbei Slope, which is a considerable producing zone of Ordos basin. Chang10 of Yangchang Formation is an important oil-bearing series, which sedimentary formation was formed in Indosinian orogeny, Late Triassic, sedimentary background is a momentary uplifting in Ordos basin, and exploration and exploitation of hydrocarbon in this area is very important. To further descripte disciplinarian of accumulation hydrocarbon, carefully study on sedimentary facies, reservoir type and disciplinarian of accumulation hydrocarbon of Chang10 of Yangchang Formation in study area is needed. By collecting date of field profile, outcrop, core and many other geological, through sedimentary and oil geological analysis, sedimentary facies types were identified, distributing of sedimentary facies and extension of sand body were analyzed too. Finally, the main controlling factors of hydrocarbon and the favorable areas were found out by deeply studying sedimentary system and disciplinarian of accumulation oil&gas in Chang10 of Yangchang Formation, Late Triassic in Ansai Oil Field. Chang10 of Yangchang Formation is main study formation, which is divided into three members (Chang101, Chang102 and Chang103), Chang101 is subdivided into three (Chang1011, Chang1012and Chang1013) reservoirs. By defining Layered borderline between every member and detailed describing rock and electro characteristic, member zonation become more reasonable and accurate also sedimentary facies and disciplinarian of accumulation oil&gas in study area are confirmed Through researching sedimentary facies, reservoir sand and hydrocarbon migration, accumulation, distribution, hydrocarbon accumulation models of Chang10 of Yangchang Formation in study area is pointed out, which is lithologic hydrocarbon reservoir and tectonic-lithologic hydrocarbon reservoir. Different play is formed by different processes and factors. Through analysis of reservoir property, trap type and accumulation model, several favorable exploration areas can be found out in Chang 10 reservoirs （Chang1011, Chang1012and Chang1013） of the Ansai Oil Field.

全局优化的Fourier有限差分偏移方法研究

Seismic exploration is the main method of seeking oil and gas. With the development of seismic exploration, the target becomes more and more complex, which leads to a higher demand for the accuracy and efficiency in seismic exploration. Fourier finite-difference (FFD) method is one of the most valuable methods in complex structure exploration, which has obtained good effect. However, in complex media with wider angles, the effect of FFD method is not satisfactory. Based on the FFD operator, we extend the two coefficients to be optimized to four coefficients, then optimize them globally using simulated annealing algorithm. Our optimization method select the solution of one-way wave equation as the objective function. Except the velocity contrast, we consider the effects of both frequency and depth interval. The proposed method can improve the angle of FFD method without additional computation time, which can reach 75° in complex media with large lateral velocity contrasts and wider propagation angles. In this thesis, combinating the FFD method and alternative-direction-implicit plus interpolation(ADIPI） method, we obtain 3D FFD with higher accuracy. On the premise of keeping the efficiency of the FFD method, this method not only removes the azimuthal anisotropy but also optimizes the FFD mehod, which is helpful to 3D seismic exploration. We use the multi-parameter global optimization method to optimize the high order term of FFD method. Using lower-order equation to obtain the approximation effect of higher-order equation, not only decreases the computational cost result from higher-order term, but also obviously improves the accuracy of FFD method. We compare the FFD, SAFFD（multi-parameter simulated annealing globally optimized FFD）, PFFD, phase-shift method(PS）, globally optimized FFD （GOFFD）, and higher-order term optimized FFD method. The theoretical analyses and the impulse responses demonstrate that higher-order term optimized FFD method significantly extends the accurate propagation angle of the FFD method, which is useful to complex media with wider propagation angles.

中国大陆及邻区地震活动背景、环境触发与地震预测研究

This dissertation that includes most of the P. PH.D research work during 2001~2002 covers the large-scale distribution of continental earthquakes in mainland China, the mechanism and statistic features of grouped strong earthquakes related to the tidal triggering, some results in earthquake prediction with correlativity analysis methods, and the flushes from the two strong continental earthquakes in South Asia in 2001. Mainland China is the only continental sub-plate that is compressed by collision boundaries at its two sides, within which earthquakes are dispersive and distributed as seismic belts with different widths. The control capability of the continental block boundaries on the strong earthquakes and seismic hazards is calculated and analyzed in this dissertation. By mapping the distribution of the 31282 ML:3s2,0 earthquakes, I found that the depth of continental earthquakes depend on the tectonic zonings. The events on the boundaries of relatively integrated blocks are deep and those on the new-developed ruptures are shallow. The average depth of earthquakes in the West of China is about 5km deeper than that in the east. The western and southwestern brim of Tarim Basin generated the deepest earthquakes in mainland China. The statistic results from correlation between the grouped M7 earthquakes and the tidal stress show that the strong events were modulated by tidal stress in active periods. Taking Taiwan area as an example, the dependence of moderate events on the moon phase angles (￡>) is analyzed, which shows that the number of the earthquakes in Taiwan when D is 50° ,50° +90° and 50° +180° is more than 2 times of standard deviation over the average frequency at each degree, corresponding to the 4th, 12th and 19th solar day after the new moon. The probability of earthquake attack to the densely populated Taiwan island on the 4th solar day is about 4 times of that on other solar days. On the practice of earthquake prediction, I calculated and analyzed the temporal correlation of the earthquakes in Xinjinag area, Qinghai-Tibet area, west Yunnan area, North China area and those in their adjacent areas, and predicted at the end of 2000 that it would be a special time interval from 2001 to 2003, within which moderate to strong earthquakes would be more active in the west of China. What happened in 2001 partly validated the prediction. Within 10 months, there were 2 great continental earthquakes in south Asia, i.e., the M7.8 event in India on Jan 26 and M8.1 event in China on Nov. 14, 2001, which are the largest earthquake in the past 50 years both for India and China. No records for two great earthquakes in Asia within so short time interval. We should speculate the following aspects from the two incidences: The influence of the fallacious deployment of seismic stations on the fine location and focal mechanism determination of strong earthquakes must be affronted. It is very important to introduce comparative seismology research to seismic hazard analysis and earthquake prediction research. The improvement or changes in real-time prediction of strong earthquakes with precursors is urged. Methods need to be refreshed to protect environment and historical relics in earthquake-prone areas.

高斯束射线追踪

Using the approximate high-frequency asymptotic methods to solve the scalar wave equation, we can get the eikonal equation and transport equation. Solving the eikonal equation by the method of characteristics provides a mathematical derivation of ray tracing equations. So, the ray tracing system is folly based on the approximate high-frequency asymptotic methods. If the eikonal is complex, more strictly, the eikonal is real value at the rays and complex outside rays, we can derive the Gaussian beam. This article mainly concentrates on the theory of Gaussian beam. To classical ray tracing theory, the Gaussina beam method (GBM) has many advantages. First, rays are no longer required to stop at the exact position of the receivers; thus time-consuming two-point ray tracing can be avoided. Second, the GBM yields stable results in regions of the wavefield where the standard ray theory fails (e.g., caustics, shadows zones and critical distance). Third, unlike seismograms computed by conventional ray tracing techniques, the GBM synthetic data are less influenced by minor details in the model representation. Here, I realize kinematical and dynamical system, and based on this, realize the GBM. Also, I give some mathematical examples. From these examples, we can find the importance and feasibility of the ray tracing system. Besides, I've studied about the reflection coefficient of inhomogeneous S-electromagnetic wave at the interface of conductive media. Basing on the difference of directions of phase shift constant and attenuation constant when the electromagnetic wave propagates in conductive medium, and using the boundary conditions of electromagnetic wave at the interface of conductive media, we derive the reflection coefficient of inhomogeneous S-electromagnetic wave, and draw the curves of it. The curves show that the quasi total reflection will occur when the electromagnetic wave incident from the medium with greater conductivity to the medium with smaller conductivity. There are two peak, values at the points of the critical angles of phase shift constant and attenuation constant, and the reflection coefficient is smaller than 1. This conclusion is different from that of total reflection light obviously.