Theoretical and experimental research on time-optimal trajectory planning and control of industrial robots

提出了一种用于工业机器人时间最优轨迹规划及轨迹控制的新方法，它可以确保在关节位移、速度、加速度以及二阶加速度边界值的约束下，机器人手部沿笛卡尔空间中规定路径运动的时间阳短。在这种方法中，所规划的关节轨迹都采用二次多项式加余弦函数的形式，不仅可以保证各关节运动的位移、速度 、加速度连续而且还可以保证各关节运动的二阶加速度连续。采用这种方法，既可以提高机器人的工作效率又可以延长机器人的工作寿命以PUMA560机器人为对象进行了计算机仿真和机器人实验，结果表明这种方法是正确的有效的。它为工业机器人在非线性运动学约束条件下的时间最优轨迹规划及控制问题提供了一种较好的解决方案。

叠前叠后联合反演技术及其在QHD32-6油田的应用研究

What geophysical inversion studied includes the common mathematics physical property of inversion and the constitution and appraisal method of solution in geophysics domain, i.e. using observed physical phenomenon from the earth surface to infer space changing and physical property structure of medium within the earth. Seismic inversion is a branch of geophysical inversion. The basic purpose of seismic inversion is to utilizing seismic wave propagating law in the medium underground to infer stratum structure and space distribution of physical property according to data acquisition, processing and interpretation, and then offer the vital foundation for exploratory development. Poststack inversion is convenient and swift, its acoustic impedance inversion product can reflect reservoir interior changing rule to a certain degree, but poststack data lack abundant amplitude and travel time information included in prestack data because of multiple superimpose and weaken the sensitiveness which reflecting reservoir property. Compared with poststack seismic inversion, prestack seismic inversion has better fidelity and more adequate information. Prestack seismic inversion, including waveform inversion, not only suitable for thin strata physical property inversion, it can also inverse reservoir oil-bearing ability. Prestack seismic inversion and prestack elastic impedance inversion maintain avo information, sufficiently applying seismic gathering data with different incident angle, partial angle stack, gradient and intercept seismic data cube. Prestack inversion and poststack inversion technology were studied in this dissertation. A joint inversion method which synthesize prestack elastic wave waveform inversion, prestack elastic impedance inversion and poststack inversion was proposed by making fully use of prestack inversion multiple information and relatively fast and steady characteristic of poststack inversion. Using the proposed method to extract rock physics attribute cube with clear physical significance and reflecting reservoir characterization, such as P-wave and S-wave impedance, P-wave and S-wave velocity, velocity ratio, density, Poisson ratio and Lame’s constant. Regarding loose sand reservoir in lower member of Minghuazhen formation, 32-6 south districts in Qinhuangdao,as the research object, be aimed at the different between shallow layer loose sand and deep layer tight sand, first of all, acquire physical property parameters suitable for this kind of heavy oil pool according to experimental study, establishing initial pressure and shear wave relational model; Afterwards, performing prestack elastic wave forward and inversion research, summarizing rules under the guidance of theoretical research and numerical simulation, performing elastic impedance inversion, calculating rock physics attributes; Finally, predicting sand body distribution according to rock physics parameters, and predicting favorable oil area combine well-logging materials and made good results.

煤层气储层工程的地下水行为研究

The practice of coalbed methane development from home and abroad demonstrated Hydrogeological factor is one of the important geological factors influencing the coalbed methane productivity. The grasp of groundwater behavior feature is the prerequisite to success development of coalbed methane. Through researching the mechanism by which hydrodynamics factors control the storage and transportation of coalfen methane, the ground- water behavior reflecting the feature of coalbed, and mathematics model describing the production process of coalbed methane, this paper devoted to finding the law of groundwater behavior during the course of storage and production and gave hydrogeology theoretical support to the development of coalbed methane. This paper firstly studied hydrodynamic factors influencing the productivity of coalbed methane, based on the analysis of the relative feature of coalbed methane and that of it's reservoir. The productivity of coalbed methane is controlled by reservoir pressure、permeability and recharge conditions. Reservoir pressure, the key factor controlling gas content of coalbed, is ruled by the history of hydrodynamic and current hydrogeological conditions. It indirectly controls the poductivity through influencing the permeability. The permeability of coalbed is the direct factor controlling the productivity. The recharge conditions controls the productivity through influencing initial reservoir pressure and the descend of reservoir pressure during development of coalbed methane. The field of hydrodynamic and the field of hydrochemistry can be used to identified the flow model of groundwater and the coalbed feature can be deducted by the hydraulic gradient、pressure compartment and hydrochemistry. The production of coalbed methane is a complex physical process which including the mutual action between water、solid and gas. This paper studied the mechanism of water-solid action and that of water-gas action, conducted the controlling equation describing the complex process and gave the corresponding mathematics model with its solution by finite-Element method. Finally, this paper analysised the prospective of coalbed methane development of the south section of Hongguo area in Yizikong basin and put emphasis on the analysis of productivity of liangshan and jingzhuping blocks.

改善三维波动方程叠前深度偏移处理效果的方法研究

3D wave equation prestack depth migration is the effective tool for obtaining the exact imaging result of complex geology structures. It's a part of the 3D seismic data processing. 3D seismic data processing belongs to high dimension signal processing, and there are some difficult problems to do with. They are: How to process high dimension operators? How to improve the focusing? and how to construct the deconvolution operator? The realization of 3D wave equation prestack depth migration, not only realized the leap from poststack to prestack, but also provided the important means to solve the difficult problems in high dimension signal processing. In this thesis, I do a series research especially for the solve of the difficult problems around the 3D wave equation prestack depth migration and using it as a mean. So this thesis service for the realization of 3D wave equation prestack depth migration for one side and improve the migration effect for another side. This thesis expatiates in five departs. Summarizes the main contents as the follows: In the first part, I have completed the projection from 3D data point area to low dimension are using de big matrix transfer and trace rearrangement, and realized the liner processing of high dimension signal. Firstly, I present the mathematics expression of 3D seismic data and the mean according to physics, present the basic ideal of big matrix transfer and describe the realization of five transfer models for example. Secondly, I present the basic ideal and rules for the rearrange and parallel calculate of 3D traces, and give a example. In the conventional DMO focusing method, I recall the history of DM0 process firstly, give the fundamental of DMO process and derive the equation of DMO process and it's impulse response. I also prove the equivalence between DMO and prestack time migration, from the kinematic character of DMO. And derive the relationship between DMO base on wave equation and prestack time migration. Finally, I give the example of DMO process flow and synthetic data of theoretical models. In the wave equation prestak depth migration, I firstly recall the history of migration from time to depth, from poststack to prestack and from 2D to 3D. And conclude the main migration methods, point out their merit and shortcoming. Finally, I obtain the common image point sets using the decomposed migration program code.In the residual moveout, I firstly describe the Viterbi algorithm based on Markov process and compound decision theory and how to solve the shortest path problem using Viterbi algorithm. And based on this ideal, I realized the residual moveout of post 3D wave equation prestack depth migration. Finally, I give the example of residual moveout of real 3D seismic data. In the migration Green function, I firstly give the concept of migration Green function and the 2D Green function migration equation for the approximate of far field. Secondly, I prove the equivalence of wave equation depth extrapolation algorithms. And then I derive the equation of Green function migration. Finally, I present the response and migration result of Green function for point resource, analyze the effect of migration aperture to prestack migration result. This research is benefit for people to realize clearly the effect of migration aperture to migration result, and study on the Green function deconvolution to improve the focusing effect of migration.

地震波散射非线性反演问题不动点理论及方法的研究

How to create a new method to solve the problem or reduce the influence of that the result of the seismic waves scattering nonlinear inversion is not uniqueness is a main purpose of this research work in the paper. On the background of research into the seismic inversion, new progress of the nonlinear inversion is introduced at the first chapter in this paper. Especially, the development, basic theories and assumptions on some major theories of seismic inversion are analyzed, discussed and summarized in mathematics and physics. Also, the problems faced by the mathematical basis of investigations of the seismic inversion are discussed, and inverse questions of strongly seismic scattering due to strong heterogeneous media in the Earth interior are analyzed and viewed. What the kernel of paper is that gathers all our attention making a new nonlinear inversion method of seismic scattering. The paper provides a theory and method of how to introduce the fixed-point theory into the nonlinear seismic scattering inversion and how to obtain the solution, and gives the actually method to create a serials of contractive mappings of velocity parameter's in the mapping space of wave. Therefore, the results testify the existence of fixed point of velocity parameter and give the method the find it. Further, the paper proves the conclusion that the value obtained by taking the fixed point of velocity parameter into wave equation is the fixed point of the wave of the contractive mapping. Thence, the fixed point is the global minima since the stabilities quality of the fixed point. Based on the new theory, in the chapter three, many inverse results are obtained in the numerical value test. By analysis the results one could find a basic facts that all the results, which are inversed by the different initial model, are tended to the true value in theoretical true model. In other words, the new method mostly eliminates the non-uniqueness that which is existed in seismic waves scattering nonlinear inversion in degree. But, since the test results are quite finite now, more test is need here to positive our theory. As a new theoretical method, it must be existed many weaken in it. The chapter four points out all the questions which is bother us. We hope more people to join us to solve the problem together.

Theoretical study of determining orientation and alignment of symmetric top molecule using laser-induced fluorescence

General expressions used for extracting the orientation and alignment parameters of a symmetric top molecule from laser-induced fluorescence (LIF) intensity are derived by employing the density matrix approach. The molecular orientation and alignment are described by molecular state multipoles. Excitation and detection are circularly and linearly polarized lights, respectively. In general cases, the LIF intensity is a complex function of the initial molecular state multipoles, the dynamic factors and the excitation-detection geometrical factors. It contains a population, ten orientation and fourteen alignment multipoles. The problem of how to extract the initial molecular state multipoles from the resolved LIF intensity is discussed.

Theoretical study of the separation mechanism of ionizable compounds in capillary electrochromatography

The migration mechanism of ionizable compounds in capillary electrochromatography (CEC) is more complicated than in high performance liquid chromatography (HPLC) due to the involvement of electrophoresis and the second chemical equilibrium. The separation mechanism of ionizable compounds in CEC has been studied theoretically. The electrochromatographic capacity factors of ions (k *) in CEC and in the pressurized CEC are derived by phenomenological approach. The influence of pH, voltage, pressure on k* is discussed. in addition, the k * of weak acid and weak base are derived based on acid-base equilibrium and the influence of pH on k * is studied theoretically.