智能机器人多传感器实验平台的图像伺服系统

结合智能机器人多传感器实验平台的研制工作 ,系统介绍了其图像伺服子系统的工作原理、系统构成以及实现方案 ,涉及图像处理、机器视觉和机器人跟踪控制等相关内容 ,并讨论了物体自动识别和抓取过程中需要注意的一些问题 .

基于网络直角坐标机器人视觉伺服系统研究

为了实现定位抓取任务,提出基于网络的直角坐标机器人视觉控制系统。针对机器人运动控制的非线性与强耦合特性,采用神经网络控制器,构建了图像偏差与运动控制量之间的对应关系。通过对图像增强、边缘提取、特征提取等图像处理方法的综合分析,提出了一套优化组合图像处理法。在计算机网络环境下,采用自定义协议实现图像处理器与运动控制器协调控制,并将远程监控应用到机器人控制中。实验结果表明,该系统能够在视野范围内自动实现定位抓取动作。

数字图像处理中多窗口下的自适应中值滤波

根据心理物理学、神经生理学、认知神经学等学科在视觉认知领域的部分研究成果，结合机器视觉、图像处理领域在图像增强方面已经提出的一些方法，提出了结合先验知识的多窗口结构下的分块中值滤波方法，在每一个窗口内单独进行处理与分析，突出了视觉处理目的，减少了运算量， 节省数据存储空间，达到了令人满意的滤波效果，能够在原始图像比较复杂的情况下，较好地对其进行预处理，可以改善、提高后期图像处理过程，如图像分割、图像分析的正确性和有效性。

水声信号的窄带滤波研究

研究一种用于有色噪声背景下接收水声信号的窄带滤波方法。它用白化滤波器实现有色噪声的匹配滤波。该滤波电路具有优良的选频能力,抗干扰性强,功耗极低,较好地解决了水下信息传输中存在的通道之间频率间隔小、信号微弱、易受噪声干扰、用电池供电而要求工作时间长等问题。采用这种窄带滤波方法的水声接收机具有结构简单、性能稳定、对弱信号检测能力强等优点,增大了定位声纳的作用距离。

基于小波与小波包的变速器故障特征提取

本文结合自适应小波变换滤波去噪方法与小波阈值去噪方法,提出了一种可用于变速器故障振动信号去噪的双层滤波去噪算法。该算法的滤波过程分为两层,第一层滤波采用自适应小波变换滤波算法;第二层滤波采用经典的小波阈值去噪算法对信号进行二次去噪。最后,将去噪后的故障信号采用小波包进行了分解,并提取了小波包频带能量作为故障特征向量。

汽车变速器装配生产线监控系统的设计

生产监控系统在企业生产管理中具有重要的不可替代的地位。网络化生产监控系统适应了企业管控一体化发展的要求,它可以直接与企业上层管理信息系统相融合,使得管理人员可以直观的了解到生产现场细致的生产数据,从而可以在宏观和微观两个方面来把握企业生产、计划、调度、管理。本文以现场总线技术和OPC技术为理论基础,提出了一种网络化监控系统架构,并讲述了其功能,着重阐述了系统功能的设计和实现。

青藏高原及邻区面波频散反演--岩石圈-软流层体系结构研究

The Qinghai-Tibet Plateau lies in the place of the continent-continent collision between Indian and Eurasian plates. Because of their interaction the shallow and deep structures are very complicated. The force system forming the tectonic patterns and driving tectonic movements is effected together by the deep part of the lithosphere and the asthenosphere. It is important to study the 3-D velocity structures, the spheres and layers structures, material properties and states of the lithosphere and the asthenosphere for getting knowledge of their formation and evolution, dynamic process, layers coupling and exchange of material and energy. Based on the Rayleigh wave dispersion theory, we study the 3-D velocity structures, the depths of interfaces and thicknesses of different layers, including the crust, the lithosphere and the asthenosphere, the lithosphere-asthenosphere system in the Qinghai-Tibet Plateau and its adjacent areas. The following tasks include: (1)The digital seismic records of 221 seismic events have been collected, whose magnitudes are larger than 5.0 over the Qinghai-Tibet Plateau and its adjacent areas. These records come from 31 digital seismic stations of GSN , CDSN、NCDSN and part of Indian stations. After making instrument response calibration and filtering, group velocities of fundamental mode of Rayleigh waves are measured using the frequency-time analysis (FTAN) to get the observed dispersions. Furthermore, we strike cluster average for those similar ray paths. Finally, 819 dispersion curves (8-150s) are ready for dispersion inversion. (2)From these dispersion curves, pure dispersion data in 2°×2° cells of the areas (18°N-42°N, 70°E-106°E) are calculated by using function expansion method, proposed by Yanovskaya. The average initial model has been constructed by taking account of global AK135 model along with geodetic, geological, geophysical, receiving function and wide-angle reflection data. Then, initial S-wave velocity structures of the crust and upper mantle in the research areas have been obtained by using linear inversion (SVD) method. (3)Taking the results of the linear inversion as the initial model, we simultaneously invert the S wave velocities and thicknesses by using non-linear inversion (improved Simulated Annealing algorithm). Moreover, during the temperature dropping the variable-scale models are used. Comparing with the linear results, the spheres and layers by the non-linear inversion can be recognized better from the velocity value and offset. (4)The Moho discontinuity and top interface of the asthenosphere are recognized from the velocity value and offset of the layers. The thicknesses of the crust, lithosphere and asthenosphere are gained. These thicknesses are helpful to studying the structural differentia between the Qinghai-Tibet Plateau and its adjacent areas and among geologic units of the plateau. The results of the inversion will provide deep geophysical evidences for studying deep dynamical mechanism and exploring metal mineral resource and oil and gas resources. The following conclusions are reached by the distributions of the S wave velocities and thicknesses of the crust, lithosphere and asthenosphere, combining with previous researches. (1)The crust is very thick in the Qinghai-Tibet Plateau, varying from 60 km to 80 km. The lithospheric thickness in the Qinghai-Tibet Plateau is thinner (130-160 km) than its adjacent areas. Its asthenosphere is relatively thicker, varies from 150 km to 230 km, and the thickest area lies in the western Qiangtang. India located in south of Main Boundary thrust has a thinner crust (32-38 km), a thicker lithosphere of about 190 km and a rather thin asthenosphere of only 60 km. Sichuan and Tarim basins have the crust thickness less than 50km. Their lithospheres are thicker than the Qinghai-Tibet Plateau, and their asthenospheres are thinner. (2)The S-wave velocity variation pattern in the lithosphere-asthenosphere system has band-belted distribution along east-westward. These variations correlate with geology structures sketched by sutures and major faults. These sutures include Main Boundary thrust (MBT), Yarlung-Zangbo River suture (YZS), Bangong Lake-Nujiang suture (BNS), Jinshajiang suture (JSJS), Kunlun edge suture (KL). In the velocity maps of the upper and middle crust, these sutures can be sketched. In velocity maps of 250-300 km depth, MBT, BNS and JSJS can be sketched. In maps of the crustal thickness, the lithospheric thickness and the asthenospheric thickness, these sutures can be still sketched. In particular, MBT can be obviously resolved in these velocity maps and thickness maps. (3)Since the collision between India and Eurasian plate, the “loss” of surface material arising from crustal shortening is caused not only by crustal thickening but also by lateral extrusion material. The source of lateral extrusion lies in the Qiangtang block. These materials extrude along the JSJS and BNS with both rotation and dispersion in Daguaiwan. Finally, it extends toward southeast direction. (4)There is the crust-mantle transition zone of no distinct velocity jump in the lithosphere beneath the Qiangtang Terrane. It has thinner lithosphere and developed thicker asthenosphere. It implies that the crust-mantle transition zone of partial melting is connected with the developed asthenosphere. The underplating of asthenosphere may thin the lithosphere. This buoyancy might be the main mechanism and deep dynamics of the uplift of the Qinghai-Tibet hinterland. At the same time, the transport of hot material with low velocity intrudes into the upper mantle and the lower crust along cracks and faults forming the crust-mantle transition zone.

复杂条件地层滤波预测的理论与关键技术研究

The theory researches of prediction about stratigraphic filtering in complex condition are carried out, and three key techniques are put forward in this dissertation. Theoretical aspects: The prediction equations for both slant incidence in horizontally layered medium and that in laterally variant velocity medium are expressed appropriately. Solving the equations, the linear prediction operator of overlaid layers, then corresponding reflection/transmission operators, can be obtained. The properties of linear prediction operator are elucidated followed by putting forward the event model for generalized Goupillaud layers. Key technique 1: Spectral factorization is introduced to solve the prediction equations in complex condition and numerical results are illustrated. Key technique 2: So-called large-step wavefield extrapolation of one-way wave under laterally variant velocity circumstance is studied. Based on Lie algebraic integral and structure preserving algorithm, large-step wavefield depth extrapolation scheme is set forth. In this method, the complex phase of wavefield extrapolation operator’s symbol is expressed as a linear combination of wavenumbers with the coefficients of this linear combination in the form of the integral of interval velocity and its derivatives over depth. The exponential transform of the complex phase is implemented through phase shifting, BCH splitting and orthogonal polynomial expansion. The results of numerical test show that large-step scheme takes on a great number of advantages as low accumulating error, cheapness, well adaptability to laterally variant velocity, small dispersive, etc. Key technique 3: Utilizing large-step wavefield extrapolation scheme and based on the idea of local harmonic decomposition, the technique generating angle gathers for 2D case is generalized to 3D case so as to solve the problems generating and storing 3D prestack angle gathers. Shot domain parallel scheme is adopted by which main duty for servant-nodes is to compute trigonometric expansion coefficients, while that for host-node is to reclaim them with which object-oriented angle gathers yield. In theoretical research, many efforts have been made in probing into the traits of uncertainties within macro-dynamic procedures.

基于波动方程的层间多次波预测方法研究

In exploration geophysics，velocity analysis and migration methods except reverse time migration are based on ray theory or one-way wave-equation. So multiples are regarded as noise and required to be attenuated. It is very important to attenuate multiples for structure imaging, amplitude preserving migration. So it is an interesting research in theory and application about how to predict and attenuate internal multiples effectively. There are two methods based on wave-equation to predict internal multiples for pre-stack data. One is common focus point method. Another is inverse scattering series method. After comparison of the two methods, we found that there are four problems in common focus point method: 1. dependence of velocity model; 2. only internal multiples related to a layer can be predicted every time; 3. computing procedure is complex; 4. it is difficult to apply it in complex media. In order to overcome these problems, we adopt inverse scattering series method. However, inverse scattering series method also has some problems: 1. computing cost is high; 2. it is difficult to predict internal multiples in the far offset; 3. it is not able to predict internal multiples in complex media. Among those problems, high computing cost is the biggest barrier in field seismic processing. So I present 1D and 1.5D improved algorithms for reducing computing time. In addition, I proposed a new algorithm to solve the problem which exists in subtraction, especially for surface related to multiples. The creative results of my research are following: 1. derived an improved inverse scattering series prediction algorithm for 1D. The algorithm has very high computing efficiency. It is faster than old algorithm about twelve times in theory and faster about eighty times for lower spatial complexity in practice; 2. derived an improved inverse scattering series prediction algorithm for 1.5D. The new algorithm changes the computing domain from pseudo-depth wavenumber domain to TX domain for predicting multiples. The improved algorithm demonstrated that the approach has some merits such as higher computing efficiency, feasibility to many kinds of geometries, lower predictive noise and independence to wavelet； 3. proposed a new subtraction algorithm. The new subtraction algorithm is not used to overcome nonorthogonality, but utilize the nonorthogonality's distribution in TX domain to estimate the true wavelet with filtering method. The method has excellent effectiveness in model testing. Improved 1D and 1.5D inverse scattering series algorithms can predict internal multiples. After filtering and subtracting among seismic traces in a window time, internal multiples can be attenuated in some degree. The proposed 1D and 1.5D algorithms have demonstrated that they are effective to the numerical and field data. In addition, the new subtraction algorithm is effective to the complex theoretic models.

复杂地区地震成像技术研究

Aiming at solving the seismic imaging difficulty in complex area, the static correction methods and the migration imaging techniques taking the anisotropy into account are studied in this dissertation. To solve the static correction problems, a new tomography inversion approach is presented which takes use of the apparent slowness and apparent velocity and inverts both head and diving waves over the complete offset ranges. This approach is also taken practice to the practical seismic data processing of south areas of China and gets ideal effects. There are obvious differences between the actual statics and the statics based on the surface consistency hypothesis. In this dissertation, the exact differences formula is derived. The wave-eqation datuming method based on a single shot gather and the hybrid zero-offset wave-equation datuming algorithm based on f-x domain and f-k domain are presented at the same time. Further more, some forward modelings are made and tested. These methods are also put into practical seismic data processing and good results are made. In this dissertation, the true amplitude Kirchhoff pre-stack time migration fomula in VTI media is presented. The high-dense bispectral scanning technique based on the anelliptical time-shifted hyperbola and the geostatistical filtering are adopted to extract the anellipticity parameter. Simultaneously, combined with the practical seismic data imaging, the anisotropic pre-stack time migration flow is proposed and good processing results are made.

KEL-TI介质的地震波场响应与成像方法研究

To deal with the problems in multi-component converted seismic wave exploration in coal fields, the wave propagating features and imaging methods of multi-component converted waves in coal measure strata are researched in this thesis firstly. The relations between viscoelasticity and anisotropy in coal measure strata are analyzed to build KEL-TI model, and which seismic wave propagating and attenuating features are researched. The disadvantages of converted wave imaging methods based on common converted point gather are analyzed and constant velocity no NMO converted wave imaging method based on common scattering point gather is put forward, according to Huygens-Fresnel principle, which applicabilities in the elastic isotropic, elastic TI and KEL-TI situations are discussed. To different model simulation data, the common scattering point gathers’ and stacked profiles’ features are analyzed. The results show that the method can image compressional waves and converted waves with high precision. Secondly, the resolution enhancing theories and methods of converted wave are researched by Rayleigh wave suppressing, converted wave static correction and poststack inverse-Q filtering. 1) The polarization filter is designed by the instantaneous polarization information of seismic waves, and the Rayleigh wave suppressing method is researched. From the spectrum analysis before and after filtering, it can be derived that the amplitudes are kept relatively. 2) To constant velocity no NMO converted wave imaging method, the static correction method based on common equivalent offset point gather is put forward and tested to the actual converted waves. 3) The relation between equivalent quality factor of converted wave, compressional wave quality factor and the ratio of compressional to shear wave velocity is derived. The compressional wave quality inversion method by first arrivals of none-offset VSP is researched, and which is then transformed to the equivalent quality factor to perform inverse-Q filtering of actual converted waves. The result has shown that the method can recover the high frequency energy of converted waves. At last, the theories and methods researched in this thesis are practiced to the 3D3C seismic exploration in Guqiao coal mine in Huainan and achieve good results.

表面相关多次波衰减方法与应用研究

The function of seismic data in prospecting and exploring oil and gas has exceeded ascertaining structural configuration early. In order to determine the advantageous target area more exactly, we need exactly image the subsurface media. So prestack migration imaging especially prestack depth migration has been used increasingly widely. Currently, seismic migration imaging methods are mainly based on primary energy and most of migration methods use one-way wave equation. Multiple will mask primary and sometimes will be regarded as primary and interferes with the imaging of primary, so multiple elimination is still a very important research subject. At present there are three different wavefield prediction and subtraction methods: wavefield extrapolation; feedback loop; and inverse-scattering series. I mainly do research on feedback loop method in this paper. Feedback loop method includs prediction and subtraction.Currently this method has some problems as follows. Firstly, feedback loop method requires the seismic data used to predict multiple is full wavefield data, but usually the original seismic data don’t meet this assumption, so seismic data must be regularized. Secondly, Multiple predicted through feedback loop method usually can’t match the real multiple in seismic data and they are different in amplitude, phase and arrrival time. So we need match the predicted multiple and that in seismic data through estimating filtering factors and subtract multiple from seismic data. It is the key for multiple elimination how to select a correct matching filtering method. There are many matching filtering methods and I put emphasis on Least-square adaptive matching filtering and L1-norm minimizing adaptive matching filtering methods. Least-square adaptive matching filtering method is computationally very fast, but it has two assumptions: the signal has minimum energy and is orthogonal to the noise. When seismic data don’t meet the two assumptions, this method can’t get good matching results and then can’t attenuate multiple correctly. L1-norm adaptive matching filtering methods can avoid these two assumptions and then get good matching results, but this method is computationally a little slow. The results of my research are as follows: 1. Proposed a method that interpolates seismic traces based on F-K migration and demigration. The main advantage of this method is that it can interpolate seismic traces in any offsets. It shows this method is valid through a simple model. 2. Comparing different Least-square adaptive matching filtering methods. The results show that equipose multi-channel adaptive matching filtering methods can get better results of multiple elimination than other matcing methods through three model data and two field data. 3. Proposed equipose multi-channel L1-norm adaptive matching filtering method. Because L1-norm is robust to large amplitude differences, there are no assumption on the signal has minimum energy and orthogonality, this method can get better results of multiple elimination. 4. Research on multiple elimination in inverse data space. The method is a new multiple elimination method and it is different from those methods mentioned above.The advantages of this method is that it is simple in theory and no need for the adaptive subtraction and computationally very fast. The disadvantage of this method is that it is not stabilized in its solution. The results show that equipose multi-channel and equipose pesudo-multi-channel least-square matching filtering and equipose multi-channel and equipose pesudo-multi-channel L1-norm matching filtering methods can get better results of multiple elimination than other matcing methods through three model data and many field data.

电离层胶片频高图数字化转换与分析研究

The ionogram acquired with the ionospheric vertical sounding method is the oldest data in the history of ionospheric research. Using of modern microelectronics and computer technology to digitalize, analyse and preserve the huge amount of historical film ionogram has become more and more important and urgent. This paper introduced the progress of the film ionogram digitalization by using digital image processing technologies to correct and repair film ionogram and convert them in an exchangeable format. An analysis and conversion software, basing on this method, has been developed for the film ionogram analysis, and then it introduces the application of this software by combining the SAO Explorer program for Wuhan film ionogram and pseudo-color ionogram in Yamagawa in Japan. It shows that our method is reliable，and the developed software is used friendly and provides a positive solution in digitalization and analysis of huge amount of historical film ionogram. Firstly, we briefly introduce the film ionogram and the process of its digitalization. By observing a amount of film ionogram, we obtain some common characteristics of the digitalized film ionogram following as: (1) the image rotation are caused by scanning; (2) the vertical axis of a large number of film ionogram exist more or less tilt and bending ; (3) coordinates of the film ionogram appear the non-uniformity phenomena result from the instability of driving motor rotation and the error of altitudinal cursor orientation. Moreover, based on the characteristics of the film ionogram and the SAO Explorer software which is widely used for the digital ionogram analysis in the world, a new method has been developed for film ionogram procession. The method contains the image geometric correction and film ionogram format conversion. The image geometric correction includes such as image rotation correction, vertical correction and coordinates scale correction. After geometric correction, the BMP file format images will be converted to the SBF file format images. Then, we also discuss the data format converting methods, which include two methods of the image data mapping basing on the normalization and logarithm, and the method of the preprocessing of the noise filtering and the threshold setting. Combining with SAO Explorer software, we successfully obtain ionospheric parameters and electron profile from the converted SBF file format digital ionograms. Based on the above method, we developed the software for the film ionogram to realize its correction analysis and conversion of the image format, and then give a introduction for its function and operation. Subsequently, the software are applied into the Wuhan film ionogram which separately observed in the high solar activity year and the low in 1980s last century. The results reveal the converted SBF digital ionogram almost preserve the all echo information of the film ionogram. Furthermore, we expressly discuss the application to the Wuhan film ionogram in 1958 in order to validate the applicability and credibility of the software. And it is showed that the important information of the film ionogram are maintained into the SBF digital ionogram. It is represented that there is credibility for conversion of the software when it applied in the older film ionogram. In sum, this software could apply to the digitalization and analysis of huge amount of historical film ionogram. Last, we extended the function of the software by bring some new conversion method and used it to apply to the pseudo-color ionogram of yamagawa in Japan. The results show that the converted ionogram information basically maintain the importantly ionogram information and the error of scaling of converted SBF file format image is almost acceptable, though there is no preprocessing for the original ionogram. Hence, we could extend the applicable range of the software and apply it to all kinds of simulative ionogram imaging by improving the method and software.

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.

f-x-y域去除随机噪音方法研究

The seismic survey is the most effective prospecting geophysical method during exploration and development of oil/gas. The structure and the lithology of the geological body become increasingly complex now. So it must assure that the seismic section own upper resolution if we need accurately describe the targets. High signal/noise ratio is the precondition of high-resolution. For the sake of improving signal/noise ratio, we put forward four methods for eliminating random noise on the basis of detailed analysis of the technique for noise elimination using prediction filtering in f-x-y domain. The four methods are put forward for settling different problems, which are in the technique for noise elimination using prediction filtering in f-x-y domain. For weak noise and large filters, the response of the noise to the filter is little. For strong noise and short filters, the response of the noise to the filter is important. For the response of the noise, the predicting operators are inaccurate. The inaccurate operators result in incorrect results. So we put forward the method using prediction filtering by inversion in f-x-y domain. The method makes the assumption that the seismic signal comprises predictable proportion and unpredictable proportion. The transcendental information about predicting operator is introduced in the function. The method eliminates the response of the noise to filtering operator, and assures that the filtering operators are accurate. The filtering results are effectively improved by the method. When the dip of the stratum is very complex, we generally divide the data into rectangular patches in order to obtain the predicting operators using prediction filtering in f-x-y domain. These patches usually need to have significant overlap in order to get a good result. The overlap causes that the data is repeatedly used. It effectively increases the size of the data. The computational cost increases with the size of the data. The computational efficiency is depressed. The predicting operators, which are obtained by general prediction filtering in f-x-y domain, can not describe the change of the dip when the dip of the stratum is very complex. It causes that the filtering results are aliased. And each patch is an independent problem. In order to settle these problems, we put forward the method for eliminating noise using space varying prediction filtering in f-x-y domain. The predicting operators accordingly change with space varying in this method. Therefore it eliminates the false event in the result. The transcendental information about predicting operator is introduced into the function. To obtain the predicting operators of each patch is no longer independent problem, but related problem. Thus it avoids that the data is repeatedly used, and improves computational efficiency. The random noise that is eliminated by prediction filtering in f-x-y domain is Gaussian noise. The general method can't effectively eliminate non-Gaussian noise. The prediction filtering method using lp norm (especially p=l) can effectively eliminate non-Gaussian noise in f-x-y domain. The method is described in this paper. Considering the dip of stratum can be accurately obtained, we put forward the method for eliminating noise using prediction filtering under the restriction of the dip in f-x-y domain. The method can effectively increase computational efficiency and improve the result. Through calculating in the theoretic model and applying it to the field data, it is proved that the four methods in this paper can effectively solve these different problems in the general method. Their practicability is very better. And the effect is very obvious.