一种3自由度并联柔索驱动柔性操作臂的建模与控制

以一种3自由度并联柔索驱动机器人为研究对象,研究这种并联柔性系统的控制规律。考虑到运动描述的唯一性及易测性,取约束关节的位置作为广义关节变量,用以描述操作臂的运动状态。在此基础上分析了操作臂的运动学和静力学关系,建立了并联柔性系统的动力学模型。然后,以轨迹控制为目标,分别基于刚性模型和柔性模型设计控制器,并对系统的性能进行分析和仿真。结果表明:基于刚性模型控制器的性能较差,而基于柔性模型的奇异摄动方法则可以获得较好的控制效果。

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

动基座机器人的末端受限鲁棒跟踪控制

结合具有扰动基座末端受限机器人的动力学特性，提出了虚构线性不确定系统的匹配模型概念．通过引入线性不确定系统的鲁棒跟踪控制器设计方法，发展了一种新的受约束机器人的力鲁棒跟踪控制方法．文中给出了动基座ＰＵＭＡ５６２机器人的实验结果。

一种四自由度并联机构的误差分析及其标定补偿

针对一种四自由度并联机构进行了运动学分析 ,在此基础上以摄动法建立了其误差模型 ,明确了各误差源对末端位姿的影响 .在对并联机构的标定技术进行简单介绍后 ,说明了对该机构误差模型中的机构参数进行标定的两种方法 ,介绍了标定装置、标定算法及标定过程 .最后采用Matlab对基于逆解的标定方法进行了仿真 ,并对仿真结果进行了分析 .

地震数据波动方程反演方法研究

Geophysical inversion is a theory that transforms the observation data into corresponding geophysical models. The goal of seismic inversion is not only wave velocity models, but also the fine structures and dynamic process of interior of the earth, expanding to more parameters such as density, aeolotropism, viscosity and so on. As is known to all, Inversion theory is divided to linear and non-linear inversion theories. In rencent 40 years linear inversion theory has formed into a complete and systematic theory and found extensive applications in practice. While there are still many urgent problems to be solved in non-linear inversion theory and practice. Based on wave equation, this dissertation has been mainly involved in the theoretical research of several non-linear inversion methods: waveform inversion, traveltime inversion and the joint inversion about two methods. The objective of gradient waveform inversion is to find a geologic model, thus synthetic seismograms generated by this geologic model are best fitted to observed seismograms. Contrasting with other inverse methods, waveform inversion uses all characteristics of waveform and has high resolution capacity. But waveform inversion is an interface by interface method. An artificial parameter limit should be provided in each inversion iteration. In addition, waveform information will tend to get stuck in local minima if the starting model is too far from the actual model. Based on velocity scanning in traditional seismic data processing, a layer-by-layer waveform inversion method is developed in this dissertation to deal with weaknesses of waveform inversion. Wave equation is used to calculate the traveltime and derivative (perturbation of traveltime with respect to velocity) in wave-equation traveltime inversion (WT). Unlike traditional ray-based travetime inversion, WT has many advantages. No ray tracing or traveltime picking and no high frequency assumption is necessary and good result can be got while starting model is far from real model. But, comparing with waveform inversion, WT has low resolution. Waveform inversion and WT have complementary advantages and similar algorithm, which proves that the joint inversion is a better inversion method. And another key point which this dissertation emphasizes is how to give fullest play to their complementary advantages on the premise of no increase of storage spaces and amount of calculation. Numerical tests are implemented to prove the feasibility of inversion methods mentioned above in this dissertation. Especially for gradient waveform inversion, field data are inversed. This field data are acquired by our group in Wali park and Shunyi district. Real data processing shows there are many problems for waveform inversion to deal with real data. The matching of synthetic seismograms with observed seismograms and noise cancellation are two primary problems. In conclusion, on the foundation of the former experiences, this dissertation has implemented waveform inversions on the basis of acoustic wave equation and elastic wave equation, traveltime inversion on the basis of acoustic wave equation and traditional combined waveform traveltime inversion. Besides the traditional analysis of inversion theory, there are two innovations: layer by layer inversion of seimic reflection data inversion and rapid method for acoustic wave-equation joint inversion.

Pg震相走时的各向异性影响及各向异性结构成像

As the first arrival of seismic phase in deep seismic sounding, Pg is the important data for studying the attributes of the sedimentary layers and the shape of crystalline basement because of its high intensity and reliable detection. Conventionally, the sedimentary cover is expressed as isotropic, linear increasing model in the interpretation of Pg event. Actually, the sedimentary medium should be anisotropic as preferred cracks or fractures and thin layers are common features in the upper crust, so the interpretation of Pg event needs to be taken account of seismic velocity anisotropy. Traveltime calculation is the base of data processing and interpretation. Here, we only study the type of elliptical anisotropy for the poor quality and insufficiency of DSS data. In this thesis, we first investigate the meaning of elliptical anisotropy in the study of crustal structure and attribute, then derive Pg event’s traveltime-offset relationship by assuming a linear increasing velocity model with elliptical anisotropy and present the invert scheme from Pg traveltime-offset dataset to seismic velocity and its anisotropy of shallow crustal structure. We compare the Pg traveltime calculated by our analytic formula with numerical calculating method to test the accuracy. To get the lateral variation of elliptical anisotropy along the profiling, a tomography inversion method with the derived formula is presented, where the profile is divided into rectangles. Anisotropic imaging of crustal structure and attribute is efficient method for crust study. The imaging result can help us interprete the seismic data and discover the attribute of the rock to analyze the interaction between layers. Traveltime calculation is the base of image. Base on the ray tracing equations, the paper present a realization of three dimension of layer model with arbitrary anisotropic type and an example of Pg traveltime calculation in arbitrary anisotropic type is presented. The traveltime calculation method is complex and it only adapts to nonlinear inversion. Perturbation method of travel-time calculation in anisotropy is the linearization approach. It establishes the direct relation between seismic parameters and travetime and it is fit for inversion in anisotropic structural imaging. The thesis presents a P-wave imaging method of layer media for TTI. Southeastern China is an important part of the tectonic framework concerning the continental margin of eastern China and is commonly assumed to comprise the Yangtze block and the Cathaysia block, the two major tectonic units in the region. It’s a typical geological and geophysical zone. In this part, we fit the traveltime of Pg phase by the raytracing numerical method. But the method is not suitable here because the inefficiency of numerical method and the method itself. By the analytic method, we fit the Pg and Sg and get the lateral variation of elliptical anisotropy and then discuss its implication. The northeastern margin of Qinghai-Tibetan plateau is typical because it is the joint area of Eurasian plate and Indian plate and many strong earthquakes have occurred there in recent years．We use the Pg data to get elliptical anisotropic variation and discuss the possible meaning.

拉萨地块中新生代火山作用-从大洋到大陆俯冲转换的构造演化纪录

Late Mesozoic－Cenozoic volcanic rocks are well exposed in Lhasa Terrane, southern Tibet. This research attempts to apply 40Ar/39Ar geochronology, major, trace element and Sr-Nd-O isotopic geochemistry data to constrain the spatio-temporal variations, the composition of source, geodynamic setting. The results indicate that Lhasa Terrane mainly went through three tectonic-magmatic cycle: (1) Phase of Oceanic subduction (140-80Ma). Along with the subducting beneath the Eurasian Plate of Neo-Tethys slab, the oceanic sediment and/or the subducting slab released fluids/melts to metasomatize the subcontinental lithospheric mantle, and induced the mantle wedge partially melt and produced the calc-alkaline continental arc volcanic rocks; (2) Phase of continental-continental collision. Following the subducting of the Neo-Tethys slab, the Indian Plate collided with the Eurasian Plate dragged by the dense Neo-Tethys oceanic lithosphere. The oceanic lithosphere detached from continental lithosphere during roll-back and break-off and the asthenosphere upwelled. The resulting conducted thermal perturbation leads to the melting of the overriding mantle lithosphere and produced the syn-collisional magmatism: the Linzizong Formation and dykes; (3) Following by the detachment of the Tethys oceanic lithosphere, the Indian Lithosphere subducted northward by the drive from the expanding of Indian Ocean. The dense Indian continental lithospheric mantle (±the thickened lower crust) break off, disturb the asthenosphere, and lead to the melting of the overriding mantle lithosphere, which has been metasomatized by the melts/fluids from the subducting oceanic/continental lithosphere and the asthenosphere, and produced the rift-related ultrapotassic rocks.

基于广义Lippmann-Schwinger方程的地震波场模拟算法与应用

In the last several decades, due to the fast development of computer, numerical simulation has been an indispensable tool in scientific research. Numerical simulation methods which based on partial difference operators such as Finite Difference Method (FDM) and Finite Element Method (FEM) have been widely used. However, in the realm of seismology and seismic prospecting, one usually meets with geological models which have piece-wise heterogeneous structures as well as volume heterogeneities between layers, the continuity of displacement and stress across the irregular layers and seismic wave scattering induced by the perturbation of the volume usually bring in error when using conventional methods based on difference operators. The method discussed in this paper is based on elastic theory and integral theory. Seismic wave equation in the frequency domain is transformed into a generalized Lippmann-Schwinger equation, in which the seismic wavefield contributed by the background is expressed by the boundary integral equation and the scattering by the volume heterogeneities is considered. Boundary element-volume integral method based on this equation has advantages of Boundary Element Method (BEM), such as reducing one dimension of the model, explicit use the displacement and stress continuity across irregular interfaces, high precision, satisfying the boundary at infinite, etc. Also, this method could accurately simulate the seismic scattering by the volume heterogeneities. In this paper, the concrete Lippmann-Schwinger equation is specifically given according to the real geological models. Also, the complete coefficients of the non-smooth point for the integral equation are introduced. Because Boundary Element-Volume integral equation method uses fundamental solutions which are singular when the source point and the field are very close，both in the two dimensional and the three dimensional case, the treatment of the singular kernel affects the precision of this method. The method based on integral transform and integration by parts could treat the points on the boundary and inside the domain. It could transform the singular integral into an analytical one both in two dimensional and in three dimensional cases and thus it could eliminate the singularity. In order to analyze the elastic seismic wave scattering due to regional irregular topographies, the analytical solution for problems of this type is discussed and the analytical solution of P waves by multiple canyons is given. For the boundary reflection, the method used here is infinite boundary element absorbing boundary developed by a pervious researcher. The comparison between the analytical solutions and concrete numerical examples validate the efficiency of this method. We thoroughly discussed the sampling frequency in elastic wave simulation and find that, for a general case, three elements per wavelength is sufficient, however, when the problem is too complex, more elements per wavelength are necessary. Also, the seismic response in the frequency domain of the canyons with different types of random heterogeneities is illustrated. We analyzed the model of the random media, the horizontal and vertical correlation length, the standard deviation, and the dimensionless frequency how to affect the seismic wave amplification on the ground, and thus provide a basis for the choice of the parameter of random media during numerical simulation.

旋转轴对称介质中的qP波一阶射线追踪

Elastic anisotropy is a very common phenomenon in the Earth’s interior, especial for sedimentary rock as important gas and oil reservoirs. But in the processing and interpretation of seismic data, it is assumption that the media in the Earth’s interior is completely elastic and isotropic, and then the methods based on isotropy are used to deal with anisotropic seismic data, so it makes the seismic resolution lower and the error on images is caused. The research on seismic wave simulation technology can improve our understanding on the rules of seismic wave propagation in anisotropic media, and it can help us to resolve problems caused by anisotropy of media in the processing and interpretation of seismic data. So researching on weakly anisotropic media with rotated axis of symmetry, we study systematically the rules of seismic wave propagation in this kind of media, simulate the process with numerical calculation, and get the better research results. The first-order ray tracing (FORT) formulas of qP wave derived can adapt to every anisotropic media with arbitrary symmetry. The equations are considerably simpler than the exact ray tracing equations. The equations allow qP waves to be treated independently from qS waves, just as in isotropic media. They simplify considerably in media with higher symmetry anisotropy. In isotropic media, they reduce to the exact ray tracing equations. In contrast to other perturbation techniques used to trace rays in weakly anisotropic media, our approach does not require calculation of reference rays in a reference isotropic medium. The FORT-method rays are obtained directly. They are computationally more effective than standard ray tracing equations. Moreover the second-order travel time corrections formula derived can be used to reduce effectively the travel time error, and improve the accuracy of travel time calculation. The tensor transformation equations of weak-anisotropy parameters in media with rotated axis of symmetry derived from the Bond transformation equations resolve effectively the problems of coordinate transformation caused by the difference between global system of coordinate and local system of coordinate. The calculated weak-anisotropy parameters are completely suitable to the first-order ray tracing used in this paper, and their forms are simpler than those from the Bond transformation. In the numerical simulation on ray tracing, we use the travel time table calculation method that the locations of the grids in the ray beam are determined, then the travel times of the grids are obtained by the reversed distance interpolation. We get better calculation efficiency and accuracy by this method. Finally we verify the validity and adaptability of this method used in this paper with numerical simulations for the rotated TI model with anisotropy of about 8% and the rotated ORTHO model with anisotropy of about 20%. The results indicate that this method has better accuracy for both media with different types and different anisotropic strength. Keywords: weak-anisotropy, numerical simulation, ray tracing equation, travel time, inhomogeneity

复杂介质边界元法数值模拟研究

A major impetus to study the rough surface and complex structure in near surface model is because accuracy of seismic observation and geophysical prospecting can be improved. Wave theory study about fluid-satuated porous media has important significance for some scientific problems, such as explore underground resources, study of earth's internal structure, and structure response of multi-phase porous soil under dynamic and seismic effect. Seismic wave numerical modeling is one of the effective methods which understand seismic propagation rules in complex media. As a numerical simulation method, boundary element methods had been widely used in seismic wave field study. This paper mainly studies randomly rough surface scattering which used some approximation solutions based on boundary element method. In addition, I developed a boundary element solution for fluid saturated porous media. In this paper, we used boundary element methods which based on integral expression of wave equation to study the free rough surface scattering effects of Kirchhoff approximation method, Perturbation approximation method, Rytov approximation method and Born series approximation method. Gaussian spectrum model of randomly rough surfaces was chosen as the benchmark model. The approximation methods result were compared with exact results which obtained by boundary element methods, we study that the above approximation methods were applicable how rough surfaces and it is founded that this depends on and ( here is the wavenumber of the incident field, is the RMS height and is the surface correlation length ). In general, Kirchhoff approximation which ignores multiple scatterings between any two surface points has been considered valid for the large-scale roughness components. Perturbation theory based on Taylor series expansion is valid for the small-scale roughness components, as and are .Tests with the Gaussian topographies show that the Rytov approximation methods improves the Kirchhoff approximation in both amplitude and phase but at the cost of an extra treatment of transformation for the wave fields. The realistic methods for the multiscale surfaces come with the Born series approximation and the second-order Born series approximation might be sufficient to guarantee the accuracy of randomly rough surfaces. It could be an appropriate choice that a complex rough surface can be divided into large-, medium-, and small-scale roughness components with their scattering features be studied by the Kirchhoff or Rytov phase approximations, the Born series approximation, and the perturbation theory, respectively. For this purpose, it is important to select appropriate parameters that separate these different scale roughness components to guarantee the divided surfaces satisfy the physical assumptions of the used approximations, respectively. In addition, in this paper, the boundary element methods are used for solving the porous elastic wave propagation and carry out the numerical simulation. Based on the fluid-saturated porous model, this paper analyses and presents the dynamic equation of elastic wave propagation and boundary integral equation formulation of fluid saturated porous media in frequency domain. The fundamental solutions of the elastic wave equations are obtained according to the similarity between thermoelasticity and poroelasticity. At last, the numerical simulation of the elastic wave propagation in the two-phase isotropic media is carried out by using the boundary element method. The results show that a slow quasi P-wave can be seen in both solid and fluid wave-field synthetic seismograms. The boundary element method is effective and feasible.