Group size effects on foraging and vigilance in migratory Tibetan antelope

Large group sizes have been hypothesized to decrease predation risk and increase food competition. We investigated group size effects on vigilance and foraging behaviour during the migratory period in female Tibetan antelope Pantholops hodgsoni, in the Kekexili Nature Reserve of Qinghai Province, China. During June to August, adult female antelope and yearling females gather in large migratory groups and cross the Qinghai-Tibet highway to calving grounds within the Nature Reserve and return to Qumalai county after calving. Large groups of antelope aggregate in the migratory corridor where they compete for limited food resources and attract the attention of mammalian and avian predators and scavengers. We restricted our sampling to groups of less than 30 antelopes and thus limit our inference accordingly. Focal-animal sampling was used to record the behaviour of the free-ranging antelope except for those with lambs. Tibetan antelope spent more time foraging in larger groups but frequency of foraging bouts was not affected by group size. Conversely, the time spent vigilant and frequency of vigilance bouts decreased with increased group size. We suggest that these results are best explained by competition for food and risk of predation. (C) 2007 Elsevier B.V. All rights reserved.

结合操作者意图分析的Internet机器人控制方法研究

互联网传输过程中存在的随机时延,影响了操作者与遥操作机器人之间的实时交互,降低了系统稳定性和操作性能。论文提出一种新的方法,利用动态神经元群模型对操作者发送的控制指令序列进行分析,实现对操作者意图的推断。在随机时延条件下,遥操作机器人能够根据操作者意图和当前环境信息,通过局部自主控制完成期望任务动作。同时可以与主端操作者基于事件的控制指令进行切换,来保证系统的稳定性,提高整个控制系统的操作性能和效率。最后,通过互联网足球机器人平台进行实验,仿真结果验证了所提模型与方法的有效性和可行性。

具有不完全微分的Fuzzy-GA PID控制器及其在智能仿生人工腿中的应用

以模糊推理和遗传算法为基础，提出了一种新的具有不完全微分的最优PID控制器的设计方法，该控制器由离线和在线两部分组成，在离线部分，以系统响应的超调量、上升时间以及调整时间为性能指标，利用遗传算法搜索出一组最优的PID参数Kp^*、Ti^*和Td^*，作为在线部分调整的初始值，在在线部分，一个专用的PID参数优化程序以离线部分获得Kp^*、Ti^*和Td^*为基础，根据系统当前的误差e和误差变化率e^.，通过一个模糊推理系统在线调整系统瞬态响应的PID参数，以确保系统的响应具有最优的动态和稳态性能．该控制器已被用来控制由作者设计的智能仿生人工腿中的执行电机．计算机仿真结果表明，该控制器具有良好的控制性能和鲁棒性能。

Optimal Fuzzy PID Controller with Incomplete Derivation and Its Simulation Research on Application of Intelligent Artificial Legs

提出了一种新的最优模糊PID控制器，它由两部分组成，即在线模糊推理机构和带有不完全微分的常规PID控制器，在模糊推理机构中，引入了三个可调节因子xp,xi和xd，其作用是进一步修改和优化模糊推理的结果，以使控制器对一个给定对象具有最优的控制效果，可调节因子的最优值采用ITAE准则及Nelder和Mead提出的柔性多面体最优搜索算法加以确定，这种PID控制器被用来控制由作者设计的智能人工腿中的一个直流电机，仿真结果表明该控制器的设计是非常有效的，它可被用于控制各种不同的对象和过程。

最优Fuzzy—GA PID控制器及其应用

提出了一种基于模糊推理与遗传算法的最优PID控制器的设计方法，该控制器由离线和在线2部分组成，在离线部分，以系统响应的超调量、上升时间及调速时间为性能指标，利用遗传算法搜索出一组最优的PID参数Kp^*，Ti^*及Td^*，为在线部分调节的初始值，在在线部分，采用一个专用的PID参数优化程序，以离线部分获得的Kp^*,Ti^*及Td^*为基础，根据系统当前的误差e和误差变化率·↑e，通过模糊推理在线调整系统瞬态响应的PID参数，以确保系统的响应具有最优的动态和稳态性能，计算机仿真结果表明，与传统的PID控制器相比，这种最优PID控制器具有良好的控制性能和鲁棒性能，可用于控制不同的对象和过程。

基于Stewart平台六维力传感器的分区静态标定方法

基于Stewart平台的六维力传感器具有结构紧凑、刚度大、量程宽等特点,它在工业机器人、空间站对接等领域具有广泛的应用前景。好的标定方法是正确使用传感器的基础。由于基于Stewart平台的六维力传感器是一个复杂的非线性系统,所以采用常规的线性标定方法必将带来较大的标定误差从而影响其使用性能。标定的实质是,由测量值空间到理论值空间的映射函数的确定过程。由函数逼近理论可知,当只在已知点集上给出函数值时,可用多项式或分段多项式等较简单函数逼近待定函数。基于上述思想,本文将整个测量空间划分为若干连续的子测量空间,再对每个子空间进行线性标定,从而提高了整个测量系统的标定精度。实验分析结果表明了该标定方法有效。

基于模糊推理水下作业系统运动控制研究

水下作业系统是运动学冗余系统,本文将模糊推理方法融入基于任务优先运动学控制算法,对系统载体与机械手进行协调运动分配,同时对系统多个任务进行优化。通过带有3自由度水下机械手的水下作业系统进行算例仿真研究,说明运动控制算法的有效性。

一个用于机器人自然语言理解的英语句法分析系统

在低挡微机中速度较慢的串行处理硬设备条件下，利用本文提出的启发式概念，分层搜索和匹配策略以及设置最大搜索长度等方法，可使推理速度提高一个数量级以上．此外，通过引入语义信息，分阶段消除歧义，自顶向下与自底向上相结合，以及把一般疑问句一律变成相应陈述句的方法，解决了自动英语句法分析中的一系列难题，缩小了知识库的规模。

字符方程的拟定

本文在文[1]所提出的α指数技巧的基础上,进一步提出了线条叠切法、切叠法、叠切叠法,应用这些方法建立了字符状图样的单一方程,并说明所有常用字符均可列出其近似的单一方程式。最后指出了叠切叠法在一般工程问题中的应用。

基因芯片PCR温度模糊自整定PID控制算法的研究

在核酸扩增反应仪中,基因芯片核酸扩增反应过程要求实现温度高精度快速跟踪控制,常规温控方案和算法难以实现。将模糊推理系统与常规PID控制方式相结合,采用模糊自整定PID控制算法实现了温度快速跟踪控制。实验结果表明:模糊自整定PID控制算法比常规PID算法具有更强的鲁棒性,能够克服控制对象热惯性参数时变性的影响,降低了输出温度最大超调量,提高了稳态精度。

辽东湾隐蔽油气藏地球物理识别技术研究

In China and world, more than half the recent basin discovered reserves involve lithologic hydrocarbon reservoir reserves. The major target for further hydrocarbon basin exploration is the subtle reservoir. The Liaodong Bay prospect is much important in Bohai Sea, which includes Liaoxi low uplift, Liaodong uplift, Liaoxi sag and Liaozhong sag. After dozens years’ exploration in Liaodong Bay, few unexplored big-and-middle-sized favorable structural traps are remained and most of the stock structure targets are bad for fragmentary. Thus seeking for new prospect area and making a breakthrough, have become the unique way to relieve the severe exploration condition in Liaodong Bay. Technique Route Based on the petrophysical property of target area, the seismic forward inference of typical subtle trap model is expanded with analysis of logging, seismic and geologic data. According to petrophysical characteristics and forward inference and research on seismic response of actual seismic data in target area, the optimization of geophysical technique is used in subtle trap identification and the geophysical identification technique system of subtle reservoir is formed. The Key Research ① Petrophysical Model The petrophysical parameter is the basic parameter for seismic wave simulation. The seismic response difference of rocks bearing different fluids is required. With the crossplot of log data, the influence of petrophysical parameters on rock elastic properties of target area is analyzed, such as porosity, shale index, fluid property and saturation. Based on the current research on Biot-Gassmann and Kuster-Toksoz model, the petrophysical parameter calculator program which can be used for fluid substitution is established. ② S-wave evaluation based on conventional log data The shear velocity is needed during forward inference of AVO or other elastic wave field. But most of the recent conventional log data is lack of shear wave. Thus according to the research on petrophysical model, the rock S-wave parameter can be evaluated from conventional log data with probability inverse method. ③ AVO forward modeling based on well data For 6 wells in JZ31-6 block and 9 wells in LD22-1 block, the AVO forward modeling recording is made by log curve. The classification of AVO characteristics in objective interval is made by the lithologic information. ④ The 2D parameter model building and forward modeling of subtle hydrocarbon trap in target area. According to the formation interpretation of ESS03D seismic area, the 2D parameter model building and seismic wave field forward modeling are carried on the given and predicted subtle hydrocarbon trap with log curve. ⑤ The lithology and fluid identification of subtle trap in target area After study the seismic response characteristics of lithology and fluid in given target area, the optimization of geophysical technique is used for lithology identification and fluid forecast. ⑥The geophysical identification technique system of subtle reservoir The Innovative Points of this Paper ① Based on laboratory measurement and petrophysical model theory, the rock S-wave parameter can be evaluated from conventional log data with probability inverse method. Then the fluid substitution method based on B-G and K-T theory is provided. ② The method and workflow for simulating seismic wave field property of subtle hydrocarbon trap are established based on the petrophysical model building and forward modeling of wave equation. ③ The description of subtle trap structural feature is launched. According to the different reflection of frequency wave field structural attribute, the fluid property of subtle trap can be identified by wave field attenuation attribute and absorption analysis. ④ It’s the first time to identify subtle trap by geophysical technique and provide exploration drilling well location. ⑤ The technique system of subtle reservoir geophysical identification is formed to provide available workflow and research ideas for other region of interest.

多波多分量地震资料走时近似方法的研究与应用

Compared with the conventional P wave, multi-component seismic data can markedly provide more information, thus improve the quality of reservoir evaluation like formation evaluation etc. With PS wave, better imaging result can be obtained especially in areas involved with gas chimney and high velocity formation. However, the signal-to-noise of multi-component seismic data is normally lower than that of the conventional P wave seismic data, while the frequency range of converted wave is always close to that of the surface wave which adds to the difficulty of removing surface wave. To realize common reflection point data stacking from extracted common conversion point data is a hard nut to crack. The s wave static correction of common receiver point PS wave data is not easy neither. In a word, the processing of multi-component seismic data is more complicated than P wave data. This paper shows some work that has been done, addressing those problems mentioned above. (1) Based on the AVO feature of converted wave, this paper has realized the velocity spectrum of converted waves by using Sarkar’s generalized semblance method taking into account of AVO factor in velocity analysis. (2)We achieve a method of smoothly offset division normal method.Firstly we scan the stacking velocities in different offset divisions for a t0, secondly obtain some hyperbolas using these stacking velocities, then get the travel time for every trace using these hyperbolas; in the end we interpolate the normal move out between two t0 for every trace. (3) Here realize a method of stepwise offset division normal moveout.It is similar to the method of smoothly offset division normal moveout.The main difference is using quadratic curve, sixth order curve or fraction curve to fit these hyperbolas. (4)In this paper, 4 types of travel time versus distance functions in inhomogeneous media whose velocity or slowness varies with depth and vertical travel time have been discussed and used to approximate reflection travel time. The errors of ray path and travel time based on those functions in four layered models were analyzed, and it has shown that effective results of NMO in synthetic or real data can be obtained. (5) The velocity model of converted PS-wave can be considered as that of P -wave based on the ghost source theory, thus the converted wave travel time can be approximated by calculation from 4 equivalent velocity functions: velocity or slowness vary linearly with depth or vertical travel time. Then combining with P wave velocity analysis, the converted wave data can be corrected directly to the P-wave vertical travel time. The improvements were shown in Normal Move out of converted waves with numerical examples and real data. (6) This paper introduces the methods to compute conversion point location in vertical inhomogeneous media based on linear functions of velocity or slowness versus depth or vertical travel time, and introduce three ways to choose appropriate equivalent velocity methods, which are velocity fitting, travel time approximation and semblance coefficient methods.

地震波谱元法数值模拟和偏移研究

With the development of both seismic theory and computer technology, numerical modeling technology of seismic wave has achieved great advancement during the past half century. The current methods under development include finite differentiation method (FDM), finite element method (FEM), pseudospectral method (PSM), integral equation method (IEM) and spectral element method (SEM). They exert their very important roles in every corner of seismology and seismic prospecting. Large quantity of researches towards spectral element method in the end of last century bring this method to a new era, which results in perfect solution of many difficult problems. However, parts of posterior works such as seismic migration and inversion which base on spectral element method have never been studied widely at least up to the present whereas are of importance to seismic imaging and seismic wave propagation. Based on previous work, this paper uses spectral element method to investigate the characteristics and laws of the seismic wave propagation in isotropic and anisotropic media. By thoroughly studying this high-accuracy method, we implement a kind of reverse-time pre- and post-stack migration based on SEM. In order to verify the validity of the SEM method, we have simulated the propagation of seismic wave in several different models. The simulation results show that: (1) spectral element method can be used to model any complex models and the computational results are comparable with the expected results and the analytic results; (2) the optimum accuracy can be achieved when the rank is between 4 and 9. When it is below 4, the dispersion may occur; and when it is above 9, the time step-length will be changed accordingly with the reducing space step-length in order to keep the computation stability. This will exponentially increase the computation time and at the same time the memory even if simulating the same media. This paper also applies explosive reflection surface imaging technology, time constancy principle of wave-filed extrapolation and least travetime raytracing technology of surface source to SEM pre- and post-stack migration of isotropic and anisotropic media. All imaging results derived by the above methods agree well with the real geological models and the position of interface and inflexions can also return to their right location well. This indicates that the method proposed in this paper is a kind of technology with high accuracy and robust stability. It can serve as an alternative method in real seismic data processing. All these work can boost the development of high-accuracy seismic imaging, and therefore have significant inference value.

地震层析成像与天山地区的壳幔深部结构研究

The Tien Shan is the most prominent intracontinental mountain belt on the earth. The active crustal deformation and earthquake activities provide an excellent place to study the continental geodynamics of intracontinental mountain belt. The studies of deep structures in crust and upper mantle are significantly meaningful for understanding the geological evolution and geodynamics of global intracontinental mountain belts. This dissertation focuses on the deep structures and geodynamics in the crust and upper mantle in the Tien Shan mountain belt. With the arrival time data from permanent and temporal seismic stations located in the western and central Tien Shan, using seismic travel time tomographic method, we inversed the P-wave velocity and Vp/Vs structures in the crust and uppermost mantle, the Pn and Sn velocities and Pn anisotropic structures in the uppermost mantle, and the P-wave velocity structures in the crust and mantle deep to 690km depth beneath the Tien Shan. The tomographic results suggest that the deep structures and geodynamics have significant impacts not only on the deformations and earthquake activities in the crust, but also on the mountain building, collision, and dynamics of the whole Tien Shan mountain belt. With the strongly collision and deformations in the crust, the 3-D P-wave velocity and Vp/Vs ratio structures are highly complex. The Pn and Sn velocities in the uppermost mantle beneath the Tien Shan, specially beneath the central Tien Shan, are significantly lower than the seismic wavespeed beneath geological stable regions. We infer that the hot upper mantle from the small-scale convection could elevate the temperature in the lower crust and uppermost mantle, and partially melt the materials in the lower crust. The observations of low P-wave and S-wave velocities, high Vp/Vs ratios near the Moho and the absences of earthquake activities in the lower crust are consistent with this inference. Based on teleseismic tomography images of the upper mantle beneath the Tien Shan, we infer that the lithosphere beneath the Tarim basin has subducted under the Tien Shan to depths as great as 500 km. The lithosphere beneath the Kazakh shield may have subducted to similar depths in the opposite direction, but the limited resolution of this data set makes this inference less certain. These images support the plate boundary model of converge for the Tien Shan, as the lithospheres to the north and south of the range both appear to behave as plates.