Measurements of ocean wave and current field using dual polarized X-band radar

A new ocean wave and sea surface current monitoring system with horizontally-(HH) and vertically-(VV) polarized X-band radar was developed. Two experiments into the use of the radar system were carried out at two sites, respectively, for calibration process in Zhangzi Island of the Yellow Sea, and for validation in the Yellow Sea and South China Sea. Ocean wave parameters and sea surface current velocities were retrieved from the dual polarized radar image sequences based on an inverse method. The results obtained from dual-polarized radar data sets acquired in Zhangzi Island are compared with those from an ocean directional buoy. The results show that ocean wave parameters and sea surface current velocities retrieved from radar image sets are in a good agreement with those observed by the buoy. In particular, it has been found that the vertically-polarized radar is better than the horizontally-polarized radar in retrieving ocean wave parameters, especially in detecting the significant wave height below 1.0 m.

基于状态构形矢量和状态构形矩阵的可重构模块星球机器人构形水

可重构模块星球机器人系统由母体和多个子机器人模块组成,单个模块可以独立运动和操作,多个模块可以重构组合成不同构形,模块采用非对称式轮手一体机构,具有姿态方位性和运动方向性,重构目的是组成在某种环境下更好地完成有向性运动的构形。基于此,提出矢量构形概念,将运动趋势方向和方位性融合到构形拓扑结构中。在模块矢量分析模型基础上,提出并构建状态构形矢量(State configuration vector,SCV)和状态构形矩阵(State configuration matrix,SCM),对非对称式单模块和整体构形的状态信息进行描述,同时支持预定义的数学变换操作,可以表达并触发模块的基础动作、构形重构。提出离散模块组合重构成目标构形的优化分析算法,通过实例仿真计算获得优化分析的选择结果。

基于障碍预估与概率方向权值的移动机器人动态路径规划

主要研究了移动机器人在未知动态环境中的路径规划问题.提出一种将障碍预估与概率方向权值相结合的动态路径规划新方法.该方法将卡尔曼滤波引入到规划算法中,使得对障碍物运动状态的实时有效预估成为可能.同时,为实现移动机器人的实时路径规划,提出一种新的概率方向权值方法,基于周期规划将障碍物与目标信息进行融合,能够有效处理室内环境下对于障碍物的速度和运动轨迹均未知的动态路径规划问题.仿真结果以及基于SmartROB2移动机器人平台所进行的实验结果验证了该方法的有效性和实用性.

一种全方位移动爬壁机器人系统设计

设计了一种具有适应多种壁面、越障能力强、能沿任意方向直线移动或在原地旋转任意角度的全方位移动爬壁机器人。详细论述了机器人本体机构的组成和爬壁机器人全方位移动的功能实现,并对控制系统进行了介绍。分析表明,该机器人是对高层壁面或容器清洗、喷漆及维护和检测的良好载体。

一种四自由度并联机构及其运动学建模

提出一种新型四自由度并联平台机构 ,该机构的动平台能够实现两个方向的移动 ,以及绕两个方向轴线的转动。研究了该机构的运动学建模方法 ,给出了运动学正、逆解。阐述其应用前景

采用普通双绞线远距离传输动力、图像、双向数据的方法

论述了一种在一对普通动力双绞线上实现直流动力、彩色图像和双向数据的远距离实时传输方法,详细介绍了其工作原理、电路设计和试验结果。

一个多智能体机器人协作装配系统

介绍了一个基于多智能体概念实现的多机器人协作装配系统——ＭＲＣＡＳ（Ｍｕｌｔｉ－ＲｏｂｏｔＣｏｏｐｅｒａｔｉｖｅＡｓｓｍｂｌｙＳｙｓｔｅｍ）。该系统由组织级计算机、三台工业机器人和一台全方位移动小车（ＯＤＶ）组成，采用分层递阶体系结构。利用ＭＲＣＡＳ系统进行了多机器人协作装配的实验：在ＯＤＶ装配平台上，四台机器人合作装配一个大型桁架式工件。该工件具有多种装配构型，但任何一台机器人不能独立完成装配。

不同基板预热温度对激光金属沉积成形过程热应力影响的研究

研究不同基板预热温度对激光金属沉积成形过程热应力的影响,对于降低成形过程的热应力,抑制成形过程裂缝的产生,减小成形过程试样和基板的翘曲变形具有非常重要的意义。根据有限元分析中的"单元生死"技术,编程建立了基板预热对激光金属沉积成形过程热应力影响的三维多道多层数值模拟模型,详细分析了基板未预热和分别预热到200℃、300℃、400℃、500℃、600℃时对沉积成形过程VonMise’s热应力、X方向、Y方向以及Z方向热应力的影响。在与模拟过程相同的参数下,利用镍基合金粉末分别在基板未预热和分别预热到300℃、400℃、500℃、600℃时进行了成形试验,试验的结果跟数值模拟结果吻合较好。

地质导向钻井关键技术及方法

On the basis of analyzing the principle and realization of geo-steering drilling system, the key technologies and methods in it are systematically studied in this paper. In order to recognize lithology, distinguish stratum and track reservoirs, the techniques of MWD and data process about natural gamma, resistivity, inductive density and porosity are researched. The methods for pre-processing and standardizing MWD data and for converting geological data in directional and horizontal drilling are discussed, consequently the methods of data conversion between MD and TVD and those of formation description and adjacent well contrast are proposed. Researching the method of identifying sub-layer yields the techniques of single well explanation, multi-well evaluation and oil reservoir description. Using the extremum and variance clustering analysis realizes logging phase analysis and stratum subdivision and explanation, which provides a theoretical method and lays a technical basis for tracing oil reservoirs and achieving geo-steering drilling. Researching the technique for exploring the reservoir top with a holdup section provides a planning method of wellpath control scheme to trace oil and gas reservoir dynamically, which solves the problem of how to control well trajectory on condition that the layer’s TVD is uncertain. The control scheme and planning method of well path for meeting the demands of target hitting, soft landing and continuous steering respectively provide the technological guarantee to land safely and drill successfully for horizontal, extended-reach and multi-target wells. The integrative design and control technologies are researched based on geology, reservoir and drilling considering reservoir disclosing ratio as a primary index, and the methods for planning and control optimum wellpath under multi-target restriction, thus which lets the target wellpath lie the favorite position in oil reservoir during the process of geo-steering drilling. The BHA (bottomhole assembly) mechanical model is discussed using the finite element method, and the BHA design methods are given on the basis of mechanical analyses according to the shape of well trajectory and the characteristics of BHA’s structure and deformation. The methods for predicting the deflection rate of bent housing motors and designing their assemblies are proposed based on the principle of minimum potential energy, which can clearly show the relation between the BHA’s structure parameters and deflection rate, especially the key factors’ effect to the deflection rate. Moreover, the interaction model between bit and formation is discussed through the process of equivalent formation and equivalent bit considering the formation anisotropy and bit anisotropy on the basis of analyzing the influence factors of well trajectory. Accordingly, the inherence relationship among well trajectory, formation, bit and drilling direction is revealed, which lays the theory basis and technique for predicting and controlling well trajectory.

油田高含水期剩余油分布规律研究

After systemic investigation of the techniques，route lines and mechanisms about the remaining oil，the dynamic migration and congregation behavior of the remaining oil are discussed on base of interaction between flowing and enriching of water and oil.After the micro-scope modeling of the fluid flow in porous media and the changes in petrol-physical properties of the flowing system, the characters of fluid fields and the dynamic distribution of oil are discussed, among which the preference-flowing is focused on. Based on the preference-flowing in porous media, the concept of the preference-flowing channels is developed. According to above, heterogeneous distribution of water and oil in the field and dynamic mechanism of remaining oil are all obvious. media can be divided into three kinds, directional, stochastic, arbitrary porous media. The main research results are as following: 1. Treating the characteristic parameters such as permeability, porosity and wettability as regional parameter, the fluid field with high water-cut has been established by geostatistical method, among which the difference of flowing pores and the changes of its petrol-physical properties during flooding are studied. 2. The flow process of water and oil are recurrent in physical simulation experiments, in which the mechanisms and phenomena are caught and analyzed. Fluid flow mechanics in porous media with preference-flowing channels have been studied. 3. The mutual coupling between water and oil is induced and the mathematical evolution equations including this interaction were built. . 4. Through coupling effect between flowing water and oil, the dynamic migration and congregation behavior of remaining oil depend upon this coupling. 5. Coupling between water and oil act as driving force and trapping force for the remaining oil. The coupling model of thesis has been verified by simplified the numerical model and compared results with Ng35 oil reservoir in Gudao oil field, it has important theoretical and application values for improving precision of remaining oil and production performance prediction, and is a new method for studying the mechanics of remaining oil in channeled porous media has been established. Key words：flow field，high water-cut，coupling，dominant flow in porous media，remaining oil

断陷湖盆缓坡带成藏模式研究

Halfgraben-like depressions have multiple layers of subtle traps, multiple coverings of oil-bearing series and multiple types of reservoirs. But these reservoirs have features of strong concealment and are difficult to explore. For this reason, many scholars contribute efforts to study the pool-forming mechanism for this kind of basins, and establish the basis for reservoir exploration and development. However, further study is needed. This paper takes HuiMin depression as an example to study the pool-forming model for the gentle slope belts of fault-depression lake basins. Applying multi-discipline theory, methods and technologies including sedimentary geology, structural geology, log geology, seismic geology, rock mechanics and fluid mechanics, and furthermore applying the dynamo-static data of oil reservoir and computer means in maximum limitation, this paper, qualitatively and quantitatively studies the depositional system, structural framework, structural evolution, structural lithofacies and tectonic stress field, as well as fluid potential field, sealing and opening properties of controlling-oil faults and reservoir prediction, finally presents a pool-forming model, and develops a series of methods and technologies suited to the reservoir prediction of the gentle slope belt. The results obtained in this paper richen the pool-forming theory of a complex oil-gas accumulative area in the gentle slope belt of a continental fault-depression basin. The research work begins with the study of geometric shape of fracture system, then the structural form, activity stages and time-space juxtaposition of faults with different level and different quality are investigated. On the basis of study of the burial history, subsidence history and structural evolution history, this paper synthesizes the studied results of deposition system, analyses the structural lithofacies of the gentle slope belt in the HuiMing Depression and its controlling roles to oil reservoir in the different structural lithofacies belts in time-space, and presents their evolution patterns. The study of structural stress field and fluid potential field indicates that the stress field has a great change from the Dong Ying stages to nowadays. One marked point among them is that the Dong Ying double peak- shaped nose structures usually were the favorable directional area for oil and gas migration, while the QuDi horst became favorable directional area since the GuanTao stage. Based on the active regular of fractures and the information of crude oil saturation pressure, this paper firstly demonstrates that the pool-forming stages of the LingNan field were prior to the stages of the QuDi field, whici provides new eyereach and thinking for hydrocarbon exploration in the gentle slope belt. The BeiQiao-RenFeng buried hill belt is a high value area with the maximum stress values from beginning to end, thus it is a favorable directional area for oil and gas migration. The opening and sealing properties of fractures are studied. The results obtained demonstrate their difference in the hydrocarbon pool formation. The seal abilities relate not only with the quality, direction and scale of normal stress, with the interface between the rocks of two sides of a fault and with the shale smear factor (SSF), but they relate also with the juxtaposition of fault motion stage and hydrocarbon migration. In the HuiMin gentle slope belt, the fault seal has difference both in different stages, and in different location and depth in the same stage. The seal extent also displays much difference. Therefore, the fault seal has time-space difference. On the basis of study of fault seal history, together with the obtained achievement of structural stress field and fluid potential field, it is discovered that for the pool-forming process of oil and gas in the studied area the fault seal of nowadays is better than that of the Ed and Ng stages, it plays an important role to determine the oil column height and hydrocarbon preservation. However, the fault seal of the Ed and Ng stages has an important influence for the distribution state of oil and gas. Because the influential parameters are complicated and undefined, we adopt SSF in the research work. It well reflects synthetic effect of each parameter which influences fault seal. On the basis of the above studies, three systems of hydrocarbon migration and accumulation, as well as a pool-forming model are established for the gentle slope belt of the HuiMin depression, which can be applied for the prediction of regular patterns of oil-gas migration. Under guidance of the pool-forming geological model for the HuiMin slope belt, and taking seismic facies technology, log constraint evolution technology, pattern recognition of multiple parameter reservoir and discrimination technology of oil-bearing ability, this paper develops a set of methods and technologies suited to oil reservoir prediction of the gentle slope belt. Good economic benefit has been obtained.

东营凹陷辛镇复杂断块油藏形成机制和剩余油分布规律研究

In this paper, the complex faulted-block oil reservoir of Xinzhen area in Dongying depression is systematically studied from basic conditions forming faulted-block oil and gas reservoir integrating geology, seismic, logging and reservoir engineering information and computer; guided by petroleum geology, geomechanics, structural geology and geophysics and other theories. Based on analysis of background condition such as regional strata, structure and petroleum geology, structural research on geometry, kinemaitcs and dynamics, oil-controlling fault research on the seal features, sealing mechanism and sealing pattern, and research on enrichment rules and controlling factors of complex faulted-block oil reservoir are carried out to give out the formation mechanics of oil reservoir of Xinzhen complex faulted-block oil reservoir. As a result, the reservoir formation pattern is established. At the same time, through dissecting the characteristics and hydrocarbon enrichment law of complex faulted-block oil reservoir, and studying its distribution law of remaining oil after entering extra high water-cut period, a set of technologies are formed to predict complex faulted-block oil reservoir and its remaining oil distribution and to enhance oil recovery (EOR). Based on the time relationship between migration of hydrocarbon and trap formation, accumulating period of Xinzhen oil reservoir is determined. The formation of Xinzhen anticlinal trap was prior to the primary migration. This is favorable to formation of Xinzhen anticlinal hydrocarbon reservoir. Meanwhile, because anticline top caving isn't at the sane time as that of moving or faulted-trap forming inner anticline, oil and gas migrated many times and Xinzhen complex faulted-block oil reservoir formed from ES_3~(upper) to EG. Accumulating law and controlling factors of complex faulted-block reservoir are analyzed from many aspects such as regional structure background controlling hydrocarbon accumulating, plastic arch-open structure controlling oil-bearing series and reservoir types, sealing-opening of fault controlling hydrocarbon distribution and structure pattern controlling enriched trap types. Also, we established the structure pattern in Xinzhen a'ea: the arch-open of underlying strata cause expanding fracture. The main block groups developed here are shovel-like normal fault block group in the north area of Xinzhen and its associated graben block group. Block groups dominate the formation and distribution of reservoirs. We studied qualitatively and quantitatively the sealing characteristics, sealing history and sealing mechanism of faults, too. And, the sealing characteristics are evaluated and the distribution pattern of hydrocarbon controlled by faults is researched. Due to movement intensity of big faults, deep falling of downthrown block, high degree of repture and development of fracture, shallow layers close to the downthrown block of secondary faults are unfavorable to hydrocarbon accumulation. This is confirmed by the exploration practice in Xinzhen anticline. In terms of the downthrown blocks of sencondary contemporaneous faults lied in the south and north area of Xinzhen, hydrocarbon is poor close to fracture belt, while it is relatively abundant in tertiary companion faults. Because of long-term movement of faults that control hydrocarbon, fi'om ES3 to EG, six set of oil-bearing series formed. And their opening causes the inhomogeneity in hydrocarbon abundance among each block--in two flanks of anticline reservoirs are abundant while in the axial area, oil and gas are sporadic. There the sealing characteristics control oil-bearing area of oil/gas accumulation and the height of oil reservoir. Longitudinally, oil and gas are enriched in dip-flat areas in mid-plane of faults. It is established that there are four types of accumulating patterns in complex faulted-block oil reservoirs in Xinzhen. The first is accumulating pattern of lithologic oil reservoirs in E~S_3~(mid-lowwer), that is, self-generating-self-reserving-self-covering lithologic trap pattern. The second is drag-anticline accumulating pattern in Xinzhen. The structure traps are drag anticlines formed by the contemporaneous faults of the second basement in the north of Xinzhen, and the multiple source rocks involve Ek_2, Es_4, Es_3 and Es_1 members. The reservoirs are fluvial-delta sandstones of the upper member of Shahejie formation and Guantao formation, covered by regional thick mudstone of the upper member of Guantao formation and MingHuazhen formation. The third is the accumulating pattern of reverse listric fault, the third-degree fault of Xinzhen anticline limb and the reservoirs form reservoir screened by reverse listric faults. The forth is accumulating pattern of crossing faults which form closing or semi-closing faulted-blocks that accumulate hydrocarbon. The technologies of predicting remaining oil in complex faulted-block reservoir during the mid and late development stage is formed. Remaining oil in simple large faulted-blocks enriches in structural high, structural middle, structural low of thick bottom water reservoirs, points near bent edge-fault oftertiary faults and part the fourth ones with big falling displacement, microstructure high place of oil-sandbodies and areas where local well pattern isn't perfect. While that in small complex faulted-blocks enriches near small nose, small high point, angle of small faults, small oil-bearing faulted-blocks without well and areas with non-perfect well pattern. The technologies of enhancing recovery factor in complex faulted-block reservoir during the mid and late development stage is formed as follows: fine reservoir description, drilling adjust wells, designing directional wells, sub-dividing layer series of development, improving flooding pattern, changing water-injection direction and enhancing swept volume, cyclic waterflooding and gas-injection, etc. Here, directional wells include directional deflecting wells, lateral-drilling wells, lateral-drilling horizontal wells and horizontal wells. The results of this paper have been used in exploration and development of Shengli oilfield, and have achieved great social and economic profit, especially in predicting distribution of complex faulted-block reservoir, remaining oil distribution during middle and late stage of development, and in EOR. Applying the achievement of fault-closure research, new hydrocarbon-bearing blocks are discovered in flanks of Dongying central uplift and in complex blocks with proved reserves 15 million tons. With the study of remaining oil distribution law in complex faulted-block reservoirs, recovery factors are increased greatly in Dongxin, Xianhe and Linpan complex faulted-block reservoirs and accumulated oil production increment is 3 million tons.

Sequence-Seeking and Counter Streams: A Model for Information Processing in the Cortex

This paper presents a model for the general flow in the neocortex. The basic process, called "sequence-seeking," is a search for a sequence of mappings or transformations, linking source and target representations. The search is bi-directional, "bottom-up" as well as "top-down," and it explores in parallel a large numbe rof alternative sequences. This operation is implemented in a structure termed "counter streams," in which multiple sequences are explored along two separate, complementary pathways which seeking to meet. The first part of the paper discusses the general sequence-seeking scheme and a number of related processes, such as the learning of successful sequences, context effects, and the use of "express lines" and partial matches. The second part discusses biological implications of the model in terms of connections within and between cortical areas. The model is compared with existing data, and a number of new predictions are proposed.

A review of spectral properties of plants and their potential use for crop/weed discrimination in row-crops

R. Zwiggelaar, 'A review of spectral properties of plants and their potential use for crop/weed discrimination in row-crops', Crop Protection 17 (3), 189-206 (1998)

Identyfikacja domen WG/GW zaangażowanych w wiązanie białek Argonaute oraz analiza mechanizmów molekularnych odpowiedzialnych za ich zmienność

Wydział Biologii: Instytut Biologii Molekularnej i Biotechnologii