为探究施工环境中人类工人与建筑机器人开展人机协作作业的安全保障措施,采用文献计量方法筛选并分析了来自Scopus、Web of Science以及谷歌学术3个数据库的227篇文献,从物理人机交互的角度讨论人机协作安全主题.定量文献分析结果表明,...为探究施工环境中人类工人与建筑机器人开展人机协作作业的安全保障措施,采用文献计量方法筛选并分析了来自Scopus、Web of Science以及谷歌学术3个数据库的227篇文献,从物理人机交互的角度讨论人机协作安全主题.定量文献分析结果表明,当前建造协作机器人的研究热度逐渐上升,且协作机器人是由多学科多技术共同支撑的.综述了建造协作机器人在智能建造背景下人机协作安全在碰撞避免、路径规划与轨迹规划、碰撞感知和柔顺控制三大方面的研究现状.提出了建造协作机器人结构仿生化发展、感知控制能力增强、交互方式智能化发展、建筑领域中人机安全协作方法完善和推广应用实践力度5个未来研究方向和发展建议.展开更多
Neotectonic movement refers to the tectonic movement that has happened since the Cenozoic, which is the latest movement. It has the most important influence on the basins in west China, especially on the hydrocarbon a...Neotectonic movement refers to the tectonic movement that has happened since the Cenozoic, which is the latest movement. It has the most important influence on the basins in west China, especially on the hydrocarbon accumulation in the western foreland basins. We determined the time of neotectonic movement in the Kuqa Foreland Basin, which began from the Neogene, and analyzed the patterns of movement, which were continuous and fast subsidence in the vertical direction and intense lateral compression. The structure styles are that the faulting is weakened and the folding is strengthened gradually from north to south. We studied the control of neotectonic movement on the hydrocarbon accumulation process and model in the Kuqa Foreland Basin with basin simulation technique. The largest subsidence rate of the Kuqa Foreland Basin reached 1,200 m/Ma during the neotectonic movement, leading to rapid maturing of source rock within 5 Ma and a large quantity of hydrocarbon being generated and expelled. The thick neotectonic strata can form high quality reservoirs with the proved gas and oil reserves accounting for 5% and 27% of the total reserves, respectively. 86% of the structural traps were formed in the neotectonic movement period. The faults formed during the neotectonic movement serve as important migration pathways and they exist in the region where the hydrocarbon reservoirs are distributed. Abnormally high pressure caused by the intense lateral compression, thick neotectonic strata deposition and rapid hydrocarbon generation provide driving force for hydrocarbon migration. The accumulation elements match each other well over a short period, leading to many large gas fields formed later in the Kuqa Foreland Basin.展开更多
Taking the Jiyang depression as an example, this paper discusses the control of the formation of lithological reservoir by surrounding rocks by integrated application of geological analysis, physical simulation, and t...Taking the Jiyang depression as an example, this paper discusses the control of the formation of lithological reservoir by surrounding rocks by integrated application of geological analysis, physical simulation, and the analysis of oil & gas accumulation mechanism. Geological statistical shows that the major burial depth and interval of lithological reservoirs in the Jiyang depression are related to the hydrocarbon generation in and expulsion from the Lower Tertiary source rocks and the time of the formation of most lithological reservoirs coincides with the peak of hydrocarbon generation and expulsion. The lithological traps located in the center of effective source rocks are propitious to high oil saturation than those located on the margin of effective source rocks. The hydrocarbon charge degree of the lithological reservoir has a positive correlation with the intensity of hydrocarbon expulsion from surrounding source rocks. Geological analyses and NMR experiments also show that the oil saturation of surrounding source rocks control the hydrocarbon potential of lithological traps, and a critical value for oil saturation of surrounding mudstone is required, that is, when the oil saturation of surrounding mudstone is lower than this critical value, no oil and gas accumulate in the lithological trap. The control of surrounding mudstone on the oil-bearing properties of lithological reservoirs is also analyzed by the mechanisms of hydrocarbon generation and expulsion as well as accumulation.展开更多
Because of the difference ofoil and gas accumulation condition between the hanging wall and the footwall of a fault, there is a peculiar accumulation mechanism that oil and gas mainly exists in the hanging wall of the...Because of the difference ofoil and gas accumulation condition between the hanging wall and the footwall of a fault, there is a peculiar accumulation mechanism that oil and gas mainly exists in the hanging wall of the basement fault, but in the footwall of the shallow detachment fault in the Nanbaxian pool. The oil and gas of the Nanbaxian pool came from the mature Jurassic hydrocarbon source rock of the Yibei depression located at the south of the Nanbaxian pool. Firstly, the oil and gas accumulated in the traps of the hanging wall of the basement fault by way of the unconformity and the basement faults, and turned into some primary deep pools; and then, the shallow detachment fault that formed in the later tectonic movement broke into the deep primary pools, which caused the oil and gas migration upwards along the basement faults and the shallow detachment faults and the evolvement into some secondary oil and gas pools later. The history of the Nanbaxian oil and gas accumulation can be summarized successively as the syndepositional upheaval controlled by faults; single hydrocarbon source rock; unconformities and faults as migration channels; buoyancy, overpressure and tectonic stress as dynamic forces; multistage migration and accumulation of oil and gas; and finally an overlapped double-floor pattern of oil and gas accumulation. The most important explorative targets in the north of the Qaidam Basin are traps connected with the primary pools in the footwall by shallow detachment faults.展开更多
Near infrared spectroscopy has been considered as a potentially ideal noninvasive technique for the postoperative monitoring of plastic surgery. In this study, 6 flaps were raised on rhesus monkeys’ forearms. Blood a...Near infrared spectroscopy has been considered as a potentially ideal noninvasive technique for the postoperative monitoring of plastic surgery. In this study, 6 flaps were raised on rhesus monkeys’ forearms. Blood and oxygen delivery to these flaps was monitored following vascular occlusions and inhalation of pure oxygen. Optical fibers were adopted in the probe of the oximeter so that the cutaneous detection could be performed in reflectance mode. Different and repeatable patterns of changes were measured following vascular occlusions on flaps. It is clear that the near infrared spectroscopy is capable of postoperatively monitoring vascular problems in flaps, especially the venous problem. Near infrared spectroscopy showed high sensitivity to detect the dynamic changes in flaps induced by inhalation of pure oxygen in this study. The experimental results indicated that it was potential to assess tissue viability utilizing the dynamic changes induced by some noninvasive stimulation (such as inhaling展开更多
文摘为探究施工环境中人类工人与建筑机器人开展人机协作作业的安全保障措施,采用文献计量方法筛选并分析了来自Scopus、Web of Science以及谷歌学术3个数据库的227篇文献,从物理人机交互的角度讨论人机协作安全主题.定量文献分析结果表明,当前建造协作机器人的研究热度逐渐上升,且协作机器人是由多学科多技术共同支撑的.综述了建造协作机器人在智能建造背景下人机协作安全在碰撞避免、路径规划与轨迹规划、碰撞感知和柔顺控制三大方面的研究现状.提出了建造协作机器人结构仿生化发展、感知控制能力增强、交互方式智能化发展、建筑领域中人机安全协作方法完善和推广应用实践力度5个未来研究方向和发展建议.
基金supported by the Foundation Project of State Key Laboratory of Petroleum Resources and Prospecting (PRPDX2008-05)the "973" National Key Basic Research Program (2006CB202308)
文摘Neotectonic movement refers to the tectonic movement that has happened since the Cenozoic, which is the latest movement. It has the most important influence on the basins in west China, especially on the hydrocarbon accumulation in the western foreland basins. We determined the time of neotectonic movement in the Kuqa Foreland Basin, which began from the Neogene, and analyzed the patterns of movement, which were continuous and fast subsidence in the vertical direction and intense lateral compression. The structure styles are that the faulting is weakened and the folding is strengthened gradually from north to south. We studied the control of neotectonic movement on the hydrocarbon accumulation process and model in the Kuqa Foreland Basin with basin simulation technique. The largest subsidence rate of the Kuqa Foreland Basin reached 1,200 m/Ma during the neotectonic movement, leading to rapid maturing of source rock within 5 Ma and a large quantity of hydrocarbon being generated and expelled. The thick neotectonic strata can form high quality reservoirs with the proved gas and oil reserves accounting for 5% and 27% of the total reserves, respectively. 86% of the structural traps were formed in the neotectonic movement period. The faults formed during the neotectonic movement serve as important migration pathways and they exist in the region where the hydrocarbon reservoirs are distributed. Abnormally high pressure caused by the intense lateral compression, thick neotectonic strata deposition and rapid hydrocarbon generation provide driving force for hydrocarbon migration. The accumulation elements match each other well over a short period, leading to many large gas fields formed later in the Kuqa Foreland Basin.
基金Supported by National Natural Science Fund 40472078 and the Project of "973 plan" G1999043310
文摘Taking the Jiyang depression as an example, this paper discusses the control of the formation of lithological reservoir by surrounding rocks by integrated application of geological analysis, physical simulation, and the analysis of oil & gas accumulation mechanism. Geological statistical shows that the major burial depth and interval of lithological reservoirs in the Jiyang depression are related to the hydrocarbon generation in and expulsion from the Lower Tertiary source rocks and the time of the formation of most lithological reservoirs coincides with the peak of hydrocarbon generation and expulsion. The lithological traps located in the center of effective source rocks are propitious to high oil saturation than those located on the margin of effective source rocks. The hydrocarbon charge degree of the lithological reservoir has a positive correlation with the intensity of hydrocarbon expulsion from surrounding source rocks. Geological analyses and NMR experiments also show that the oil saturation of surrounding source rocks control the hydrocarbon potential of lithological traps, and a critical value for oil saturation of surrounding mudstone is required, that is, when the oil saturation of surrounding mudstone is lower than this critical value, no oil and gas accumulate in the lithological trap. The control of surrounding mudstone on the oil-bearing properties of lithological reservoirs is also analyzed by the mechanisms of hydrocarbon generation and expulsion as well as accumulation.
文摘Because of the difference ofoil and gas accumulation condition between the hanging wall and the footwall of a fault, there is a peculiar accumulation mechanism that oil and gas mainly exists in the hanging wall of the basement fault, but in the footwall of the shallow detachment fault in the Nanbaxian pool. The oil and gas of the Nanbaxian pool came from the mature Jurassic hydrocarbon source rock of the Yibei depression located at the south of the Nanbaxian pool. Firstly, the oil and gas accumulated in the traps of the hanging wall of the basement fault by way of the unconformity and the basement faults, and turned into some primary deep pools; and then, the shallow detachment fault that formed in the later tectonic movement broke into the deep primary pools, which caused the oil and gas migration upwards along the basement faults and the shallow detachment faults and the evolvement into some secondary oil and gas pools later. The history of the Nanbaxian oil and gas accumulation can be summarized successively as the syndepositional upheaval controlled by faults; single hydrocarbon source rock; unconformities and faults as migration channels; buoyancy, overpressure and tectonic stress as dynamic forces; multistage migration and accumulation of oil and gas; and finally an overlapped double-floor pattern of oil and gas accumulation. The most important explorative targets in the north of the Qaidam Basin are traps connected with the primary pools in the footwall by shallow detachment faults.
基金This work was supported by the National Natural Science Foundation of China (Grant No. 69778024) and Science Foundation of the Stomatology Hospital of Peking University.
文摘Near infrared spectroscopy has been considered as a potentially ideal noninvasive technique for the postoperative monitoring of plastic surgery. In this study, 6 flaps were raised on rhesus monkeys’ forearms. Blood and oxygen delivery to these flaps was monitored following vascular occlusions and inhalation of pure oxygen. Optical fibers were adopted in the probe of the oximeter so that the cutaneous detection could be performed in reflectance mode. Different and repeatable patterns of changes were measured following vascular occlusions on flaps. It is clear that the near infrared spectroscopy is capable of postoperatively monitoring vascular problems in flaps, especially the venous problem. Near infrared spectroscopy showed high sensitivity to detect the dynamic changes in flaps induced by inhalation of pure oxygen in this study. The experimental results indicated that it was potential to assess tissue viability utilizing the dynamic changes induced by some noninvasive stimulation (such as inhaling