The Pre-Stack Depth Migration （PSDM） method based on wavefield continuation is the most reliable method for imaging complex structure in the subsurface, although there are large computational costs and poorly adapti...The Pre-Stack Depth Migration （PSDM） method based on wavefield continuation is the most reliable method for imaging complex structure in the subsurface, although there are large computational costs and poorly adaptive geometry. Plane wave shot migration is another method to perform exact wave equation prestack imaging with high computational efficiency and without the migration aperture problem. Moreover, wavefield energy can be compensated at the target zone by controlled illumination. In this paper, plane wave shot PSDM was implemented by the control of the plane down-going wavefield and selection of number and range of the raypaths in order to optimize the imaging effect. In addition, controlled illumination techniques are applied to enhance the imaging precision of interesting areas at different depths. Numerical calculation indicates that plane wave shot imaging is a rapid and efficient method with less computational cost and easy parallel computation compared to the single-square-root operator imaging for common shot gathers and double- square-root operator imaging for common midpoint gathers.展开更多
In order to ensure that the off-line arm of a two-arm-wheel combined inspection robot can reliably grasp the line in case of autonomous obstacle crossing,a control method is proposed for line grasping based on hand-ey...In order to ensure that the off-line arm of a two-arm-wheel combined inspection robot can reliably grasp the line in case of autonomous obstacle crossing,a control method is proposed for line grasping based on hand-eye visual servo.On the basis of the transmission line's geometrical characteristics and the camera's imaging principle,a line recognition and extraction method based on structure constraint is designed.The line's intercept and inclination are defined in an imaging space to represent the robot's change of pose and a law governing the pose decoupling servo control is developed.Under the integrated consideration of the influence of light intensity and background change,noise(from the camera itself and electromagnetic field)as well as the robot's kinetic inertia on the robot's imaging quality in the course of motion and the grasping control precision,a servo controller for grasping the line of the robot's off-line arm is designed with the method of fuzzy control.An experiment is conducted on a 1:1 simulation line using an inspection robot and the robot is put into on-line operation on a real overhead transmission line,where the robot can grasp the line within 18 s in the case of autonomous obstacle-crossing.The robot's autonomous line-grasping function is realized without manual intervention and the robot can grasp the line in a precise,reliable and efficient manner,thus the need of actual operation can be satisfied.展开更多
Gamma scanning is one of the most common nuclear techniques on troubleshooting industrial equipments like distillation columns and reactors. With a very simple concept, the technique is easy to implement. Searching fo...Gamma scanning is one of the most common nuclear techniques on troubleshooting industrial equipments like distillation columns and reactors. With a very simple concept, the technique is easy to implement. Searching for a competitive edge the industry has been long developing solutions to achieve better results. On the last decades, significant development has been done with the advent of new equipments, electronics, portable computers and software. Continuous scanning and wireless detection systems are examples of successful field solutions, while new software aid on reporting and data presentation. However the type and quality of the results itself has not dramatically changed since its beginning. A scan profile is simple to understand, although the process to build it can be very complex as it requires a specific blend of knowledge and abilities. Process engineering, chemical engineering, internal hydraulic project, nuclear engineering and field abilities are pre requisites for of any scan specialist. Correct data gathering, interpretation and reporting are abilities often difficult to match or requires a long time of training. The industry faces a similar difficult on the customer side, as it is always necessary to train end users to understand a report and how to use its best. This paper describes our effort on developing a new approach on the gamma scan test using image reconstruction techniques that would result on a graphic image rather than a XY plot. Direct and easier to understand, a report with graphic images would be also be accessible to a wider audience, not limited to the customers experienced with gamma scan interpretation.展开更多
A nonlinear sliding mode adaptive controller for a thin-film diffractive imaging system is designed to achieve accurate pointing direction over the attitude of subarrays in large-diameter mirror arrays.The kinematics ...A nonlinear sliding mode adaptive controller for a thin-film diffractive imaging system is designed to achieve accurate pointing direction over the attitude of subarrays in large-diameter mirror arrays.The kinematics and dynamics equations based on error quaternion and angular velocity are derived,and a diffractive thin-film sub-mirror array controller is designed to point precisely.Moreover,the global stability of the controller is proved by the Lyapunov method.Since the controller can adaptively identify the inertia matrix of each sub-mirror system,it is robust to bounded disturbances and changes in inertia parameters.At the same time,the continuous arctangent function is introduced,which is effectively anti-chattering.The simulation results show that the designed controller can ensure the accurate tracking of the diffractive film in each sub-mirror in the presence of rotational inertia matrix uncertainty and various disturbances.展开更多
基金This project is sporspored by Fund item:the National Development and Innovation Committee Program (2005) 2372the National High-tech R&D Program (863 Program) 2006AA06Z241 of ChinaYouth Innovation Fund of CNPC (Program:Prestack Imaging Integral Study for Complex near Surface)
文摘The Pre-Stack Depth Migration （PSDM） method based on wavefield continuation is the most reliable method for imaging complex structure in the subsurface, although there are large computational costs and poorly adaptive geometry. Plane wave shot migration is another method to perform exact wave equation prestack imaging with high computational efficiency and without the migration aperture problem. Moreover, wavefield energy can be compensated at the target zone by controlled illumination. In this paper, plane wave shot PSDM was implemented by the control of the plane down-going wavefield and selection of number and range of the raypaths in order to optimize the imaging effect. In addition, controlled illumination techniques are applied to enhance the imaging precision of interesting areas at different depths. Numerical calculation indicates that plane wave shot imaging is a rapid and efficient method with less computational cost and easy parallel computation compared to the single-square-root operator imaging for common shot gathers and double- square-root operator imaging for common midpoint gathers.
基金Project(2006AA04Z202)supported by the National High Technology Research and Development Program of ChinaProject(51105281)supported by the National Natural Science Foundation of China
文摘In order to ensure that the off-line arm of a two-arm-wheel combined inspection robot can reliably grasp the line in case of autonomous obstacle crossing,a control method is proposed for line grasping based on hand-eye visual servo.On the basis of the transmission line's geometrical characteristics and the camera's imaging principle,a line recognition and extraction method based on structure constraint is designed.The line's intercept and inclination are defined in an imaging space to represent the robot's change of pose and a law governing the pose decoupling servo control is developed.Under the integrated consideration of the influence of light intensity and background change,noise(from the camera itself and electromagnetic field)as well as the robot's kinetic inertia on the robot's imaging quality in the course of motion and the grasping control precision,a servo controller for grasping the line of the robot's off-line arm is designed with the method of fuzzy control.An experiment is conducted on a 1:1 simulation line using an inspection robot and the robot is put into on-line operation on a real overhead transmission line,where the robot can grasp the line within 18 s in the case of autonomous obstacle-crossing.The robot's autonomous line-grasping function is realized without manual intervention and the robot can grasp the line in a precise,reliable and efficient manner,thus the need of actual operation can be satisfied.
文摘Gamma scanning is one of the most common nuclear techniques on troubleshooting industrial equipments like distillation columns and reactors. With a very simple concept, the technique is easy to implement. Searching for a competitive edge the industry has been long developing solutions to achieve better results. On the last decades, significant development has been done with the advent of new equipments, electronics, portable computers and software. Continuous scanning and wireless detection systems are examples of successful field solutions, while new software aid on reporting and data presentation. However the type and quality of the results itself has not dramatically changed since its beginning. A scan profile is simple to understand, although the process to build it can be very complex as it requires a specific blend of knowledge and abilities. Process engineering, chemical engineering, internal hydraulic project, nuclear engineering and field abilities are pre requisites for of any scan specialist. Correct data gathering, interpretation and reporting are abilities often difficult to match or requires a long time of training. The industry faces a similar difficult on the customer side, as it is always necessary to train end users to understand a report and how to use its best. This paper describes our effort on developing a new approach on the gamma scan test using image reconstruction techniques that would result on a graphic image rather than a XY plot. Direct and easier to understand, a report with graphic images would be also be accessible to a wider audience, not limited to the customers experienced with gamma scan interpretation.
基金supported by the Central University Basic Research Fund of China(No.3072022CFJ0202)the Central University Basic Research Fund of China(No.3072022CFJ0204)。
文摘A nonlinear sliding mode adaptive controller for a thin-film diffractive imaging system is designed to achieve accurate pointing direction over the attitude of subarrays in large-diameter mirror arrays.The kinematics and dynamics equations based on error quaternion and angular velocity are derived,and a diffractive thin-film sub-mirror array controller is designed to point precisely.Moreover,the global stability of the controller is proved by the Lyapunov method.Since the controller can adaptively identify the inertia matrix of each sub-mirror system,it is robust to bounded disturbances and changes in inertia parameters.At the same time,the continuous arctangent function is introduced,which is effectively anti-chattering.The simulation results show that the designed controller can ensure the accurate tracking of the diffractive film in each sub-mirror in the presence of rotational inertia matrix uncertainty and various disturbances.
