Dynamics and Stability of Blind Grasping of a 3-Dimensional Object under Non-holonomic Constraints

A mathematical model expressing the motion of a pair of multi-DOF robot fingers with hemi-spherical ends, grasping a 3-D rigid object with parallel fiat surfaces, is derived, together with non-holonomic constraints. By referring to the fact that humans grasp an object in the form of precision prehension, dynamically and stably by opposable forces, between the thumb and another finger （index or middle finger）, a simple control signal constructed from finger-thumb opposition is proposed, and shown to realize stable grasping in a dynamic sense without using object information or external sensing （this is called ＂blind grasp＂ in this paper）. The stability of grasping with force/torque balance under non-holonomic constraints is analyzed on the basis of a new concept named ＂stability on a manifold＂. Preliminary simulation results are shown to verify the validity of the theoretical results.

3-D velocity structure in the central-eastern part of Qilianshan

The 3-D velocity tomography image of the central-eastern part of Qilianshan is obtained by the joint inversion of 3-D velocity structure and focal parameters based on the S-P data of micro-earthquakes recorded by the digital seismic network set up for a Sino-French cooperation program since 1996. The inversed velocity structure does primarily reflect some important features of the deep structure in the region and provide the scientific background for the further study of active tectonic structure and the calculation of earthquake parameters.

Earthquake relocation and 3-dimensional crustal structure of P-wave velocity in central-western China

A simultaneous inversion of earthquake relocation and three-dimensional crustal structure of P-wave velocity in central-western China (21癗~36癗, 98癊~112癊) were performed in this paper. The crustal P-wave velocity model and earthquake relocation for this region are obtained using Pg and Sg phase readings of 9 988 earthquakes from 1992 to 1999 recorded at 193 seismic stations within central-western China by SPHYPIT90 and SPHREL3D90 programs. A lateral inhomogeneous structure of P-wave velocity in this region was obtained. Ob-vious contrast of P-wave velocities was revealed on both sides of active fault zones. Relocated epicenters of 6 459 events show clear lineation along active faults, which indicated a close correlation between seismicity and the active faults in this region. Focal depths of 82% relocated events ranged from 0 to 20 km, which is in good agreement with that from double-difference earthquake location algorithm.

FAST APPROXIMATE INVERSION OF MAGNETOTELLURIC(FAIMT) DATA FOR A HORIZONTALLY LAYERED EARTH WITH NEAR-SURFACE INHOMOGENEITIES

This paper discusses use of approximations and the Integral Mean Value Theorem to show that 6 coefficients approximately describe the distortions of near surface inhomogeneities on the MT field of a horizontally layered earth model. When these 6 coefficients are considered together with those of the magnetic field of a horizontally layered earth model,the analytic and approximate wave impedance equations can be derived for the MT response of a horizontally layered earth model with near-surface 2-D and 3-D inhomogeneities. These approximate wave impedance equations are used with inverted MT data for 2-D and 3-D forward modelling. Although these 6 coefficients cannot be determined before inversion,initial estimates can be used. The 6 coefficients and the asistivity and thickness of each layer of a horizontally layered earth can be obtained by using published inversion methods. The 6 coefficients give important informaion (depths and resistivities) on the near-surface inhomogenelties.The authors inverted 2-D and 3-D theoretical models for Fast Approximate Inversion of Magnetotelluric (FAIMT) data for a horizontally layered earth with near-surface inhomogeneities compares favorably with traditional invrsion methods, especially for inverting regional or basin structures. This method simplifies computation and gives a reasonable 1 -D geological model with fewer nonuniquenas problems.

3-D seismic tomography for velocity and interface structure of the crust and upper mantle(theoreticalpart)

A method of three dimensional (3-D) model parameterization is presented that makes forward and inverse problems become easy. The velocity and interface structure of crust and upper mantle are described by a set of highly smoothed functions. Shooting ray tracing method is chosen to calculate the ray paths for both forward and inverse problems. The partial derivatives of traveltime with respect to parameters of the model grids are calculated analytically while rays are being traced. Because velocity and interface functions have second-order continuous partial derivatives, the geometrical shadow zones at the surface caused by scattering and focusing of ray paths can be prevented. After ray tracing, an equation consisting of matrix and vectors for inverse problem is obtained. We use singular value decomposition method with damped factor to solve the equation. A synthetic data set which consists of several in-line profiles is used to test the methods. The results show that the methods are robust. Compared with the two dimensional method, the 3-D inversion method can give the right position of interfaces and the velocity structure when the crustal model is complicated.

Inversion of gravity gradient data based on spatial gradient weighting

Compared with traditional gravity measurement data,gravity gradient tensor data contain more high frequency information,which can be used to understand the earth's interior structure,mineral resources distribution etc. In this study,the authors present an algorithm for inverting gravity gradiometer data to recover the three-dimensional( 3-D) distributions of density. Spatial gradient weighting was used to constrain the extent of the body horizontally and vertically. A more accurate inversion result can be obtained by combining the prior information into the weighting function and applying it in inversion. This method was tested on synthetic models and the inverted results showed that the resolution was significantly improved. Moreover,the algorithm was applied to the inversion of empirical data from a salt dome located in Texas,USA,which demonstrated the validity of the proposed method.

Reconstruction of Temperature Field in 3-D, Absorbing, Emitting, and Anisotropically Scattering Medium

The soft measurement technology of flame temperature field is an efficient method to learn the combustion status in furnace. Generally, it reconstructs the temperature field in furnace through the image of flame, which is a process to solve radiative inverse problem. In this paper, the flame of pulverized coal is considered as 3-D, absorbing, emitting, and anisotropically scattering non-gray medium. Through the study on inverse problem of radiative heat transfer, the temperature field in this kind of medium has been reconstructed. The mechanism of 3-D radiative heat transfer in a rectangular media, which is 2 m×3 m× 5 m and full of CO2, N2 and carbon particles, is studied with Monte Carlo method. The 3-D temperature field in this rectangular space is reconstructed and the influence of particles density profile is discussed.

基于牛顿欧拉法的3-RPS并联机构逆动力学分析

以3-RPS机构为例,研究了对称少自由度并联机构的逆动力学问题。因其自由度数目小于6,该类机构的支链不仅传递驱动力,同时还需为动平台提供约束。然而,现有文献大多未对广义约束力给予足够的重视。采用牛顿欧拉法建立了3-RPS机构的刚体动力学方程,给定动平台的运动规律及外载荷后,可一并求解机构所需的驱动力与约束力矩。算例仿真表明,与动平台自由速度方向不一致的外载荷主要需由约束力矩平衡。因此,在对称少自由度并联机构动力学设计中,必须计入广义约束力的影响。

Advanced Computational Methods of Rapid and Rigorous 3-D Inversion of Airborne Electromagnetic Data

We develop a new computational method for modeling and inverting frequency domain airborne electromagnetic(EM)data.Our method is based on the contraction integral equation method for forward EM modeling and on inversion using the localized quasi-linear(LQL)approximation followed by the rigorous inversion,if necessary.The LQL inversion serves to provide a fast image of the target.These results are checked by a rigorous update of the domain electric field,allowing a more accurate calculation of the predicted data.If the accuracy is poorer than desired,rigorous inversion follows,using the resulting conductivity distribution and electric field from LQL as a starting model.The rigorous inversion iteratively solves the field and domain equations,converting the non-linear inversion into a series of linear inversions.We test this method on synthetic and field data.The results of the inversion are very encouraging with respect to both the speed and the accuracy of the algorithm,showing this is a useful tool for airborne EM interpretation.

A Two-Streamfunction-Coordinate Method for the Numerical Solution of 3-D Aero-Thermodynamics Direct and Inverse Problems

This paper describes a new method which has been developed for the solution of direct and inverse problems of 3-D compressible flows in turbomachinery.Two types of streamfunctions are proposed in the paper and the streamfunction-coordinate system is applied in numerical computations.The algorithm is applied to stator blades and the results are compared with experimental data,It is shown that the comparisons are very satis- factory.

重磁异常三维物性反演随机子域法方法技术

本研究针对三维物性反演中存在的困难和问题,提出三维物性反演的随机子域方法技术,首先是将正反演中保持不变的几何格架分离计算并存储,避免重复计算,从而提高正反演计算速度;其次是利用对称性等实现等效计算,明显降低格架计算和存储要求;再通过随机子域方式,降低反演的维数问题;另外,通过概率方式控制子域生成的分布,实现约束新机制.模型和实例计算表明了方法技术的效果,为大面积重磁数据的三维反演提供了有效的途径.

用改进的光滑约束最小二乘正交分解法实现电阻率三维反演

对三维电阻率反演问题进行了深入研究,提供了一种利用地表观测数据实现三维反演的实用算法.该方法应用有限差分求正演解,并通过对粗糙度矩阵元素进行适当改进,使之适用于各种情况下粗糙度矩阵的求取,进而建立在模型的总粗糙度极小条件下的反演方程.对反演方程采用收敛速度快且稳定的最小二乘正交分解(LSQR)法进行迭代求解,在迭代求解过程中只需利用偏导数矩阵和其转置矩阵乘以一个向量的结果,回避了直接求偏导数矩阵的繁琐计算,节省了内存,加快了反演的计算速度.不同的计算实例表明上述方法是求解大规模三维电阻率反演问题的有效方法.

先验信息约束层析成像静校正技术在柴西南地区的应用

在柴达木盆地西部南区,针对不同的地质目标采集了多块三维地震资料,对于该地区进一步的油气勘探开发,需要整体认识该区域的地质特征和沉积相,为此在该区开展了三维地震资料连片处理研究。柴西南地区近地表结构复杂,岩性多变,地表高差达600 m,低、降速层厚度变化大(4～200 m),连片处理中静校正问题突出。在对各种静校正方法适应性分析的基础上,提出了先验信息约束层析成像静校正技术,阐述了该方法的基本原理和实现步骤。在方法实现时,区块之间的初至时差采用相关法予以消除,初始速度模型采用相控处理的小折射和微测井资料来建立,并将该模型作为初至波非线性层析反演的约束条件,建立了准确的近地表速度模型,计算全区的静校正量。应用效果分析表明,先验信息约束层析成像静校正技术可以较好地解决复杂地区三维地震资料连片处理中的静校正问题。

三维约束Dix反演层速度方法及其应用研究

传统的Dix公式求取层速度方法,只适用于水平层状地层和小炮检距的情况。在复杂地下介质情况下,速度横向变化剧烈,有必要研究一种规则化的速度分析技术。本文在Koren等人的稳定、快速的约束速度反演基础上,提出一种三维约束Dix反演层速度的方法,即使用Dix约束反演得到瞬时速度场,再由阻尼最小平方法输入平滑的叠加速度,用伴随矩阵线性方程给出层速度扰动,并用褶积定义平滑层速度,最终得到最优化的层速度分布。此法用于TFT工区实际资料表明:该方法计算得到的层速度剖面精度高,构造细节反映清晰,能有效识别层速度异常范围,为储层预测提供依据。

断阶型潜山带地质模型的建立及储层预测——以CG20潜山为例

以 CG2 0潜山为例 ,从建立地质模型入手 ,包括地层模型、构造模型、储集模型、储盖组合模型、速度模型等 ,认识到各套地层分布和储层物性的差异均与地震响应密切相关 ,因此可以利用地震波的信息 ,预测潜山储层的发育及分布情况。在对 CG2 0潜山进行精细全三维构造解释的基础上 ,探讨性地应用了测井约束反演、吸收系数、相干分析及三维模式识别等技术 ,对潜山储层进行了预测 ,从而提高了潜山勘探的效益 ,并为类似断阶型潜山带的勘探提供了成功的经验 ,具有一定的指导意义。

基于稀疏约束反演的三维混采数据分离

混合震源采集技术相对于传统的地震数据采集,在极大提高采集效率的同时引入了混叠噪声,很大程度上影响了成像结果的精度.二维混采数据中,我们通常利用混叠噪声在非共炮域呈非相干分布这一特点来压制混叠噪声,从而实现混合震源数据分离.相对于二维混采数据,三维混采数据具有数据量巨大,构建混合震源算子困难,混合度的增加引入了高强度混叠噪声的特点.针对上述问题,本文采用稀疏约束反演方法在Radon域实现混采数据分离,混叠噪声强度比较大的情况下,稀疏约束反演方法能够得到更高精度的分离结果;利用震源激发的GPS时间通过长记录的方式在共接收点道集对上一次迭代分离结果做混合、伪分离,实现了单个共接收点道集自身混合、伪分离,避免了对整个数据做运算,同时不需要构建混合震源算子.通过模拟数据和实际数据计算来验证上述方法的适用性.

ILT Approach for Compensating 3-D Mask Effects

As mask features scale to smaller dimensions, the so-called ＂3-D mask effects＂ which have mostly been neglected before, become important. This paper properly models the 3-D thick mask effects, and then analyses the object-based inverse lithography technique using a simulated annealing algorithm to determine the mask shapes that produce the desired on-wafer results. Evaluations against rigorous simulations show that the synthesized masks provide good image fidelity up to 0.94, and this approach gives improved accuracy and faster results than existing methods.

Analysis of Dynamic Variations of Crustal Density in the Longmenshan Area before the Wenchuan M_S8.0 Earthquake

Based on the repeated gravity observation data from 1996 to 2007 from the Longmenshan gravity network, which has been dealt with by adjustment processing, the benchmark interference removal and impact of elevation changes removal, and by using the 3-D inversion method to reflect underground density, we analyze the characteristics of Longmenshan regional dynamic crustal density at depths of 25km, 20km and 15kin. The results show that in the Wenchuan earthquake preparation process, the regional density field showed marked characteristics both in time and space distribution. From the point of time process, the density change trend in the ten years before the earthquake presents a periodic change pattern： steady phase, dramatic stage, slow reducing phase and slow increase phase. The degree of density changes is from large to small, which means that earthquake gestation has reached the final stage. From the point of space distribution, density change distribution has a tendency of ＂dispersion--relative concentration＂, this shows that before the earthquake, the entropy of the underground density field was decreased. In addition, dramatic density changes often occur in the Longmenshan fault zone and western Sichuan plateau. Also, with the increase of depth, the trend of density change is more and more obvious. Through comparative analysis, the influence of density change on gravity is much bigger than that from height change.

Three-dimensional finite-time cooperative guidance for multiple missiles without radial velocity measurements

In order to simultaneously attack a target with impact angle constraint in threedimensional(3-D) space, a novel distributed cooperative guidance law for multiple missiles under directed communication topologies is proposed without radial velocity measurements. First, based on missiles-target 3-D relative motion equations, the multiple missiles cooperative guidance model with impact angle constraint is constructed. Then, in Line-of-Sight(LOS) direction, based on multiagent system cooperative control theory, one guidance law with directed topologies is designed with strict proof, which can guarantee finite time consensus of multiple missiles' impact times. Next, in elevation direction and azimuth direction of LOS, based on homogeneous system stability theory and integral sliding mode control theory, two guidance laws are proposed respectively with strict proof, which can guarantee LOS angles converge to desired values and LOS angular rates converge to zero in finite time. Finally, the effectiveness of the designed cooperative guidance law is demonstrated through simulation results.

Squint-mode InISAR imaging based on nonlinear least square and coordinates transform

Aiming at the interferometric inverse synthetic aperture radar （InlSAR） imaging in the presence of squint, we investigate the influence of squint on the InlSAR imaging. First, coupling of the squint additive phase and the target azimuth/altitude coordinates to be solved may make the solution more difficult. Second, the squint angle may lead to estimation error of the vertical coordinates and distortion of the ultimate image. Traditional InlSAR imaging algorithms can not solve the above two problems effectively, so we propose a new method which combines the nonlinear least square （NLS） and coordinates transform （CT） to estimate the target coordinates, and a three-dimensional （3-D） image consistent with the real target is obtained accordingly. Simulations show that the proposed method is effective for the squint-mode InlSAR imaging.