A critical porosity model is often used to calculate the dry frame elastic modulus by the rock critical porosity value which is affected by many factors. In practice it is hard for us to obtain an accurate critical po...A critical porosity model is often used to calculate the dry frame elastic modulus by the rock critical porosity value which is affected by many factors. In practice it is hard for us to obtain an accurate critical porosity value and we can generally take only an empirical critical porosity value which often causes errors. In this paper, we propose a method to obtain the rock critical porosity value by inverting P-wave velocity and applying it to predict S-wave velocity. The applications of experiment and log data both show that the critical porosity inversion method can reduce the uncertainty resulting from using an empirical value in the past and provide the accurate critical porosity value for predicting S-wave velocity which significantly improves the prediction accuracy.展开更多
针对生产线上的工件螺丝锁付效率低下,现有螺丝锁付机器人获取工件螺孔坐标困难等问题,提出了一种基于STM32 ARM Cortex-M3内核单片机的双工位螺丝锁付机器人。利用文件管控芯片,自动提取了出图纸文件中包含的工件螺孔坐标数据,采用S型...针对生产线上的工件螺丝锁付效率低下,现有螺丝锁付机器人获取工件螺孔坐标困难等问题,提出了一种基于STM32 ARM Cortex-M3内核单片机的双工位螺丝锁付机器人。利用文件管控芯片,自动提取了出图纸文件中包含的工件螺孔坐标数据,采用S型速度控制算法将电机速度采样进行了量化,分成7个不同阶段进行控制,并结合实际生产经验优化了锁付路径,防止了工件锁付时存在的翘角现象;最后,引入了工业触摸屏,使用Modbus协议搭建了螺丝机人机接口(HMI)系统,改善了人机交互效果。实验结果表明:改进型双工位螺丝锁付机器人工作效率约为95.3%,成功率高达99.2%,提高了工件螺丝锁付效率。展开更多
基金sponsored by Important National Science and Technology Specifi c Projects of China (No.2011ZX05001)
文摘A critical porosity model is often used to calculate the dry frame elastic modulus by the rock critical porosity value which is affected by many factors. In practice it is hard for us to obtain an accurate critical porosity value and we can generally take only an empirical critical porosity value which often causes errors. In this paper, we propose a method to obtain the rock critical porosity value by inverting P-wave velocity and applying it to predict S-wave velocity. The applications of experiment and log data both show that the critical porosity inversion method can reduce the uncertainty resulting from using an empirical value in the past and provide the accurate critical porosity value for predicting S-wave velocity which significantly improves the prediction accuracy.
文摘针对生产线上的工件螺丝锁付效率低下,现有螺丝锁付机器人获取工件螺孔坐标困难等问题,提出了一种基于STM32 ARM Cortex-M3内核单片机的双工位螺丝锁付机器人。利用文件管控芯片,自动提取了出图纸文件中包含的工件螺孔坐标数据,采用S型速度控制算法将电机速度采样进行了量化,分成7个不同阶段进行控制,并结合实际生产经验优化了锁付路径,防止了工件锁付时存在的翘角现象;最后,引入了工业触摸屏,使用Modbus协议搭建了螺丝机人机接口(HMI)系统,改善了人机交互效果。实验结果表明:改进型双工位螺丝锁付机器人工作效率约为95.3%,成功率高达99.2%,提高了工件螺丝锁付效率。