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Field source characteristic of gravity variation in Hexi region before Menyuan Ms6.4 earthquake based on the Euler deconvolution
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作者 Fang Liu Yingwei Wang Weifeng Liang 《Geodesy and Geodynamics》 2016年第5期317-322,共6页
This study adopted the Euler deconvolution method to conduct an inversion and interpretation of the depth and spatial distribution pattern of field source that lead to gravity variation. For this purpose, mobile gravi... This study adopted the Euler deconvolution method to conduct an inversion and interpretation of the depth and spatial distribution pattern of field source that lead to gravity variation. For this purpose, mobile gravity data from four periods in the Hexi region between 2011 and 2015 were obtained from an observation network. With a newly established theoretical model, we acquired the optimum inversion parameters and conducted calculation and analysis with the actual data. The results indicate that one is the appropriate value of the structure index for the inversion of the mobile gravity data. The inversion results of the actual data showed a comparable spatial distribution of the field source and a consistent structural trend with observations from the Qilian-Haiyuan Fault zone between 2011 and 2015. The distribution was in a blocking state at the epicenter of the Menyuan earthquake in 2016. Our quantitative study of the field source provides new insights into the inversion and interpretation of signals of mobile gravity variation. 展开更多
关键词 Euler deconvolution potential field inversion gravity variation Structural index Menyuan Ms6.4 earthquake
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Estimating Field Source Parameters of Gravity Change in North China Based on the Euler Deconvolution Method
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作者 Liu Fang Zhu Yiqing Zhao Yunfeng 《Earthquake Research in China》 CSCD 2017年第2期247-256,共10页
Based on the absolute and relative gravity observations in North China from 2009 to 2014,spatial dynamic variations of the regional gravity field are obtained. We employed the Euler deconvolution method and the theore... Based on the absolute and relative gravity observations in North China from 2009 to 2014,spatial dynamic variations of the regional gravity field are obtained. We employed the Euler deconvolution method and the theoretical model to get the best estimates of parameters. Gravity field change caused by the depth and distribution in North China is calculated by back analysis. The results show the structural index that equals 1 is suitable for inversion of the gravity variation data. The inversion results indicate that the depths of anomaly field sources are spread over the Hetao fault. The research method of this paper can be used in the quantitative study on the field source and may shed new light on the interpretations of gravity change, and also provide quantitative basis for earthquake prediction index criterions based on the gravity change. 展开更多
关键词 Euler deconvolution potential field inversion gravity change Structural index North China
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Gravity inversion using the frequency characteristics of the density distribution 被引量:6
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作者 陈石 张健 石耀霖 《Applied Geophysics》 SCIE CSCD 2008年第2期99-106,共8页
Three-dimensional gravity inversion based on the mass property model is very popular in recent years. The time and efficiency of inversion algorithms is relative to the magnitude of the target mesh. One approach is to... Three-dimensional gravity inversion based on the mass property model is very popular in recent years. The time and efficiency of inversion algorithms is relative to the magnitude of the target mesh. One approach is to search over the entire solution space for a more refined result. However, the inversion will be difficult with the increased parameters in the large search space and the number of computations increases exponentially. |n this paper, we propose a novel approach based on the frequency characteristics of the density distribution over the mesh. The purposes of our study are to reduce the parameters of three- dimensional gravity inversion and to lighten the image quality of the inversion result. The results show that the new method can expedite the inversion processing and get a better geological interpretation than tradition methods. 展开更多
关键词 gravity inversion frequency decomposition 3D density distribution potential field
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Gravity field recovery from GOCE orbits using the energy conservation approach 被引量:1
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作者 Su Yong Fan Dongming 《Geodesy and Geodynamics》 2013年第2期40-46,共7页
The sum of the dissipative energy and energy constant of the GOCE satellite is found by a priori gravity field model at first, and the GOCE dissipative energy is obtained by computing the adjacent epoch difference via... The sum of the dissipative energy and energy constant of the GOCE satellite is found by a priori gravity field model at first, and the GOCE dissipative energy is obtained by computing the adjacent epoch difference via the differential method. Then, a gravity field model GOCE-ECPO1, which up to the degree and order 80, is recovered by the energy conservation approach from the 103-day precise orbital data of the GOCE satellite collected from November 1, 2009 to January 12, 2010. Finally, the model is compared with existing models EGM96, ITG-CHAMP05S, EIGEN-GRACE2010S, EIGEN-6C and GO CONS GCF 2 DIR_R3. The results show that at the same order and degree, the accuracy of model GOCE-EBPO1 is higher than those of models EGM96 and ITG-CHAMP05S, but lower than those of models EIGEN-GRACE2010S, EIGEN-6C and GO_CONS_GCF 2 DIR_R3, which is mainly caused by the pole gap. 展开更多
关键词 energy conservation approach GOCE satellite gravity field model dissipative energy potential coefficient
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Mathematical Wave Functions and 3D Finite Element Modelling of the Electron and Positron
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作者 Declan Traill 《Journal of Applied Mathematics and Physics》 2024年第4期1134-1162,共29页
The wave/particle duality of particles in Physics is well known. Particles have properties that uniquely characterize them from one another, such as mass, charge and spin. Charged particles have associated Electric an... The wave/particle duality of particles in Physics is well known. Particles have properties that uniquely characterize them from one another, such as mass, charge and spin. Charged particles have associated Electric and Magnetic fields. Also, every moving particle has a De Broglie wavelength determined by its mass and velocity. This paper shows that all of these properties of a particle can be derived from a single wave function equation for that particle. Wave functions for the Electron and the Positron are presented and principles are provided that can be used to calculate the wave functions of all the fundamental particles in Physics. Fundamental particles such as electrons and positrons are considered to be point particles in the Standard Model of Physics and are not considered to have a structure. This paper demonstrates that they do indeed have structure and that this structure extends into the space around the particle’s center (in fact, they have infinite extent), but with rapidly diminishing energy density with the distance from that center. The particles are formed from Electromagnetic standing waves, which are stable solutions to the Schrödinger and Classical wave equations. This stable structure therefore accounts for both the wave and particle nature of these particles. In fact, all of their properties such as mass, spin and electric charge, can be accounted for from this structure. These particle properties appear to originate from a single point at the center of the wave function structure, in the same sort of way that the Shell theorem of gravity causes the gravity of a body to appear to all originate from a central point. This paper represents the first two fully characterized fundamental particles, with a complete description of their structure and properties, built up from the underlying Electromagnetic waves that comprise these and all fundamental particles. 展开更多
关键词 ELECTRON POSITRON Wave Function Solution Electromagnetic Spin Mass Charge Proof Fundamental Particle Properties Quantum Mechanics Classical Physics Computer 3D Model Schrödinger Equation RMS KLEIN GORDON Electric Magnetic Lorentz Invariant Hertzian Vector Point potential field Density Phase Flow Attraction REPULSION Shell theorem Ehrenfest VIRIAL Normalization Harmonic Oscillator
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Photodetachment dynamics of H^- ion in a harmonic potential plus a time-dependent oscillating electric field
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作者 王德华 王传娟 《Chinese Physics B》 SCIE EI CAS CSCD 2017年第10期181-188,共8页
The photodetachment dynamics of H^- ion in a harmonic potential plus an oscillating electric field is studied using the time-dependent closed orbit theory. An analytical formula for calculating the photodetachment cro... The photodetachment dynamics of H^- ion in a harmonic potential plus an oscillating electric field is studied using the time-dependent closed orbit theory. An analytical formula for calculating the photodetachment cross section of this system is put forward. It is found that the photodetachment cross section of this system is nearly unaffected for the weak oscillating electric field strength, but oscillates complicatedly when the oscillating electric field strength turns strong. In addition, the frequency of the harmonic potential and the oscillating electric field (the frequency of the harmonic potential and the frequency of the oscillating electric field are the same in the paper, unless otherwise stated.) can also affect the photodetachment dynamics of this system. With the increase of the frequency in the harmonic potential and the oscillating electric field, the number of the closed orbits for the detached electrons increased, which makes the oscillatory structure in the photodetachment cross section much more complex. Our study presents an intuitive understanding of the photodetachment dynamics driven by a harmonic potential plus an oscillating electric field from a space and time dependent viewpoint. This study is very useful in guiding the future experimental research for the photodetachment dynamics in the electric field both changing with space and time. 展开更多
关键词 harmonic potential oscillating electric field time-dependent closed orbit theory photodetachment dynamics
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Gravity Field Variations Associated with the Buried Geological Structures: San Marcos Fault (NE Mexico) Case Study
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作者 Vsevolod Yutsis Yaneth Quintanilla-López +2 位作者 Konstantin Krivosheya Juan Carlos Montalvo-Arrieta Gabriel Chávez-Cabello 《Journal of Modern Physics》 2012年第9期1236-1246,共11页
Gravity data are sensitive to local vertical offsets across high-angle faults, where rocks with different densities are juxtaposed. Yet high densities in some Mesozoic sedimentary rocks just above the basement may sme... Gravity data are sensitive to local vertical offsets across high-angle faults, where rocks with different densities are juxtaposed. Yet high densities in some Mesozoic sedimentary rocks just above the basement may smear out the subtle gravity signatures of basement faults. At this study the gravity data processing tends to avoid ill-described “black-box” techniques. The study area is situated in the Palomas site, Cuatrociénegas region, Coahuila, NE Mexico. The San Marcos Fault is at least 300 km long and has WNW-ESE trend from the central part of Nuevo León State through Coahuila, and finally to the eastern part of Chihuahua State. Gravimetric data shows that the lowest values of free air and Bouguer anomalies are in the southern part of the area, and the highest values are in the western and central part of the area. Between these parts exists a zone of high horizontal gravity gradient. Configuration of linear elements of gravity field (gradient zones) delimited the San Marcos Fault in the San Marcos valley below thickness of recent sedimentary cover. Two density models were carried out, which showed that the Cretaceous rocks are in discordant contact with the Paleo- zoic rocks that can be related to the San Marcos Fault. The density was determinate using to Nettleton’s method, which results highlight the presence of the San Marcos Fault. Density models showed that the Quaternary sediments are in direct contact with the San Marcos Fault. 展开更多
关键词 Earth gravity Newton potential GEOPHYSICAL PROSPECTING Density Models Free Air Anomaly gravity field VARIATIONS
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Spin Supercurrent in Phenomena of Quantum Non-Locality (Quantum Correlations, Magnetic Vector Potential) and in Near-Field Antenna Effect 被引量:1
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作者 Liudmila B. Boldyreva 《Journal of Modern Physics》 2019年第2期128-144,共17页
It is shown that such phenomena as quantum correlations (interaction of space-separated quantum entities), the action of magnetic vector potential on quantum entities in the absence of magnetic field, and near-field a... It is shown that such phenomena as quantum correlations (interaction of space-separated quantum entities), the action of magnetic vector potential on quantum entities in the absence of magnetic field, and near-field antenna effect (the existence of superluminally propagating electromagnetic fields) may be explained by action of spin supercurrents. In case of quantum correlations between quantum entities, spin supercurrent emerges between virtual particles pairs (virtual photons) created by those quantum entities. The explanation of magnetic vector potential and near-field antenna effect is based on contemporary principle of quantum mechanics: the physical vacuum is not an empty space but the ground state of the field consisting of quantum harmonic oscillators (QHOs) characterized by zero-point energy. Using the properties of the oscillators and spin supercurrent, it is proved that magnetic vector potential is proportional to the moment causing the orientation of spin of QHO along the direction of magnetic field. The near-field antenna effect is supposed to take place as a result of action of spin supercurrent causing secondary electromagnetic oscillations. In this way, the electromagnetic field may spread at the speed of spin supercurrent. As spin supercurrent is an inertia free process, its speed may be greater than that of light, which does not contradict postulates of special relativity that sets limits to the speed of inertial systems only. 展开更多
关键词 SPIN SUPERCURRENT QUANTUM Correlations Magnetic Vector potential NEAR-field Antenna Effect Zero-Point Energy QUANTUM Harmonic Oscillator VIRTUAL Particles Pair VIRTUAL Photon
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On Possible A-Priori “Imprinting” of General Relativity Itself on the Performed Lense-Thirring Tests with LAGEOS Satellites 被引量:1
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作者 Lorenzo Iorio 《Communications and Network》 2010年第1期26-30,共5页
The impact of possible a-priori “imprinting” effects of general relativity itself on recent attempts to measure the general relativistic Lense-Thirring effect with the LAGEOS satellites orbiting the Earth and the te... The impact of possible a-priori “imprinting” effects of general relativity itself on recent attempts to measure the general relativistic Lense-Thirring effect with the LAGEOS satellites orbiting the Earth and the terrestrial geopotential models from the dedicated mission GRACE is investigated. It is analytically shown that general relativity, not explicitly solved for in the GRACE-based models, may “imprint” their even zonal harmonic coeffi-cients of low degrees at a non-negligible level, given the present-day accuracy in recovering them. This trans-lates into a bias of the LAGEOS-based relativistic tests as large as the Lense-Thirring effect itself. Further analyses should include general relativity itself in the GRACE data processing by explicitly solving for it. 展开更多
关键词 experimental studies of gravity satellite ORBITS harmonics of the gravity potential field
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WHU-Grace01s:A new temporal gravity field model recovered from GRACE KBRR data alone 被引量:2
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作者 Zhou Hao Luo Zhicai Zhong Bo 《Geodesy and Geodynamics》 2015年第5期316-323,共8页
A new temporal gravity field model called WHU-Grace01s solely recovered from Gravity Recovery and Climate Experiment (GRACE) K-Band Range Rate (KBRR) data based on dynamic integral approach is presented in this pa... A new temporal gravity field model called WHU-Grace01s solely recovered from Gravity Recovery and Climate Experiment (GRACE) K-Band Range Rate (KBRR) data based on dynamic integral approach is presented in this paper. After meticulously preprocessing of the GRACE KBRR data, the root mean square of its post residuals is about 0.2 micrometers per second, and seventy-two monthly temporal solutions truncated to degree and order 60 are computed for the period from January 2003 to December 2008. After applying the combi- nation filter in WHU-Grace01s, the global temporal signals show obvious periodical change rules in the large-scale fiver basins. In terms of the degree variance, our solution is smaller at high degrees, and shows a good consistency at the rest of degrees with the Release 05 models from Center for Space Research (CSR), GeoForschungsZentrum Potsdam (GFZ) and Jet Pro- pulsion Laboratory 0PL). Compared with other published models in terms of equivalent water height distribution, our solution is consistent with those published by CSR, GFZ, JPL, Delft institute of Earth Observation and Space system (DEOS), Tongji University (Tongji), Institute of Theoretical Geodesy (ITG), Astronomical Institute in University of Bern (AIUB) and Groupe de Recherche de Geodesie Spatiale (GRGS}, which indicates that the accuracy of WHU-Grace01s has a good consistency with the previously published GRACE solutions. 展开更多
关键词 Temporal gravity field model gravity Recovery and Climate Experiment (GRACE) Dynamic integral approach K-Band Range Rate (KBRR) Satellite gravity Spherical harmonics Equivalent water height Geopotential determination
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Effects of external fields on a two-dimensional Klein-Gordon particle under pseudo-harmonic oscillator interaction 被引量:1
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作者 Sameer M.Ikhdair Majid Hamzavi 《Chinese Physics B》 SCIE EI CAS CSCD 2012年第11期68-73,共6页
We study the effects of the perpendicular magnetic and Aharonov-Bohm (AB) flux fields on the energy levels of a two-dimensional (2D) Klein Gordon (KG) particle subjected to an equal scalar and vector pseudo-harm... We study the effects of the perpendicular magnetic and Aharonov-Bohm (AB) flux fields on the energy levels of a two-dimensional (2D) Klein Gordon (KG) particle subjected to an equal scalar and vector pseudo-harmonic oscillator (PHO). We calculate the exact energy eigenvalues and normalized wave functions in terms of chemical potential param- eter, magnetic field strength, AB flux field, and magnetic quantum number by means of the Nikiforov Uvarov (NU) method. The non-relativistic limit, PHO, and harmonic oscillator solutions in the existence and absence of external fields are also obtained. 展开更多
关键词 Klein-Gordon equation two-dimensional pseudo-harmonic oscillator (PHO) potential magnetic and Aharonov-Bohm (AB) flux fields Nikiforov-Uvarov method
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On Some Critical Issues of the LAGEOS-Based Tests of the Lense-Thirring Effect
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作者 Lorenzo Iorio 《Journal of Modern Physics》 2011年第4期210-218,共9页
We summarize some critical issues pertaining the tests of the general relativistic Lense-Thirring effect performed by I. Ciufolini and coworkers in the gravitational field of the Earth with the geodetic satellites LAG... We summarize some critical issues pertaining the tests of the general relativistic Lense-Thirring effect performed by I. Ciufolini and coworkers in the gravitational field of the Earth with the geodetic satellites LAGEOS and LAGEOS II tracked with the Satellite Laser Ranging technique. 展开更多
关键词 EXPERIMENTAL Studies of gravity EXPERIMENTAL TESTS of Gravitational theories Satellite ORBITS harmonics of the gravity potential field GEOpotential theory and Determination
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The Nonlinear Influence of Large Celestial Bodies on Earthquakes—Short Commentary
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作者 Michael Nitsche 《Journal of High Energy Physics, Gravitation and Cosmology》 CAS 2022年第4期1032-1036,共5页
A new study on the nonlinear interaction of the fluctuating planetary gravitational field with the lithosphere suggests that not only the directly acting gravitational forces are of influence, but mainly higher harmon... A new study on the nonlinear interaction of the fluctuating planetary gravitational field with the lithosphere suggests that not only the directly acting gravitational forces are of influence, but mainly higher harmonics of the celestial bodies considered as oscillators on large scales [1]. In the meantime, resonances caused by fluctuating gravity can also be detected on small scales in the laboratory [2]. 展开更多
关键词 Earthquake Triggering Planetary gravity field Gravitational field Fluctuations harmonics
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Gravitational Potential of Asteroids of Diverse Shapes
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作者 Aziz Anouar Mohammed Bennani 《International Journal of Astronomy and Astrophysics》 2021年第4期458-469,共12页
Asteroid research is of global security interest, we are more afraid about any impact of these asteroids on Earth. We seek through this work to provide a study on the effect of the asteroid’s shape on the gravity asp... Asteroid research is of global security interest, we are more afraid about any impact of these asteroids on Earth. We seek through this work to provide a study on the effect of the asteroid’s shape on the gravity aspect. Knowledge of the potential is crucial to bodies approaching the asteroid. There is a range of asteroid shapes to consider. Some well-known asteroids such Ceres, Vesta, Iris and Oumuamua are considered in this study. After determining the moment of inertia of the asteroids depending on their materials, the gravity fields and the potential gravity of the asteroids are established when varying their shapes. A representation of the gravity field is given in three dimensional coordinate systems. Also, the behavior of the potential gravity is drawing in the function of the object’s location. The second part is dealing with the interpretation of all the obtained results in order to deduce some rules and features which would be useful for the identification of the asteroids. Thus, by the best knowledge of the effect of the asteroid’s shape, we would be more informed in the survey of the hazardous near earth objects. 展开更多
关键词 ASTEROID gravity field Moment of Inertia potential gravity SHAPES
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Exploration of Pseudospin Symmetry in the Resonant States
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作者 张时声 孙保华 周善贵 《Chinese Physics Letters》 SCIE CAS CSCD 2007年第5期1199-1202,共4页
Taking ^120Sn as an example, we discuss the pseudospin symmetry in the single proton resonant states by examining the energies, widths and the wavefunctions. The information of the single proton resonant states in sph... Taking ^120Sn as an example, we discuss the pseudospin symmetry in the single proton resonant states by examining the energies, widths and the wavefunctions. The information of the single proton resonant states in spherical nuclei are extracted from an analytic continuation in the coupling constant method within the framework of the self-consistent relativistic mean field theory under the relativistic boundary condition. We find small energy splitting in a pair of pseudospin partners in the resonant states. The lower components of the Dirac wavefunctions of a pseudospin doublet agree well in the region where nuclear potential dominates. It is concluded that the pseudospin symmetry is also well conserved for the resonant states in realistic nuclei. 展开更多
关键词 HARTREE-BOGOLIUBOV theORY MEAN-field theORY DIRAC-EQUATION RELATIVISTICSYMMETRY HARMONIC-OSCILLATOR COUPLING-CONSTANT DEFORMED-NUCLEI NILSSON MODEL CONTINUATION potentialS
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Forward Modeling Research of Gravity Data Offset in North China Region
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作者 Dandan Li Xingong Tang +1 位作者 Shuai Hou Kui Xiang 《Open Journal of Yangtze Oil and Gas》 2019年第2期79-88,共10页
Due to the complexity and overlap effects of gravity anomalies,the gravity high point always deviates from the real position of the target.Researching the offset characteristics is helpful to determine the right locat... Due to the complexity and overlap effects of gravity anomalies,the gravity high point always deviates from the real position of the target.Researching the offset characteristics is helpful to determine the right location of gravity anomalies.In this paper,a series of forward models were designed to calculate the offset features under different assumptions.Different density models were established based on the measured gravity data in north China Sunhu area and a variety of methods were tried to eliminate offset effects under different conditions.The results indicate that the gravity anomalies of different density bodies can be separated effectively and the real position of target can be correctly located by using the“layer stripping method”. 展开更多
关键词 gravity EXPLORATION gravity ofFSET FORWARD Modeling potential field Separation Digital Filter Layer STRIPPING Method
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Gravity and gravity gradient changes caused by a point dislocation 被引量:2
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作者 黄建梁 李辉 李瑞浩 《Acta Seismologica Sinica(English Edition)》 CSCD 1995年第1期89-99,共11页
In this paper we studied gravitational potential, gravity and its gradient changes, which are caused by a pointdislocation, and gave the concise mathematical deduction with definite physical implication in dealing wit... In this paper we studied gravitational potential, gravity and its gradient changes, which are caused by a pointdislocation, and gave the concise mathematical deduction with definite physical implication in dealing with thesingular integral at a seismic source. We also analysed the features of the fields of gravity and gravity gradient,gravity-vertical-displacement gradient. The conclusions a re: (1) Gravity and gravit y gradient changes are verysmall with the change of vertical positionl (2) Gravity change is much greater than the gravity gradient changewhich is not so distinct; (3) The gravity change due to redistribution of mass accounts for 10-50 percent of thetotal gravity change caused by dislocation. The signs (positive or negative) of total gravity change and verticaldisplacement are opposite each other at the same point for strike slip and dip slip 1 (4) Gravity-vertical displacement-gradient is not constantl it manifests a variety of patterns for different dislocation modelsl (5) Gravityvertical-displacement-gradient is approximately equal to a pparent gra vit y-- vert ical- displacement -gradient. 展开更多
关键词 gravity field gradient gravity potential DISLOCATION
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DQM2022系列超高阶地球重力场模型构建及其精度评估
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作者 王云鹏 刘晓刚 +2 位作者 李琦 李端 方柳 《测绘学报》 EI CSCD 北大核心 2024年第8期1505-1516,共12页
本文基于椭球谐分析,提出了超高阶地球重力场模型构建的局部积分改进迭代法和全球积分改进迭代法,解决了传统的局部积分改进法存在的局限性,有效提高了改进模型在中国地区的适用精度。选择EGM2008、EIGEN-6C4地球重力场模型作为初始模型... 本文基于椭球谐分析,提出了超高阶地球重力场模型构建的局部积分改进迭代法和全球积分改进迭代法,解决了传统的局部积分改进法存在的局限性,有效提高了改进模型在中国地区的适用精度。选择EGM2008、EIGEN-6C4地球重力场模型作为初始模型,利用中国及周边地区最新的5′×5′实测格网平均重力异常数据,构建了DQM2022系列超高阶地球重力场模型,其完全阶次均为2190。采用地面实测重力异常、GNSS/水准、天文大地垂线偏差等数据对改进模型进行精度评估。结果显示:①相对于初始模型,改进模型表示中国地区重力场的精度显著提高,重力异常精度提高了2.4~2.8 mGal,高程异常精度提高了1.0~2.4 cm,垂线偏差精度提高了0.07″~0.15″;②在表示中国地区重力场时,基于EIGEN-6C4初始模型构建的改进模型精度最高,高程异常精度约为10.6 cm,垂线偏差精度约为2.1″。 展开更多
关键词 局部积分改进迭代法 全球积分改进迭代法 超高阶地球重力场模型 椭球谐分析 重力异常 高程异常 垂线偏差
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基于AGD-RRT算法的机械臂路径规划
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作者 周枫林 赵钒地 +3 位作者 陈腾飞 龙厚云 王瑾元 李光 《湖南工业大学学报》 2024年第1期40-47,共8页
针对RRT(rapidly-exploring random tree)算法在进行机械臂路径规划过程中存在的拓展导向性差、冗余节点多、路径质量差等问题,提出了一种基于AGD-RRT(adaptive goal-directed RRT)的算法。首先,该算法构建了一种动态的目标偏向概率函数... 针对RRT(rapidly-exploring random tree)算法在进行机械臂路径规划过程中存在的拓展导向性差、冗余节点多、路径质量差等问题,提出了一种基于AGD-RRT(adaptive goal-directed RRT)的算法。首先,该算法构建了一种动态的目标偏向概率函数,实时调整对目标点进行采样的概率以达到自适应目标导向的效果,减少了无用节点的生成,提高了收敛速度。其次,采用贪婪收敛策略,防止了随机树在目标周围时的盲目扩张。搜索结束后,采用节点剔除法剔除路径中的冗余节点,并用B样条曲线对轨迹进行平滑处理,提高了路径质量。然后在二维、三维环境中进行了对比仿真实验,验证了该算法的可行性与优越性。最后进行了样机实验,验证了所提算法在机械臂关节空间进行路径规划的可行性。 展开更多
关键词 机械臂 拓展导向性 人工势场 引力 斥力 路径规划 AGD-RRT算法
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Convergence of Spherical Harmonic Series Expansion of the Earth's Gravitational Potential
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作者 SHEN Wenbin 《Geo-Spatial Information Science》 2009年第1期1-6,共6页
Given a continuous boundary value on the boundary of a "simply closed surface" as that encloses the whole Earth, a regular harmonic fictitious field V*(P) in the domain outside an inner sphere Ki that lies inside... Given a continuous boundary value on the boundary of a "simply closed surface" as that encloses the whole Earth, a regular harmonic fictitious field V*(P) in the domain outside an inner sphere Ki that lies inside the Earth could be determined, and it is proved that V*(P) coincides with the Earth's real field V(P) in the whole domain outside the Earth. Since in the domain outside the inner sphere Ki and the fictitious regular harmonic function V*(P) could be expressed as a uniformly convergent spherical harmonic series, it is concluded that the Earth's potential field could be expressed as a uniformly convergent spherical harmonic expansion series in the whole domain outside the Earth. 展开更多
关键词 potential field fictitious field uniqueness of the solution spherical harmonic series uniform convergence
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