Temperature–stress–strain trajectory modelling during thermo-mechanical fatigue

The isothermal strain‐life approach is the most commonly used approach for determining fatigue damage, particularly when yielding occurs. Computationally it is extremely fast and generally requires elastic finite element analyses only. Therefore, it has been adapted for variable temperatures. Local temperature—stress–strain behaviour is modelled with an operator of the Prandtl type. The hysteresis loops are supposed to be stabilized and no creep is considered. The consequences of reversal point filtering are analysed. The approach is finally compared to several thermo‐mechanical fatigue tests and the Skelton model.     

Measurement of forming trajectories during drilling

Results are provided for an experimental study of forming trajectories during drilling and the effect on them of cutting speed and drilling depth. __________ Translated from Izmeritel’naya Tekhnika, No. 8, pp. 31–33, August, 2006.     

Determination of optimal feedback terminal controllers for general boundary conditions using generating functions

Given a nonlinear system and a performance index to be minimized, we present a general approach to expressing the finite time optimal feedback control law applicable to different types of boundary conditions. Starting from the necessary conditions for optimality represented by a Hamiltonian system, we solve the Hamilton-Jacobi equation for a generating function for a specific canonical transformation. This enables us to obtain the optimal feedback control for fundamentally different sets of boundary conditions only using a series of algebraic manipulations and partial differentiations. Furthermore, the proposed approach reveals an insight that the optimal cost functions for a given dynamical system can be decomposed into a single generating function that is only a function of the dynamics plus a term representing the boundary conditions. This result is formalized as a theorem. The whole procedure provides an advantage over methods rooted in dynamic programming, which require one to solve the Hamilton-Jacobi-Bellman equation repetitively for each type of boundary condition. The cost of this favorable versatility is doubling the dimension of the partial differential equation to be solved.     

L2-P5三靶点绕障拱型水平井钻井技术

介绍了胜利油田L2—P5三靶点绕障拱型水平井的设计和施工情况，重点分析了该井直井段和水平段井眼轨迹控制技术，对施工中出现的问题进行了分析并给出了相应的对策，为该区类似井钻井提供了有益的借鉴。     

Real-time accurate hand path tracking and joint trajectory planning for industrial robots (I)

Previously, researchers raised the accuracy for a robot’s hand to track a specified path in Cartesian space mainly through increasing the number of knots on the path and the number of the path’s segments, which results in the heavier online computational burden for the robot controller. Aiming at overcoming this drawback, the authors propose a new kind of real-time accurate hand path tracking and joint trajectory planning method. Through selecting some extra knots on the specified hand path by a certain rule and introducing a sinusoidal function to the joint displacement equation of each segment, this method can greatly raise the path tracking accuracy of robot’s hand and does not change the number of the path’s segments. It also does not increase markedly the computational burden of robot controller. The result of simulation indicates that this method is very effective, and has important value in increasing the application of industrial robots. Foundation item: Foundation of the Robotics Laboratory, Chinese Academy of Sciences (No. RL200002) Biography of the first author: TAN Guan-zheng, Dr., professor, born in Oct. 1962, majoring in artificial intelligence, robotics and automation.     

多目标水平井水平段三维设计数学模型

用柱面法推导出多目标水平井水平段三维设计数学模型，并给出了三维设计所需井斜方位角及井斜角的简单计算公式。该数学模型具有一般性，可以方便地编制成计算机程序，对于多目标水平井水平段的优化设计和所有水平井入靶前的随钻修正设计都非常适用。     

中型孔径小梯段露天石方深孔水压爆破

介绍了一种石方开挖新技术－－露天石方深孔水压爆破技术。用试验的方法，通过和常规石方爆破进行类比，从而研究了此项新技术在中型孔径小梯段应用条件下的各种爆破参数，并进行了定性和定量分析，得到了一些初步的结论。     

实时可视决策系统在渤海湾旅大油田开发中的应用

实时可视决策系统可以将接收到的现场数据实时传输到陆地，井眼轨迹和随钻测井资料可实时在三维地质油藏模型中显示，供钻完井和地质油藏专家综合分析、判断并及时下达指令指导现场施工。旅大油田运用实时可视决策系统成功钻成了6口水平井和4口水平分支井，实现了不钻领眼、井眼轨迹在最佳油层内成功着陆，并使水平井段尽可能沿着油层最佳位置钻进。例如在LD10—1-A25m水平分支井段的钻井过程中，利用实时可视决策系统，控制水平井眼轨迹在油层最佳位置钻进，获得了日产810M^3。的高产油气流。     

垂直发射防空导弹弹道仿真模型研究

弹道仿真是导弹模拟训练系统中的关键部分。为构建准确性较好、实时性较高的弹道仿真模型,在对垂直发射导弹飞行过程进行分析的基础上,将弹道分为垂直段、转弯段、制导段三部分,并根据各部分弹道的特点,分别建立其差分方程描述模型,最后通过仿真验证了模型的准确性和适用性。