棒材等离子喷涂法制备Fe72Cr8P13C7非晶态合金涂层成型特征

采用棒材等离子喷涂法制备Fe72Cr8P13C7非晶态合金涂层，分析了涂层的组织，测定了晶化温度、显微硬度和结合强度，采用扫描电镜观察涂层的微观形貌和截面形貌，能谱分析涂层正面和截面的成分变化。结果表明，涂层组织致密，均匀，Cr、P在涂层中片状结构表面有富集现象，涂层与基材之间有冶金结合、机械结合的成型特征。     

Energy-efficient control of nanosatellites during distributed region formation flying

In this paper, we present an energy-efficient method for distributed region formation flying of nanosatellites. The proposed framework consists of two concurrent sub-schemes that include estimation and formation. In the estimation sub-scheme, unlike the existing methods on satellite formation flying, that assume the availability of the reference orbital elements to all followers, here, a distributed estimator is developed so that the follower nanosatellites estimate the position of the leader in its orbital slot. In the formation sub-scheme, we consider a region formation strategy which is an efficient method in dealing with the formation of a large number of nanosatellites. We propose an optimal region following formation method based on the receding horizon control (RHC) using the estimated reference orbital elements. Subsequently, an algorithm is presented to solve the proposed energy-efficient formation flying method. Finally, the simulation result is presented that illustrates the purposed method improves the power consumption for each nanosatellite with respect to the existing non-optimal region formation flying controllers.     

Formation and obstacle avoidance control for multiagent systems

This paper considers the problems of formation and obstacle avoidance for multiagent systems.The objective is to design a term of agents that can reach a desired formation while avoiding collision with obstacles.To reduce the amount of information interaction between agents and target,we adopt the leader-follower formation strategy.By using the receding horizon control (RHC),an optimal problem is formulated in terms of cost minimization under constraints.Information on obstacles is incorporated online as sensed in a limited sensing range.The communication requirements between agents are that the followers should obtain the previous optimal control trajectory of the leader to each update time.The stability is guaranteed by adding a terminal-state penalty to the cost function and a terminal-state region to optimal problem.Finally,simulation studies are provided to verify the effectiveness of the proposed approach.     

Stability analysis for multi-agent systems using the incidence matrix: Quantized communication and formation control

The spectral properties of the incidence matrix of the communication graph are exploited to provide solutions to two multi-agent control problems. In particular, we consider the problem of state agreement with quantized communication and the problem of distance-based formation control. In both cases, stabilizing control laws are provided when the communication graph is a tree. It is shown how the relation between tree graphs and the null space of the corresponding incidence matrix encode fundamental properties for these two multi-agent control problems.     

Global and robust formation-shape stabilization of relative sensing networks

This paper proposes a simple, distributed algorithm that achieves global stabilization of formations for relative sensing networks in arbitrary dimensions with fixed topology. Assuming the network runs an initialization procedure to equally orient all agent reference frames, convergence to the desired formation shape is guaranteed even in partially asynchronous settings. We characterize the algorithm robustness against several sources of errors: link failures, measurement errors, and frame initialization errors. The technical approach combines algebraic graph theory, multidimensional scaling, and distributed linear iterations.     

A distributed control scheme for multiple robotic vehicles to make group formations

This paper presents a novel distributed control scheme of multiple robotic vehicles. Each robotic vehicle in this scheme has its own coordinate system, and it senses its relative position and orientation to others, in order to make group formations. Although there exists no supervisor and each robotic vehicle has only relative position feedback from the others in the local area around itself, all the robotic vehicles are stabilized, which we have succeeded in proving mathematically only in the cases where the attractions between the robots are symmetrical. Each robotic vehicle especially has a two-dimensional control input referred to as a “formation vector” and the formation is controllable by the vectors. The validity of this scheme is supported by computer simulations.     

地层测试资料在措施选层中的应用

试油评价在认识油藏物性变化、油藏形状等方面具有独特的优势,试油评价数据结合录井、测井、构造、沉积等地质资料能更准确地认识地层及油藏,可为措施选层提供正确的方向,为确定措施参数提供依据。将地层测试资料应用于措施选层,已见到了良好的效果,有着广阔的应用前景。     

利用“四性”关系识别建南构造东岳庙段页岩气储层

建南构造侏罗系下统自流井组东岳庙段泥页岩发育,邻井多口井在该段普遍见良好的油气显示。页岩气储层为自生自储型油气藏,属于泥岩性质储层,具有低孔隙、超低渗透率的特点。对建南构造自流井组东岳庙段页岩气储层岩性、物性、电性、含气性特征及储层"四性"关系的研究,结合岩心、气测录井、试气等资料统计分析出页岩气储层的物性和电性下限值,进一步建立有效厚度解释图版,可定量得出页岩气层的解释下限标准。     

对江陵凹陷荆沙组油气勘探前景的重新认识——基于沙26-8井的成果启示

长期以来,江陵凹陷油气勘探以深层新沟嘴组和白垩系为重点,对荆沙组地层未作系统分析与评价,其基本成藏条件研究不深入,勘探潜力不明确。近期沙26-8井在荆沙组的钻探取得重大突破,明确荆沙组具有一定的成藏条件,使得荆沙组成为研究重点和储量增长新的勘探目的层。     

保山盆地永铸街气田沉积物源分析

根据研究区的基本资料和相应成果,在分析保山盆地基本构造格局的基础上,发现因保山盆地主控断层的西边在盆地演化过程中一直处于隆升状态,从而造成不同地带砾岩的分布和含量存在差异,在钻测井、地震资料中的体现也不相同.通过多种方法对永铸街气田的主物源方向进行论证后,认为永铸街气田的物源来自西边.