基于二分图最大匹配的多机器鱼可控包含控制

考虑水下机器鱼的运动学约束及包含控制中的领导者选择问题,将可控性理论与包含控制相结合,针对有向多机器鱼系统,提出一种基于二分图最大匹配的多机器鱼可控包含控制算法.首先,针对有向多机器鱼网络拓扑结构,利用二分图最大匹配算法求得满足系统可控的驱动节点,即为领导者,其余节点为跟随者;其次,针对2D仿真机器鱼模型设计相应的包含控制协议,从而实现多机器鱼的可控包含控制,且最终跟随者鱼体前端刚体长边方向与领导者保持一致,并应用Lyapunov稳定性理论证明系统的稳定性;最后,基于URWPGSim2D多机器鱼仿真平台进行两组仿真实验,一组随机选取领导者,另一组采用二分图最大匹配算法确定领导者,对比仿真结果表明,所提算法能够有效地实现多机器鱼的可控包含控制.     

One-Dimensional Vertical Electron Cyclotron Emission Imaging Diagnostic for HT-7 Tokamak

At the first stage of the electron cyclotron emission imaging （ECEI） diagnostic project on HT-7, a 16-channel vertical-resolved ECEI diagnostic has been developed and installed on HT-7 tokamak to measure electron cyclotron emission with a temporal resolution of 0.5 usec. The system works at a fixed frequency of 97.5 GHz. The sample volumes of the system are aligned vertically with a vertical channel spacing of 11 mm, and can be shifted across the plasma cross-section by varying the toroidal magnetic field. The high spatial resolution of the system is achieved by utilizing a low-cost linear mixer/receiver array and an optical imaging system. The focus location may be shifted horizontally when translating one of the optical imaging elements. The details of the system design and laboratory testing of the ECEI optics are presented together with the preliminary experimental results.     

义109区块防斜打直技术

随着油田勘探开发工作的不断深入,所钻遇的地层构造越来越复杂,对目的层中靶的要求也越来越高,特别是高陡构造的防斜打直问题更是钻井技术中的难点。直井防斜技术已有数十年的历史,对防斜打直起到了重要作用。但是,传统的防斜和纠斜技术多采用“轻压吊打”,往往是以牺牲钻井速度为代价。防斜打直技术已经成为深直井施工中提高钻井效率,实现经济最大化的关键技术之一。