煤矿底板注浆多分支水平井卡钻事故处理

煤矿底板注浆多分支水平井因其具有效封堵含水层中的导水通道,解决煤矿底板水对工作面的威胁,对环境破坏小等优点被广泛应用于煤矿底板突水防治中,但受地质条件、水文条件、钻井工艺、施工过程等影响,在施工中易发生事故。以淮北煤田某煤矿底板注浆多分支水平井为例,对该井因二开施工过程不规范引起地层坍塌导致的井下卡钻事故进行分析,在采用常规方式处理无效的情况下,借鉴“油田老井侧钻开窗技术”,不仅解决了卡钻事故,而且确保了后期施工安全。这是侧钻开窗技术在该区处理井下事故的首次成功应用,对该区及国内其他地区处理类似事故具有重要的借鉴和指导意义。     

基于GPS的海冰实时监测系统及其应用研究

海冰是高纬度海区特有的海洋现象。运动的海冰具有巨大的能量,对冰区的石油平台、港口堤坝、船只等构成了巨大的威胁,因此实时获取准确的海冰运动信息对于海冰灾害的防治有重要的现实意义。我国海冰为一年海冰,冰体较薄,用于极地的海冰跟踪设备并不适用于我国北方海域。设计并提出了一种基于GPS的海冰定位跟踪系统,系统包含冰上定位发射和接收两个部分。冰上部分质量较轻且外形增加了防滑设计,接收端接收到数据后自动入库,并与地图匹配显示。监测系统于2015-2016年冬季在辽东湾海域进行了应用测试,应用试验表明,该方法能够较好地进行海冰定位与跟踪,定位误差在5 m以内,运行时间较久,较适用于我国薄冰海域。     

Underwater Target Detection Based on Reinforcement Learning and Ant Colony Optimization

Underwater optical imaging produces images with high resolution and abundant information and hence has outstanding advantages in short-distance underwater target detection.However,low-light and high-noise scenarios pose great challenges in un-derwater image and video analyses.To improve the accuracy and anti-noise performance of underwater target image edge detection,an underwater target edge detection method based on ant colony optimization and reinforcement learning is proposed in this paper.First,the reinforcement learning concept is integrated into artificial ants’movements,and a variable radius sensing strategy is pro-posed to calculate the transition probability of each pixel.These methods aim to avoid undetection and misdetection of some pixels in image edges.Second,a double-population ant colony strategy is proposed,where the search process takes into account global search and local search abilities.Experimental results show that the algorithm can effectively extract the contour information of underwater targets and keep the image texture well and also has ideal anti-interference performance.     

三峡河段表面流速流向数据处理

提出了三峡河段表面流速流向数据处理系统框架,制定了数据自动处理的流程,基于VB6.0实现了数据处理算法与系统,生成支持清华山维EPS2008的数据格式,最终生成流速流向图。最后,通过三峡—葛洲坝两坝间河段石牌水域四万五千流量级表面流速流向观测实例,验证了该数据处理方法的准确性和成图的快速性。     

基于引导角的非完整移动机器人轨迹跟踪控制

研究非完整移动机器人的轨迹跟踪控制问题。首先根据移动机器人侧向误差和角度误差的几何关系,提出了一种基于引导角的轨迹跟踪控制方法。然后利用Lyapunov直接法和积分Backstepping方法设计了基于引导角的轨迹跟踪控制器,并证明了移动机器人轨迹跟踪误差收敛性。最后通过仿真结果验证了本文方法的有效性。     

Optimal spatial allocation of water resources based on Pareto ant colony algorithm

The spatial allocation of water resources is optimised using the multi-objective functions and multi-constrained conditions of the Pareto ant colony algorithm (PACA). The objective function is the highest benefit to the economy, society and the environment, while the constraints include water supply, demand and quality. The PACA is improved by limiting local pheromone scope and dynamically updating global pheromone levels. Since both strategies guide the ant towards borders of high-pheromone concentration, the new approach enhances the global search capability and convergence speed. Programming, database management and interface tools are then integrated into geographic information systems (GIS) software. The study area is located in Zhenping County, Henan Province, China, and water resource data are obtained using remote sensing (RS) and GIS technology. The improved PACA is solved in the GIS environment. Optimal spatial allocation schemes are obtained for surface, ground and transferred water and the model yields optimal spatial benefit schemes of water resources, embracing economic, social and ecological benefits. The results of improved PACA are superior to those of other intelligent optimisation algorithms, including the ant colony algorithm, multi-objective genetic algorithm and back-propagation artificial neural network. Therefore, the integration of RS, GIS and PACA can effectively optimise the large-scale, multi-objective allocation of water resources. The model also enhances the global search capability, convergence speed and result precision, and can potentially solve other optimal spatial problems with multi-objective functions.     

多震相走时联合三参数同时反演成像

采用新近研制的分区多步不规则最短路径多震相地震射线追踪正演技术,结合流行的子空间反演算法,提出了一种联合多震相走时资料进行地震三参数 （速度、反射界面和震源位置） 同时反演的方法技术.数值模拟反演实例、以及与双参数 （速度和反射界面或速度和震源位置） 同时反演的对比分析表明：三参数同时反演成像结果大体接近双参数同时反演成像的结果.另外,噪声敏感性试验表明：所提算法对到时数据中可容许的随机误差并不敏感,结果说明多震相走时的联合三参数同时反演成像方法技术不失为一种提高走时成像空间分辨率、进而降低重建模型参数失真度、行之有效的方法技术.     

Understanding flow dynamics and density currents in a river-reservoir system under upstream reservoir releases

ABSTRACT

A three-dimensional flow and temperature model was applied for a 124 km river-reservoir system from Lewis Smith Dam tailrace to Bankhead Lock & Dam, Alabama. The model was calibrated against measured water levels, temperatures, velocities and flow rates from 4 May to 3 September 2011 under small constant release (2.83 m³/s) and large intermittent releases (~140 m³/s) from an upstream reservoir. Distributions of simulated flow and temperatures and particle tracking at various locations were analyzed which revealed the complex interactions of density currents, dynamic surface waves and solar heating. Flows in the surface and bottom layers moved in both upstream and downstream directions. If there was small constant release only from Smith Dam, simulated bottom temperatures at Cordova were on average 4.8°C higher than temperatures under actual releases. The momentum generated from large releases pushed bottom density currents downstream, but the released water took several days to reach Cordova.

Editor D. Koutsoyiannis; Associate editor B. Dewals     

Robust sliding mode control of a mini unmanned underwater vehicle equipped with a new arrangement of water jet propulsions: Simulation and experimental study

This paper presents dynamical modeling and robust control of a Mini Unmanned Underwater Vehicle (MUUV) equipped with a new arrangement of water jet propulsion. The water jet propulsion includes some advantages comparing with a propeller one, such as, reducing the number of required motors, desired number and arrangement of the propulsions, removing adverse torque and cavitation due to propeller rotation and etc. In order to model the proposed MUUV, the gray box method is used in such a way that the dynamical equation of motion is derived analytically by Euler-Lagrangian method, and then the hydrodynamic coefficients (such as added mass and drag coefficients) are derived by performing some tests in a Computational Fluid Dynamic (CFD) software. The dynamical model is used to simulate the MUUV system and also to design the proposed controllers, which are Feedback Linearization Controller (FLC) and Sliding Mode Controller (SMC). In order to investigate and compare the performance of the MUUV and the applied controllers, three types of tests including a desired signal tracking case and two desired path tracking cases are designed. To do so, a method is presented to obtain the desired signals from a desired path under predetermined conditions. Then, an MUUV prototype is designed and constructed in order to investigate the performance of the proposed water jet propulsions and controllers for regulation and tracking desired signal purpose, experimentally. As it is expected, the simulation and experimental results show better performance of the SMC compared to FLC. Furthermore, the experimental results reveal that the water jet propulsion is implementable to practical prototypes and also can be produced in an industrial level.     

小断层识别方法在海上油田开发中的应用研究

由于受地震资料本身的分辨率和保真度的限制,如何识别地震上难于人工解释的小断层一直是期待解决的问题。在珠江口盆地X油田,通过测试蚂蚁体技术、相干体技术、曲率技术等这几种当前最主要的小断层识别方法,以断层识别要求为标准对比分析了其识别能力,最终总结出以蚂蚁体为主,相干分析为辅,并结合地震剖面及本区构造特征进行综合识别的小断层检测方案。实际应用效果表明,该方法在相应尺度小断层的识别效果较好,满足了开发工程的需求。