Kinematics analysis of a robotic rock grinder

With the aim to discover water, life and resources in other planets, robotic sampling instrument is a crucial part of the space exploration robot. To remove dusty and weathered surfaces and expose the fresh rock underneath the planetary surface, a robotic rock grinder is considered to replace the geolo- gist’s rock hammer to carry out the geological investigation. A primary prototype of the robotic rock grinder with three degrees of freedom has been developed in this paper. Planetary transmission system is used in the grinding driving system with two inputs (rotation motor and revolution motor) and two outputs (grinding wheel and cutting brush). The grinding wheel with two teeth has been used to abrade the rock. The cutting brush is used to sweep the debris. The third actuator is to feed the grinding sys- tem. Kinematics of the grinding system has been analyzed. To get a continuous and smooth fresh face over the rock, grinding trajectory of the grinding wheel has been discussed and planned. Lastly, abra- sion experiments have been made to testify the feasibility and the basic function of this system.     

Discussion of gas enrichment mechanism and natural gas origin in marine sedimentary basin,China

There are abundant natural gas resources in Chinese marine sedimentary basin. The exploration hot shots of natural gas are the Palaeozoic marine strata here in recent years, and several large scale gas fields have been discovered. Chinese Palaeozoic high-post matured and coal measure hydrocarbon source rocks are mainly prone to gas generation in the present. This research considered that gas source rocks and TSR are the key cause of gas enrichment of marine strata. High-quality argillaceous and coal measure hydrocarbon rocks are distributed widely in the Palaeozoic marine strata, which have been in highly matured phase in the present. The argillaceous source rock generally contains various sulfates that could accelerate crude oil cracking to gas for TSR occurrence, and coal measure source rock mainly generates gas, so Chinese marine basin gives priority to accumulating gas. Marine strata have not founded oil reservoirs in the Sichuan Basin and Ordos Basin, and they consist mainly of dry gas. Marine natural gases are the mixed gases of oil cracking gas and coal-formed gas in a general way, oil cracking gases contain usually some H2S and CO2. Hydrocarbon carbon isotopes are very complicated, and methane and ethane isotopic values bear apparent reversal caused by thermal evolution and mixing among different genetic types of natural gas. Coal-formed gases are the main component of Chinese marine natural gas. The Upper Permian of the Sichuan Basin and the Carboniferous-Permian of the Ordos Basin coal measure hydrocarbon source rock present large hydrocarbon generation potential, which are the prospecting highlight of marine natural gas hereafter. Oil cracking gas exploration will be paid much attention to in the Tarim Basin because of the lack of coal measure hydrocarbon source rock.     

The controlling factors and distribution prediction of H_2S formation in marine carbonate gas reservoir,China

Generally, there are some anhydrites in carbonate reservoir, as H2S is also familiar in carbonate oil and gas reservoirs. Nowadays, natural gas with high H2S concentration is usually considered as TSR origin, so there is close relationship between H2S and anhydrite. On the contrary, some carbonate rocks with anhydrite do not contain H2S. Recently, researches show that H2S is only a necessary condition of H2S formation. The reservoir porosity, sulfate ion content within formation water, reservoir temperature, oil/gas and water interface, hydrocarbon and some elements of reservoir rock have great controlling effects on the TSR occurrence. TSR deoxidizes hydrocarbon into the acidic gas such as H2S and CO2, and the H2S formation is controlled by TSR occurrence, so the relationship among reaction room, the contact chance of sulfate ion and hydrocarbon, the reservoir temperature has great influence on the TSR reaction. H2S has relatively active chemical quality, so it is still controlled by the content of heavy metal ion. Good conditions of TSR reaction and H2S preservation are the prerequisite of H2S distribution prediction. This paper builds a predictive model based on the characteristic of natural gas reservoir with high H2S-bearing. In the porosity reservoir with anhydrite, the formation water is rich in sulfate and poor in heavy metal ion. Oil and gas fill and accumulate in the gas reservoir with good preservation conditions, and they suffered high temperature later, which indicates the profitable area of natural gas with high H2S-bearing.     

西藏措勤地区典中组火山岩地球化学特征及构造背景

措勤盆地位于西藏冈底斯构造-岩浆岩带的西段北侧,该区古新世火山活动十分强烈,形成了一套厚度大于1 000 m的中酸性火山岩地层,火山岩K-Ar和Rb-Sr同位素年龄为63.9～61.0 Ma,区域上可与古近纪林子宗群下部层位相对比,归为古新统典中组.火山岩岩石化学、地球化学特征分析表明,该火山岩系属高钾钙碱性-钙碱性系列,轻稀土富集,负Eu异常明显.与原始地幔相比,微量元素Rb,Ba,K,Th,U富集;Ti,P,Sr,Ta(Nb)亏损.锶、氧同位素组成显示岩浆来源与陆壳物质关系密切,推测是来自于俯冲带的幔源基性岩浆与陆壳重熔酸性岩浆以不同比例混合所形成.综合研究认为,这套火山岩形成于陆缘弧构造环境,与喜马拉雅特提斯洋壳向北俯冲消减作用有关.     

破碎岩体中的气体渗流规律研究

从实际流体的运动微分方程出发，推导得出了破碎岩体中的气体渗流微分方程，并进一步结合流-固耦合理论导出了破碎岩体中的流-固耦合随机微分方程：通过白行设计的试验仪器、试验方法，进行了破碎岩体中的气体渗流试验，得出了不同粒径的破碎砂岩的气体渗透率，并给出了破碎岩体中的渗透率变化规律，丰富了破碎岩体中气体的渗流理论和试验方法，对以后该问题的进一步研究具有一定的参考价值。     

岩巷快速爆破掘进的探讨

对影响岩巷掘进速度的循环进尺、巷道成型、爆破效率、炮眼深度、组织管理等因素进行了分析探讨。     

加载方式对大理岩碎块分布影响的试验研究

通过对大理岩的标准岩石试件进行单轴压缩和巴西劈裂试验，探讨了不同加载方式对破坏后岩石碎块分布的影响．结果表明：径向劈裂加载破坏后的大理岩碎块在0．5～20．0mm的粒径范围内是一个分形分布，平均分维数Dt为1．9761．单轴压缩破坏后大理岩的碎块分布存在双重尺度下的自相似分形，在0．1～1．0mm和2．0—40．0mm两个粒径范围内均呈分形分布，其平均分维数Dc1,Dc2分别为2．135 0，1．5499．分维数在一定程度上表现出随抗压强度增加而增加的趋势，但与抗拉强度的关系不明显，这与大理岩的各向异性密切相关．岩样破坏后碎块分布的分维数也是岩样荷载形式的恰当表征，引入岩石破碎过程的等效概率模型，从理论上给予了较好的解释．     

斜井巷道穿越风化岩时注浆导管的应用

巷道在穿越风化岩时，由于顶板破碎，难于维护，掘进过程中应采取有效的超前支护方法以解决这一难题。以同煤集团同忻矿井副斜井为例，介绍了注浆导管在风化岩巷道中的使用方法。     

煤矿软岩巷道顶底板剪切变形破坏机理

通过石嘴山一矿38区 600 m轨道巷表面收敛监测及变形破坏的研究,总结出了变形破坏特征。以矿山压力假说为前提,对巷道围岩典型破坏特征作出理论推断,建立巷道顶底板的力学模型,并应用关键层理论、块体理论、弹性力学对巷道变形破坏进行理论分析与求解,得出了巷道顶底板发生剪切破坏判定条件,并用FLAC3D数值模拟验证其正确性,为深部巷道支护提供了新的理论依据。     

煤矿软岩巷道顶底板剪切变形破坏机理

通过石嘴山一矿38区＋600m轨道巷表面收敛监测及变形破坏的研究，总结出了变形破坏特征。以矿山压力假说为前提，对巷道围岩典型破坏特征作出理论推断，建立巷道顶底板的力学模型，并应用关键层理论、块体理论、弹性力学对巷道变形破坏进行理论分析与求解，得出了巷道顶底板发生剪切破坏判定条件，并用FIAC加数值模拟验证其正确性，为深部巷道支护提供了新的理论依据。