A hierarchical real-time control architecture for a semi-autonomous underwater vehicle

This paper describes a real-time control architecture for Dual Use Semi-Autonomous Underwater Vehicle (DUSAUV), which has been developed at Korea Research Institute of Ships and Ocean Engineering (KRISO) for being a test-bed of development of underwater navigation and manipulator technologies. DUSAUV has three built-in computers, seven thrusters for six DOF motion control, one 4-function electric manipulator, one ballasting motor, built-in power source, and various sensors. A supervisor control system with GUI and a multi-purpose joystick is mounted on the surface vessel and communicates with vehicle through a fiber optic link. Furthermore, QNX, one of real-time operating system, is ported on the built-in control and navigation computers for real-time control purpose, while Microsoft OS product is ported in the supervisor computer for GUI programming convenience. A hierarchical control architecture, which consists of application layer, real-time layer and physical layer, has been developed for efficient control system of above complex underwater robotic system. The experimental results with implementation of the layered control architecture for various motion control of DUSAUV in an ocean engineering basin of KRISO is also presented.     

锯缘青蟹胚胎发育过程主要生化组成

锯缘青蟹胚胎３种主要生化组成以蛋白质含量为最高，脂类含量次之，碳水化合物含量最低。胚胎发育的结果导致三种主要生化组成含量降低，其中蛋白质减少了３９．０％，脂类、碳水化合物含量分别减少了１７．０％、７．７％，说明蛋白是青蟹胚胎发育的主要能源物质，这可能与动物适应热带、亚热带的水生环境有关。     

酸雨的研究进展及厦门酸雨研究的趋势

本文综述了国内外酸雨的研究现状；包括酸雨的来源、成因、模式、影响及防治对策；介绍了酸雨的研究趋势；并着重就厦门地区今后酸雨的研究方向提出也作者的看法。     

官井洋大黄鱼标志放流技术与放流标志鱼早期生态习性的初步研究

用人工培育的大黄鱼幼鱼，经丁香酚溶液浸浴麻醉，体背系挂塑料牌，经 网箱暂养后于１９８７年１月２０日在官井洋中放流６ １２６尾。２个月内回捕４８３尾。 通过对回捕鱼及其捕捞实况调查，并结合定置网渔获物中天然大黄鱼及海区温盐 断面调查，对放流标志鱼早期的生态习性进行了初步研究。     

山东沿海旅游业可持续发展对策研究

滨海旅游是旅游活动的重要组成部分 ,在我国具有广阔的发展潜力。在讨论了山东沿海旅游业发展中存在的问题的基础上 ,指出发展滨海旅游与滨海和海洋环境之间的相关关系 ,探讨了使山东沿海旅游业可持续发展的主要对策     

Mathematical Models for Combined Refraction-Diffraction of Waves on Non-Uniform Current and Depth

Two mathematical models for combined refraction-diffraction of regular and irregular waves on non-uniform current in water of slowly varying topography are presented in this paper. Model I is derived by wave theory and variational principle separately. It has two kinds of expressions including the dissipation term. Model n is based on the energy conservation equation with energy flux through the wave crest lines in orthogonal curvilinear coordinates and the wave kinematic conservation equation. The analysis and comparison and special cases of these two models are also given.     

南海鱼类生物多样性与区系分布

分析了南海鱼类生物多样性与区系分布的生态地理条件,鱼类生物多样性特征。校核整理了南海鱼类2 321种,分属于六鳃鲨等35目,以鲈形目占绝对优势(979种),并以珊瑚礁栖,典型暖水种的隆头鱼科为优势科(占117种),而蝴蝶鱼和石斑鱼分别达到34种、31种,列为优势属,从而构成南海富有潜势的群落结构。文中进一步论述了南海鱼类区系属于以印度-西太平洋为主体的区系特征。     

上新世——早更新世青藏高原北缘隆升的磁性地层学证据

对新疆叶城剖面西域砾岩及下伏第三纪地层的磁性地层学研究表明 ,西域砾岩的沉积时代为晚上新世至早更新世 ,磁性地层年龄为 3.5至 <1.8Ma。阿图什组沉积于早上新世 ,古地磁年龄为 4 .6～ 3.5 Ma。阿图什组以砂岩和粉砂岩为主夹薄层砾岩 ,为河流相及冲积扇前缘相。西域砾岩以厚层砾岩为主夹风成粉砂岩 ,为典型洪积—冲积扇堆积。西域砾岩的沉积反映了青藏高原北缘晚上新世至早更新世强烈的隆起和剥蚀     

Tephra Discovered in High Resolution Peat Sediment and Its Indication to Climatic Event

Floating tephra was deposited together with ice core,snow layer,abyssal sediment,lake sediments,and other geological records.It is of great significance to interpret the impact on the climate change of volcanic eruptions from these geological records.It is the first time that volcanic glass was discovered from the peat of Jinchuan(金川)Maar,Jilin(吉林)Province,China.And it is in situ sediments from a near-source explosive eruption according to particle size analysis and identification results.The tephra were neither from Tianchi(天池)volcano eruptions,Changbai(长白)Mountain,nor from Jinlongdingzi(金龙顶子)volcano about 1 600 aBP eruption,but maybe from an unknown eruption of Longgang(龙岗)volcano group according to their geochemistry and distribution.Geochemical characters of the tephra are similar to those of Jingiongdingzi,which are poor in s.Jica,deficient in alkali,Na20 content is more than K20 content,and are similar to distribution patterns of REE and incompatible elements,which helps to speculate that they originated from the same mantle magma with rare condemnation,and from basaltic explosive eruption of Longgang volcano group.The tephra,from peat with age proved that the eruption possibly happened in 15 BC-26 AD,is one of Longgang volcano group eruption that was not recorded and is earlier than that of Jinglongdingzi about 1 600 aBP eruption.And the sedimentary time of tephra is during the period of low temperature alteration.which may be the influence of eruption toward the local climate according to the correlativity of eruption to local temperature curve of peat cellulose oxygen isotope.     

元胞自动机城市增长模型的空间尺度特征分析

基于元胞自动机模拟城市系统的复杂行为时,空间尺度是一个非常重要的概念,模型的模拟结果往往会随着输入数据的空间尺度变化而发生变化。然而,目前的元胞自动机城市增长模型大多没考虑数据的空间尺度特征,本文拟通过改变模型中输入数据的空间尺度来验证元胞自动机城市增长模型对尺度的敏感性及其空间尺度特征,并以长沙市为例进行实证研究。研究结果表明:元胞自动机城市增长模型只有在一定的尺度范围内才具有较高的模拟精度,并且模型对尺度具有一定的敏感性,因此为了使模型能够具有较高的模拟精度,并较好地反映城市形态特征,应认真选择模型中输入数据的空间尺度。