Robust adaptive control of underactuated ships on a linear course with comfort

This paper addresses an important problem in ship control application—the robust stabilization of underactuated ships on a linear course with comfort. Specifically, we develop a multivariable controller to stabilize ocean surface ships without a sway actuator on a linear course and to reduce roll and pitch simultaneously. The controller adapts to unknown parameters of the ship and constant environmental disturbances induced by wave, ocean current and wind. It is also robust to time-varying environmental disturbances, time-varying change in ship parameters and other motions of the ship such as surge and heave. The roll and pitch can be made arbitrarily small while the heading angle and sway are kept to be in reasonably small bounds. The controller development is based on Lyapunov’s direct method and backstepping technique. A Lipschitz continuous projection algorithm is used to update the estimate of the unknown parameters to avoid the parameters’ drift due to time-varying environmental disturbances. Simulations on a full-scale catamaran illustrate the effectiveness of our proposed controller.     

A nitrate and silicate budget in the equatorial Pacific Ocean: a coupled physical–biological model study

A coupled physical–biological model was developed to simulate the low-silicate, high-nitrate, and low-chlorophyll (LSHNLC) conditions in the equatorial Pacific Ocean and used to compute a detailed budget in the Wyrtki box (5°N–5°S, 180–90°W) for the major sources and cycling of nitrogen and silicon in the equatorial Pacific. With the incorporation of biogenic silicon dissolution, NH₄ regeneration from organic nitrogen and nitrification of ammonia in the model, we show that silicon recycling in the upper ocean is less efficient than nitrogen. As the major source of nutrients to the equatorial Pacific, the Equatorial Undercurrent provides slightly less Si(OH)₄ than NO₃ to the upwelling zone, which is defined as 2.5°N–2.5°S. As a result, the equatorial upwelling supplies less Si(OH)₄ than NO₃ into the euphotic zone in the Wyrtki box, having a Si/N supply ratio of about 0.85 (2.5 vs. 2.96 mmolm⁻² day⁻¹). More Si(OH)₄ than NO₃ is taken up with a Si/N ratio of 1.17 (2.72 vs. 2.33 mmolm⁻² day⁻¹) within the euphotic zone. The difference between upwelling supply and biological uptake is balanced by nutrient regeneration and horizontal advection. Excluding regeneration, the net silicate and nitrate uptakes are nearly equal (1.76 vs. 1.84 mmolm⁻² day⁻¹). However, biogenic silica export production is slightly higher than organic nitrogen (1.74 vs. 1.59 mmolm⁻² day⁻¹) following a 1.1 Si/N ratio. In the central equatorial Pacific, low silicate concentrations limit diatom growth; therefore non-diatom new production accounts for most of the new production. Higher silicate supply in the east maintains elevated diatom growth rates and new production associated with diatoms dominate upwelling zone. In contrast, the new production associated with small phytoplankton is nearly constant or decreases eastward along the equator. The total new production has a higher rate in the east than in the west, following the pattern of surface silicate. This suggests that silicate regulates the diatom production, total new production, and thereby carbon cycle in this area. The modeled mean primary production is 48.4 mmolCm⁻² day⁻¹, representing the lower end of direct field measurements, while new production is 15.0 mmolCm⁻² day⁻¹, which compares well with previous estimates.     

红色无硫细菌处理高浓度鱼品废水的研究

本文从城市生活污水的沉降污泥中分离出三株红色无硫细菌,经鉴定R1为胶质红假单胞菌(Rhodopscudomonas gelatinosa),R2为沼泽红假单胞菌(R palustris)、RS-1为红螺属(Rhodosprillum)的一种。R1与R2均为兼性需氧和兼性光能利用菌,RS-1为专性厌氧光合菌。作者提出了它们的主要生理、生化特性和最适生长条件,最后确定R1、R2是较有利用前途的优势种类。作者利用上述分离的菌株对高浓度的鱼品废水进行了净化处理试验,得出R1对CODcr的去除率约为65％,R2的去除率为74％以上。二者混合使用可提高至87％。作者还发现废水中的非光合性杂生菌有助于提高光合细菌的净化力。     

洪泽湖风生流数值模拟

湖流是湖泊中污染物质扩散，悬浮物沉降及输移等的主要水动力学要素，造成湖水运动的成因机制很复杂，其中风生流是重要形式，本文通过构造一个二维闭边界数值模拟，对不同风情下的洪泽湖湖流流态进行模拟研究，探讨其入流较小，沿岩各闸关闭的枯季情况下的风生流特征。     

黄、东海环流的数值研究Ⅲ——正压环流的数值模拟

依据黄、东海环流的的动力学模型 ,运用“流速分解法”对黄、东海正压环流进行了数值模拟。计算结果表明冬季黄海正压环流主要受风应力影响 ,基本形态为黄海暖流由济州岛西南进入南黄海中部 ,其东西两侧分别为两支向南流动的沿岸流 ;夏季主要受到潮致体力的影响 ,为一逆时针涡旋。东海环流主要是边界力作用驱动的结果 ,东海黑潮、台湾暖流和对马暖流较稳定。冬季风应力对东海环流表层流场有消弱作用 ,在夏季则有一定增强作用。     

长江口中肋骨条藻赤潮发生过程环境要素分析──营养盐状况

从长江口１９９０年６月的一次中肋骨条藻赤潮发生过程中营养盐含量变化可见，由于潮汐的作用，观测水域各营养盐要素都在不同程度上存在周日波动特征，其中，ＮＯ３－Ｎ在一个潮周期内变化幅度可达１倍以上。赤潮发生时表层水体ＮＯ３－Ｎ，ＰＯ４－Ｐ和ＳｉＯ３－Ｓｉ值都呈下降趋势，降幅最大的ＰＯ４－Ｐ达３倍上；Ｎ／Ｐ值则急剧上升，峰值为４５０。随着赤潮肖亡，ＮＯ３－Ｎ，ＮＯ２－Ｎ和ＳｉＯ３－Ｓｉ浓度很快恢复正常，Ｎ     

光合细菌作为对虾育苗期饵料添加剂试验

本文试验了光合细菌作为对虾育苗期饵料添加剂的效果,使用培育一周左右的光合细菌对虾苗的成活率能提高约30％。同时能起到抗病,促生长发育的效果。     

Origin and evolution of alkali basaltic magma in the Okinawa Trough

I~IOXThe Okinawa Trough is an extending back--arc basin between the East China Sea Shelf andthe Ry'Ukyu Island Arc of Japan. There are widespreadly distributing acid pumice in the troughand a little basalt just in some area of the extending center. There have been some detailed rePOrtsabout the mineralogy and petrochemical feature of the subalkali tholeiite and alkali trachyte in thetrough (Zhai and Gan, 1995; Li et al., 1997; Qin and Zhai, 1988). This paper mainly reportselectron mic…     

二(甲基环戊二烯)钐氯化物合成和晶体结构研究

作者以 Sm Cl3 与 (CH3 Cp) Na反应分离得到了三价稀土有机配合物 [(CH3 Cp) 2 Sm Cl·THF]2 的单晶 ,X-射线四圆衍射测定 ,该配合物属正交晶系 ,Pbna空间群 ,晶胞参数 a=9.6 6 2 (2 ) ,b=16 .4 76 (9) ,c=2 0 .582 (9) ;α=β=γ=90°,Z=4。并分析比较 [(CH3 Cp) 2 Sm Cl· THF]2 与其他三价稀土一氯化物的结构特点     

关于波浪Boussinesq方程的研究

对有关波浪 Boussinesq方程的研究成果进行了系统的归纳总结和评述 ,以期对本学科的发展起到一定的引导和促进作用