Approximate optimal tracking control for near-surface AUVs with wave disturbances

This paper considers the optimal trajectory tracking control problem for near-surface autonomous underwater vehicles (AUVs) in the presence of wave disturbances. An approximate optimal tracking control (AOTC) approach is proposed. Firstly, a six-degrees-of-freedom (six-DOF) AUV model with its body-fixed coordinate system is decoupled and simplified and then a nonlinear control model of AUVs in the vertical plane is given. Also, an exosystem model of wave disturbances is constructed based on Hirom approximation formula. Secondly, the time-parameterized desired trajectory which is tracked by the AUV’s system is represented by the exosystem. Then, the coupled two-point boundary value (TPBV) problem of optimal tracking control for AUVs is derived from the theory of quadratic optimal control. By using a recently developed successive approximation approach to construct sequences, the coupled TPBV problem is transformed into a problem of solving two decoupled linear differential sequences of state vectors and adjoint vectors. By iteratively solving the two equation sequences, the AOTC law is obtained, which consists of a nonlinear optimal feedback item, an expected output tracking item, a feedforward disturbances rejection item, and a nonlinear compensatory term. Furthermore, a wave disturbances observer model is designed in order to solve the physically realizable problem. Simulation is carried out by using the Remote Environmental Unit (REMUS) AUV model to demonstrate the effectiveness of the proposed algorithm.     

Growth performance of larval and juvenile manila clam (<Emphasis Type="Italic">Ruditapes philippinarum</Emphasis>) from divergently selected individuals of a full-sib family

In this study, the method of divergent selection was employed to test the larval and juvenile growth performance within a full-sib family of Manila clam Ruditapes philippinarum. The 10% largest and 10% smallest clam individuals (on the basis of shell length) of a full-sib family were selected as parents for the fast and slow growing lines, respectively. The difference in shell length was significant among the three lines (fast, control, and slow) tested. The sequence of shell length were fast line > control line > slow line. The responses to selection, realized heritability, and genetic gain were 0.06%–0.81%, 0.04%–0.47% and 0.58%–18.89% in the fast direction, respectively; and were 0.14%–1.27%, 0.08%–0.73%, and 0.31%–49.03% in the slow direction, respectively. The results suggested that there was a large portion of additive genetic variance affecting the growth in the full-sib family. Selection in the fast direction within the full-sib family would greatly improve the growth of R. philippinarum.     

Depth classification of underwater targets based on complex acoustic intensity of normal modes

In order to solve the problem of depth classification of the underwater target in a very low frequency acoustic field, the active component of cross spectra of particle pressure and horizontal velocity (ACCSPPHV) is adopted to distinguish the surface vessel and the underwater target. According to the effective depth of a Pekeris waveguide, the placing depth forecasting equations of passive vertical double vector hydrophones are proposed. Numerical examples show that when the sum of depths of two hydrophones is the effective depth, the sign distribution of ACCSPPHV has nothing to do with horizontal distance; in addition, the sum of the first critical surface and the second critical surface is equal to the effective depth. By setting the first critical surface less than the difference between the effective water depth and the actual water depth, that is, the second critical surface is greater than the actual depth, the three positive and negative regions of the whole ocean volume are equivalent to two positive and negative regions and therefore the depth classification of the underwater target is obtained. Besides, when the 20 m water depth is taken as the first critical surface in the simulation of underwater targets (40 Hz, 50 Hz, and 60 Hz respectively), the effectiveness of the algorithm and the correctness of relevant conclusions are verified, and the analysis of the corresponding forecasting performance is conducted.     

The Impact of Large-Scale Reclamation on Hydro-Dynamic Environment——A Case Study of Xinghua Bay

A hydro-dynamic model is established on basis of MIKE21 FM to simulate the hydro-dynamic characteristics of Xinghua Bay and investigate the influence of reclamation project on the tidal elevation and tidal currents. Tidal elevation data was obtained at the six tide gauge stations around the Xinghua Bay, and another six current stations were established to observe the tidal current velocity and direction. Validation shows that the model-simulated tidal elevation and tidal currents agree well with observations made at different stations. Predictions are made according to the reclamation project proposed in the regional marine planning of Hanjiang Industrial Park around the port in Putian City. The variations of hydro-dynamic factors, such as tide, current velocity and direction and tidal influx are obtained, and the adverse effect of reclamation on marine environment is discussed. It is shown that the tidal level inside the Xinghua Bay during high tide decreases after the reclamation project is completed. The tidal currents during flooding tide generally decrease in the southeast of the reclamation region, with the maximum decreasing amplitude reaching 0.44 m s^-1. On the other hand, the tidal currents during flooding tide increase around the southeast and southwest corners of the reclamation region. The tidal currents during ebb tide increase around the southeast and southwest corners of the reclamation region, with the maximum increasing amplitude attaining 0.18 m s^-1. The results in this paper can give some guidance for the marine environment management and the effective utilization of land in Putian.     

Zircon M127 – A Homogeneous Reference Material for SIMS U–Pb Geochronology Combined with Hafnium,Oxygen and,Potentially, Lithium Isotope Analysis

In this article, we document a detailed analytical characterisation of zircon M127, a homogeneous 12.7 carat gemstone from Ratnapura, Sri Lanka. Zircon M127 has TIMS‐determined mean U–Pb radiogenic isotopic ratios of 0.084743 ± 0.000027 for ²⁰⁶Pb/²³⁸U and 0.67676 ± 0.00023 for ²⁰⁷Pb/²³⁵U (weighted means, 2s uncertainties). Its ²⁰⁶Pb/²³⁸U age of 524.36 ± 0.16 Ma (95% confidence uncertainty) is concordant within the uncertainties of decay constants. The δ¹⁸O value (determined by laser fluorination) is 8.26 ± 0.06‰ VSMOW (2s), and the mean ¹⁷⁶Hf/¹⁷⁷Hf ratio (determined by solution ICP‐MS) is 0.282396 ± 0.000004 (2s). The SIMS‐determined δ⁷Li value is ?0.6 ± 0.9‰ (2s), with a mean mass fraction of 1.0 ± 0.1 μg g^?1 Li (2s). Zircon M127 contains ~ 923 μg g^?1 U. The moderate degree of radiation damage corresponds well with the time‐integrated self‐irradiation dose of 1.82 × 10¹⁸ alpha events per gram. This observation, and the (U–Th)/He age of 426 ± 7 Ma (2s), which is typical of unheated Sri Lankan zircon, enable us to exclude any thermal treatment. Zircon M127 is proposed as a reference material for the determination of zircon U–Pb ages by means of SIMS in combination with hafnium and stable isotope (oxygen and potentially also lithium) determination.     

内蒙古二连—东乌旗地区重磁异常特征及其找矿意义

以区域地质资料和物性资料为依据,探讨了二连—东乌旗地区1∶20万重磁异常所反映的深部构造特征及其找矿意义。在区域重磁场分区研究的基础上,分析了区内晚古生代的不同成矿环境。重磁异常解释结果显示,本区西部以北东向区域构造为主,东部转为南北向和东西向密集网格构造,成矿条件更为有利。尤其是东部东乌旗和霍林郭勒地区中酸性侵入岩体发育,矿产资源潜力巨大。1∶20万重磁异常研究从不同空间尺度为本区寻找内生金属矿产提供了重要信息,并圈定6处找矿远景区。     

阿尔金北缘岩石变形机制——来自X光组构分析的证据

对阿尔金北缘地区变形蚀变花岗岩、花岗质糜棱岩、变形酸性火山岩和变形英安质凝灰岩中石英和绢云母2种矿物进行X光岩石组构分析,认为本区岩石变形比较明显,宏观面理近于东西向展布,绢云母变形较强,平行于面理定向排列;而石英以底面或近底面滑移为主,部分样品兼有柱面Ⅰ型滑移和柱面Ⅱ型滑移,反映本区岩石变形机制为中浅层次的脆-韧性变形(10~15km、250~350℃、0.25~0.40GPa)。通过岩石组构特征与宏观面理产状,推断本区韧性变形以右行运动为主,与板块碰撞在阿尔金北缘大平沟地区产生的韧性变形带特征一致。     

Immobilization of copper under an acid leach of colloidal pyrite waste rocks by a fixed-bed column

Colloidal pyrite waste rocks (CPWR) which are mainly composed of colloidal pyrite and siderite widely deposit in sulfide mines in the middle and lower reaches of the Yangtze River belt, China, especially in Tongling City, Anhui Province, China. In this paper, a fixed-bed column was used to investigate the weathering and oxidation of CPWR and its role in immobilizing low-concentration Cu (10 mg L^?1) under weakly acidic leach (pH = 5.0). The experimental results indicated that the breakthrough capacity was around 14.0 mg Cu g^?1 CPWR when Cu²⁺ breakthrough concentration was 0.5 mg L^?1. Sequential extraction of Cu and dithionite–citrate–bicarbonate extraction of free iron in the used CPWR after the column breakthrough indicated that Cu removal by CPWR consisted of the following processes: oxidation of pyrite and dissolution of siderite in CPWR, ferrous oxidation, and adsorption of Cu on ferric (hydr)oxides. This study shows the potential application of CPWR as an effective sorbent for the removal of low-concentration Cu from acid mine drainage.