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.     

分潮波模型多资料数值计算方法研究 Ⅱ.有限差分最小二乘方法

对含多资料的分潮波模型的超定问题进行探讨，建立一种有限差分—最小二乘方法，该方法使得岸边资料直接进入了计算方程，并保证岸界法向流速为零条件。通过对渤海的四大分潮的试算，证实本方法可行。     

Optimal Design for Main Dimensions of a 75000t Floating Production and Storage Vessel

The basis, process and results of the demonstration of the main dimensions of a 75000t floating production and storage vessel are discussed in this paper. A simple but reliable orthogonal design method is applied in the main dimension optimization. The ideas of gradual approximation and feedback from various aspects are put into effect. During the demonstration, in order to make the model tally with the actual situation, the draft design is closely related to the computational analysis, so that the demonstration model can be verified at any time; the handling of the overall system is closely related to the research of each item, which is beneficial not only to the mastery of various regularities, but also to the balance of decisions. Finally, according to the computational results and the regularities obtained from analysis, the main dimensions are determined.     

Dissipation source function and an improvement to LAGFD-WAM model

In this paper, a new theoretical expression of dissipation term is presented on the basis of statistical model of breaking wave, which is an improvement to LAGFD-WAM wave model. The computational results in three typical wind fields show a good improvement to LAGFD-WAM model and a better accuracy in comparison with the observed data in the South China Sea.     

A study on remote sensing models of sea ice thickness by microwave radiometry

Extrapolating from the propagation theories of electromagnetic waves in a layered medium, a three-layer medium model is deduced in this paper by using microwave radiometric remote sensing technology which is suitable to first-year sea ice condition of the northern part of China seas. Comparison with in situ data indicates that for microwave wavelength of 10 cm, the coherent model gives a quite good fit result for the thickness of sea ice less than 20 cm, and the incoherent model also works well for thickness within 20 to 40 cm. Based on three theoretical models, the inversion soft ware from microwave remote sensing data for calculating the thickness of sea ice can be set up. The relative complex dielectrical constants of different types of sea ice in the Liaodong Gulf calculated by using these theoretical models and measurement data are given in this paper. The extent of their values is (0. 5-4. 0)-j(0. 07~0. 19).     

Robust and adaptive path following for underactuated autonomous underwater vehicles

This paper proposes a nonlinear robust adaptive control strategy to force a six degrees of freedom underactuated underwater vehicle with only four actuators to follow a predefined path at a desired speed despite of the presence of environmental disturbances and vehicle’s unknown physical parameters. The proposed controller is designed using Lyapunov’s direct method, the popular backstepping and parameter projection techniques. The closed loop path following errors can be made arbitrarily small. Interestingly, it is shown that our developed control strategy is easily extendible to situations of practical importance such as parking and point-to-point navigation. Numerical simulations are provided to illustrate the effectiveness of the proposed methodology.     

海水中液-固界面的台阶型动力学曲线 Ⅰ.动力学曲线之台阶的消长和变化规律

对海水中Zn(Ⅱ),Ca(Ⅱ),Cd(Ⅱ)与高岭石、伊利石和蒙脱石等粘土矿物;无定形水合氧化铁、α-FeOOH等铁的水合氧化物;δ-MaO_2,γ-MnOOH,水锰矿等锰的水合氧化物等30个左右实验体系的液-固界面台阶型动力学曲线进行了系统的实验测定和全面的条件研究。在实验测定上提出两种方法、互为校核。对动力学曲线之台阶的消长和变化规律作了系统研究,确定主要影响因素是:金属离子初始浓度、固体交换剂量、体系的pH值和温度,以及搅拌速度等。     

CC区多金属结核分布特征及其与地质地理环境因素之间的关系

根据１９８７、１９８８、１９９０年东北赤道太平洋ＣＣ区的３个航次多金属结核调查资料的统计分析，结果表明，ＣＣ区自西向东，从北向南，多金属结核丰度，覆盖率、形态、粒径和化学组分等具明显的区域分布规律，但在这一区域性分布背景上，结核的局部分布很复杂。     

温度、光强和盐度对鹧鸽菜幼体生长发育的影响

从野外采集鹤鸪菜Ｃａｌｏｇｌｏｓｓａｌｅｐｒｉｅｕｒｉｉ（Ｍｏｎｔ．）Ｊ．Ａｇ．幼体，在室内控制条件下，以温、盐、光等不同条件进行模拟培养试验。所获得的数据经生物统计检验表明：鹧鸪菜幼体生长最适水温为２３℃；光照强度为４０００ｌｘ；海水盐度为１８。此结果与我们多年来在汕头港内观察鹧鸪菜的生长及其季节变化相似。     

三角帆蚌对水体悬浮物和叶绿素a消除量的研究

本研究在不同温度条件下分别测定了一龄(△1)和三龄(△3)三角帆蚌对水体中悬浮物和叶绿素a的消除量;研究了三角帆蚌对叶绿素消除效果与水体中藻类生物量之间的关系,并在池塘中挂养1200只三角帆蚌四个月。结果表明:三角帆蚌对水体中悬浮物和叶绿素a的消除率均随水温升高而提高,其中消除效果在总重量相同时△3>△1,较高水温条件下三角帆蚌在悬浮物中优先利用藻类;同一温度下,水体中藻类量增大时,三角帆蚌对叶绿素a的消除量增大而消除率却降低;在池塘挂养测试中与对照池塘比较,四个月后三角帆蚌因大量消除了池塘水中的悬浮物和叶绿素a,使池塘水体透明度提高从26cm提高到了80cm。