比较原理在多有理数时滞区间系数离散系统的应用

应用多组有理数时滞离散系统的比较原理和频域法,将多组有理数时滞区间系数离散系统化为多组有理数时滞定常离散系统,以判定其时滞无关稳定性,并举例说明了新定理的有效性和实用性。     

先锋孤立子生成的理论平均波阻(Ⅰ).理论

根据作者导得的AfKdV方程，理论上确定了先锋孤立子生成问题的理论平均波阻，能量劈分及能量劈分比。本文的能量劈分是确定先锋孤立子生成参数的理论基础。同时，本理论确定了现有理论中的自由未知参数问题，从而使先锋孤立子生成参数得到理论预报。     

自主式水下机械手系统研究

本文从水下机械手的总体设计，关节直流电机的驱动和调速，手臂上声纳的水下搜索与跟踪，机械手系统的智能控制和电源等几个方面，介绍了有关自主式水下机械手系统的研究，可为研制自主式水下作业系统提供参考     

Sugar and Lipid Components in Sea Foam near Kelp Beds

Abstract. A component analysis of the sugar and lipid fraction in foam layers around kelp beds on the South African west coast showed the following trends: In the residue of foam drainage of both 12 h and 120 h old foam the sugar fraction is represented by mannose (33–41 %), galactose (4–30%), fucose (3–29%) and glucose (19–26%). With the exception of fucose, the same components could be found in foam filtration. In the lipid fraction the main fatty acids are palmitic (23.3–27.3%), oleic (14.0–5.5%) and timnodonic acid (11.2–9.1%). Selacholeinic acid was only found in 12 h old foam while lignoceric acid could not be located in foam filtration. Against expectation mannitol was not identified in quantifiable amounts in foam samples although it is the dominant component of kelp mucilage, whose presence is of major importance for foam formation. Hypotheses explaining the lack of mannitol are forwarded. Component sugar and lipid content for 11 of foam was calculated and estimation of sugar and lipid content in an average foam patch (volume of 30001) is given. The importance of foam formation as a mechanism for binding and transfer of energy in the marine environment is emphasized.     

亚像素定位的关键问题研究

分析了控制点标志的选择与设计,采用了图像处理、Hough变换、角点与直线高精度定位算子等方法,实现了中南大学近景摄影测量二维控制场1 350个人工标志点的自动识别和亚像素定位,仿真图检测平均精度达到±0.05像素。     

Expanded adaptive fuzzy sliding mode controller using expert knowledge and fuzzy basis function expansion for UFV depth control

Generally, the underwater flight vehicle (UFV) depth control system operates with the following problems: it is a multi-input multi-output (MIMO) system, it requires robustness, a continuous control input, and further, it has the speed dependency of controller parameters. To solve these problems, an expanded adaptive fuzzy sliding mode controller (EAFSMC), which is based on the decomposition method designed by using an expert knowledge and the decoupled sub-controllers and composition method designed by using the fuzzy basis function expansions (FBFEs), is proposed. To verify the performance of the EAFSMC, the depth control of UFV in various operating conditions is performed. Simulation results show that the EAFSMC solves all problems experienced in the UFV depth control system online.     

诊断台风异常路径的三层权重控制点方案

本方案采用850、700、500hPa三个层次的环境平均流场作控制点法。综合考虑这些层次上的引导气流在不同时、空域中的相对重要性。试验结果表明,其效果比单一取某层作引导为佳。且对用来预测台风的未来24小时路径是否异常具有一定的参考价值。     

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.     

维护体系良性运行 适应新版质量标准

本文介绍了海洋技术研究所质量管理处在维护质量体系运行方面的主要作法和经验体会，结合2000版ISO9201标准的新内容，提出适应新版标准的想法。