基于分布式控制力矩陀螺的水下航行器轨迹跟踪控制

基于控制力矩陀螺群(CMGs)的水下航行器具有低速或零速机动的能力。采用基于分布式CMGs的水下航行器方案,并研究其水平面的轨迹跟踪控制问题。通过全局微分同胚变换将非完全对称的动力学模型解耦成标准欠驱动控制模型,并根据简化的模型构建其轨迹跟踪的误差动力学模型,将轨迹跟踪控制问题转化为误差模型镇定问题。基于一种分流神经元模型和反步法设计了系统的轨迹跟踪控制律,该控制器不需要对任何虚拟控制输入进行求导计算,且能确保跟踪误差的最终一致有界性。仿真结果表明该控制器能够实现在不依赖动力学参数先验知识的情况下对光滑轨迹的有效跟踪。     

基于2 m格网点云数据的高精度DEM制作第三次国土调查坡度图

地形地貌随着时间的推移时刻发生变化，以高精度数字高程模型（EDE）数据制作坡度图，进而计算田坎系数，更精准地进行耕地面积计算及统计。以2 m格网点云数据生成的DEM数据为基础，按照第三次全国国土调查的相关技术要求，根据耕地坡度分级要求进行分级，生成坡度分级栅格数据图。对坡度分级栅格数据图进行矢量化，生成坡度分级矢量化数据。对矢量化数据进行图斑综合、界线平滑、拓扑重建、数据裁切等处理，制作完成调查区域坡度图及相关属性数据制作。并对生产的坡度图成果进行分析，找出不同尺度格网生产的坡度图的技术差异，并对高精度坡度的应用进行了展望。     

Prediction of Blast-Induced Rock Movement During Bench Blasting: Use of Gray Wolf Optimizer and Support Vector Regression

Natural Resources Research - A large ore loss and dilution can be expected when using a pre-blast ore boundary for shovel guidance because of the movement and re-distribution of ore in the muck...     

宇宙磁场中的中微子

本文讨论了有质量的Dirac粒子在宇宙磁场中的演化。宇宙磁场使空间度规出现各向异性。通过求解Dirac方程,得到了中微子在宇宙磁场中的表观磁矩。     

亚毫米波射电天文用超导SIS接收机的研制(英文)

为了研制亚毫米波射电天文用超导SIS(超导 -绝缘体 -超导 )接收机 ,我们重点开展了如下研究 ,1 )Nb超导SIS结在其能隙频率附近的量子混频特性 ,及其结合高能隙超导薄膜 (NbTiN)和高电导率金属薄膜 (Al)分布结阵在 780 - 950GHz频率区间的量子混频特性 ;2 )亚毫米波超导混频器嵌入阻抗的数值和实验表征 ;3)高电流密度小面积Nb超导SIS结的制备和特性表征 ;4)一个 60 0 - 72 0GHz超导SIS混频器的研制和特性表征。本文详细介绍了相关的数值分析和实验测量结果。     

Observational evidence for solar coronal decimetric radio pulsations with very short periods

Using the decimetric (700–1500 MHz) radio spectrometer and the synchronous observational system with high temporal resolution at four frequencies (1420, 2130, 2840 and 4260 MHz) of Yunnan Observatory, two rare events were observed on 2001 June 24 and 1990 July 30. The former was a small radio burst exhibiting pulsations with short periods (about 29, 40 and 100 ms) in the impulsive phase. The latter was a large radio burst, which at 2840 MHz produced radio pulsations with period of about 30 ms. This paper focuses on pulsations with very short periods in the range of 29–40 ms. The mechanism of generation of such pulsations may be modulation of radio radiation by the periodic trains of whistler packets originating in unstable regions of the corona. Alternatively, these pulsations can be attributed to wave-wave non-linear interactions of electrostatic upper hybrid waves driven by beams of precipitating electrons in flaring loops.     

Optimal Filtering Algorithm for Stochastic 2-D FMM Ⅱ with Multiplicative Noise

1　Introduction　Inrecentyearstherehasbeengrowingresearchin terestinthetwo dimensional (2 D )systemtheory .The 2 Dsystemsmayfindapplicationsinareassuchasmarineseismicdataprocessingandimageprocessing .Althoughmoreandmorevaluableresultshavebeengained ,mos…     

LAST GLACIATION AND MAXIMUM GLACIATION IN THE QINGHAI-XIZANG (TIBET) PLATEAU: A CONTROVERSY TO M. KUHLE,S ICE SHEET HYPOTHESIS

Since the late 1950's, many Chinese scientists have explored the remains of the Quaternary glaciation in the Qinghai-Xizang (Tibet) Plateau and its surrounding mountains. In the main, 3-4 glaciations have been recognized. The largest one occurred in the Late Middle Pleistocene with piedmont glaciers, ice caps and trellis valley glaciers in many high peak regions. But here is no evidence of a unified ice sheet covering the whole plateau as described by M. Kuhle. Due to the further uplifting of the Himalayas and Qinghai-Xizang Plateau the climate became progressively drier, diminishing the extension of glaciers during the Late Pleistocene. The elevation of the snow line during the Last Glaciation was about 4,000 m on the south, east and northeast edges of the plateau and ascended to 5500 m on the hinder northwest of the plateau. The thermal effect of the big plateau massif, the sharp increase of aridity from the southeast rim to the northwest inland area and the abrupt decrease of precipitation during the     

描述地壳垂直运动过程的一种函数形式

本文在已有数据处理方法的基础上，利用近代数值逼近理论，给出了从时空域角度描述地壳垂直运动过程的一种具体的函数解析形式。最后给出了一个实际算例。     

蜕壳素对凡纳滨对虾生长及表观消化率的影响

研究了外源性蜕皮激素对凡纳滨对虾生长和表观消化率的影响 ,实验时在基础饲料中分别添加 0 .1%、0 .2 %、0 .4 %的两种市售蜕壳素产品 ,制成 6种外源性脱壳素配合饲料 ,不添加的基础饲料作为对照组 ,试验在 2 6 0L玻璃钢循环水养殖系统中 ,每个剂量组设 3个重复 ,8周生长试验结果表明 :市售蜕壳素产品能有效地促进对虾生长 ,试验结束时 ,试验组虾体增重分别较对照组增加 16 .8%、7.5 2 %、5 .9%、11.4 %、2 9.0 7%、16 .5 3% ,但是凡纳滨对虾对饲料粗蛋白的表观消化率没有明显地提高 ,凡纳滨对虾对脂肪的表观消化率较低。推算凡纳滨对虾饲料中最佳蜕皮酮添加量为 6 0mg/kg。