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。     

国产高分辨率遥感影像农村公路核查方法及其应用

传统的农村公路核查需要人工实地抽查或通过GNSS设备进行信息采集验核，存在成本高、效率低等问题。遥感影像具有成像范围广、时效性高、成本低、能客观反映现实情况等优点。相比于传统方法，将遥感影像引入农村公路核查，能客观、准确、高效地对农村公路相关信息进行核查。本文基于国产高分辨率遥感影像，结合农村公路遥感核查业务，采用遥感影像道路提取算法，设计并实现了一种农村公路核查方法。将本方法应用于某中部省份农村公路遥感核查业务，实际应用表明该方法能有效提高现有农村公路遥感核查的工作效率。     

High-pressure eclogites in northern Jiangsu – southern Shandong province, eastern China

Abstract Eclogites are distributed for more than 500 km along a major tectonic boundary between the Sino-Korean and Yangtze cratons in central and eastern China. These eclogites usually have high-P assemblages including omphacite + kyanite and/or coesite (or its pseudomorph), and form a high-P eclogite terrane. They occur as isolated lenses or blocks 10 cm to 300 m long in gneisses (Type I), serpentinized garnet peridotites (Type II) and marbles (Type III). Type I eclogites were formed by prograde metamorphism, and their primary metamorphic mineral assemblage consists mainly of garnet [pyrope (Prp) = 15–40 mol%], omphacite [jadeite (Jd) = 34–64 mol%], pargasitic amphibole, kyanite, phengitic muscovite, zoisite, an SiO₂ phase, apatite, rutile and zircon. Type II eclogites characteristically contain no SiO₂ phase, and are divided into prograde eclogites and mantle-derived eclogites. The prograde eclogites of Type II are petrographically similar to Type I eclogites. The mantle-derived eclogites have high MgO/(FeO + Fe₂O₃) and Cr₂O₃ compositions in bulk rock and minerals, and consist mainly of pyrope-rich garnet (Prp = 48–60 mol%), sodic augite (Jd = 10–27 mol%) and rutile. Type III eclogites have an unusual mineral assemblage of grossular-rich (Grs = 57 mol%) garnet + omphacite (Jd = 30–34 mol%) + pargasite + rutile. Pargasitic and taramitic amphiboles, calcic plagioclase (An₆₈), epidote, zoisite, K-feldspar and paragonite occur as inclusions in garnet and omphacite in the prograde eclogites. This suggests that the prograde eclogites were formed by recrystallization of epidote amphibolite and/or amphibolite facies rocks with near-isothermal compression reflecting crustal thickening during continent–continent collision of late Proterozoic age. Equilibrium conditions of the prograde eclogites range from P > 26 kbar and T= 500–750°C in the western part to P > 28 kbar and T= 810–880°C in the eastern part of the high-P eclogite terrane. The prograde eclogites in the eastern part are considered to have been derived from a deeper position than those in the western part. Subsequent reactions, manifested by (1) narrow rims of sodic plagioclase or paragonite on kyanite and (2) symplectites between omphacite and quartz are interpreted as an effect of near-isothermal decompression during the retrograde stage. The conditions at which symplectites re-equilibrated tend to increase from west (P < 10 kbar and T < 580°C) to east (P > 9 kbar and T > 680°C). Equilibrium temperatures of Type II mantle-derived eclogites and Type III eclogite are 730–750°C and 680°C, respectively.     

Heat capacity and phase equilibria of wadeite-type K2Si4O9

The low-temperature heat capacity (C _p) of Si-wadeite (K₂Si₄O₉) synthesized with a piston cylinder device was measured over the range of 5–303 K using the heat capacity option of a physical properties measurement system. The entropy of Si-wadeite at standard temperature and pressure calculated from the measured heat capacity data is 253.8 ± 0.6 J mol⁻¹ K⁻¹, which is considerably larger than some of the previous estimated values. The calculated phase transition boundaries in the system K₂O–Al₂O₃–SiO₂ are generally consistent with previous experimental results. Together with our calculated phase boundaries, seven multi-anvil experiments at 1,400 K and 6.0–7.7 GPa suggest that no equilibrium stability field of kalsilite + coesite intervenes between the stability field of sanidine and that of coesite + kyanite + Si-wadeite, in contrast to previous predictions. First-order approximations were undertaken to calculate the phase diagram in the system K₂Si₄O₉ at lower pressure and temperature. Large discrepancies were shown between the calculated diagram compared with previously published versions, suggesting that further experimental or/and calorimetric work is needed to better constrain the low-pressure phase relations of the K₂Si₄O₉ polymorphs. Electronic supplementary material The online version of this article (doi:) contains supplementary material, which is available to authorized users.     

1.0GPa和常温至1100 ℃条件下角闪石斜长片麻岩的V_p变化:实验测量与理论计算

在1．0GPa、常温至1100℃条件下测量了角闪石斜长片麻岩的纵波速度（Vp）,并统计了不同温度实验产物中各种矿物的体积百分含量。结果显示,1．0GPa下,角闪石斜长片麻岩的Vp首先随温度升高（室温至700℃）缓慢降低约6％,然后（700—850℃）快速降低约6％,再（850～950℃）转而急剧升高15％～25％,最后（T〉950℃）又快速下降。实验产物分析表明在高温高压下α-石英-β石英相变和岩石部分熔融是岩石Vp异常变化的主要因素。由取样产物的矿物含量和弹性参数,计算了各温度条件下岩石的Vp得出与实验测量相同的波速-温度变化趋势,即Vp随温度升高先缓慢降低,接着快速降低后又急剧升高,最后又快速减小。实验测量和理论计算对比研究表明,通过高温高压下岩石中的物相变化观测结果进行岩石波速的计算,是检验岩石弹性波速测量结果和研究地球内部地震波结构的一种有效方法。     

A comparative study on the contents of vitamins in the natural and the cultured prawn

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A novel technique in analyzing non-linear wave-wave interaction

During wave growth non-linear wave–wave interactions cause transfer of some wave energy from lower to higher wave periods as the spectrum grows. Wavelet bicoherence, which is a new technique in the analysis of wind–wave and wave–wave interactions, is used to analyze non-linear wave–wave interactions. A selected record of wind wave that contains the maximum wave height observed during 6 h of wave generation is divided into five segments and wavelet bicoherence is computed for the whole record, and for all divided segments. The study shows that the non-linear wave–wave interaction occurs at different bicoherence levels and these levels are different from one segment to another due to the non-stationarity feature of the examined data set.     

正弦锁相环路方程的调和解、浑沌与分支

讨论调频输入正弦锁相环路方程的调和解、浑饨与分支。利用Melnikov方法确定了产生浑沌与次谐波分支及其稳定性的条件，同时我们证明了当方程的参数适当小时，它必存在调和解。     

风暴潮灾与月相

本文以实测资料为依据,统计分析了风暴潮灾、风暴潮、登陆台风、天文高潮等与月相的关系。统计资料表明,登陆台风和台风风暴潮发生在大(小)潮期的次数相对较多,略大于平均数,但它们与月相没有明显的因果关系,它们相对于月相的分布大致上是随机的,如果台风在天文大潮期间登陆,台风引起的暴潮与天文潮叠加后成灾的概率明显增大,但也不一定成灾;成了灾的,往往是风暴潮峰值适逢当日的天文高潮所致。     

Spin rate estimation of sounding rockets using GPS wind-up

Carrier phase wind-up is a well-known effect that arises from the relative rotation between a transmitting and receiving antenna. In GPS measurements at L1 frequency, this effect translates into an error of 19.029 cm per full relative rotation of antennas. Since this effect is independent of the satellite elevation for pure rotation about the antenna boresight axis, it is usually absorbed by the clock estimation in navigation algorithms. Therefore, the impact of wind-up is usually neglected for applications that do not require accuracies to the cm level like RTK. However, in receiving platforms with high rotation rate, the accumulated wind-up value can be important and actually be larger than receiver noise or even ionospheric variations. Therefore, in such scenarios, the wind-up contribution can be isolated and used as a source of information to compute the spin rate of such platforms using an appropriate combination of GPS observables. This work shows some results of a coarse, yet simple, approach to monitor the rotation angle and spin-rate of spin stabilized sounding rockets flown by DLR.