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。     

Ⅱ型光电等高仪自动观测系统

本文叙述了APPLE－Ⅱ微机控制光电等高仪观测的系统，该系统可以实现自动导星、定位、跟踪与换星。在控制系统中应用了高精度的圆感应同步测角器和简单的恒星时钟卡。该系统的望远镜定位精度达±3″，跟踪精度达±5″。该套设备现在已投入正常使用，对改善观测条件和提高观测质量取得了明显效果。     

YTI-A视频时码插入器的研制

在人造卫星观测的ＣＣＤ图象记录中，为方便图象保存，查阅及图象处理，将图象记录中的相关信息插入记录的图象中是十分重要的。ＹＴＩ－Ａ视频时码插入器正是为此应用而设计。本仪器内有一个可自动与后面板输入秒同步到１μｓ的数字钟。记录日期包括年月日，时刻记录精度为１０μｓ，望远镜指向（Ａ，ｈ）的记录精度为１″。这些信息全部以二种格式被插入记录的图象中可供图象处理时查阅和快速读出。文中叙述了仪器原理及应用     

Silicon limitation on primary production and its destiny in Jiaozhou Bay, China——Ⅳ：Study on cross-bay transect from estuary to ocean

The authors analyzed the data collected in the Ecological Station Jiaozhou Bay from May 1991 to November 1994, including 12 seasonal investigations, to determine the characteristics, dynamic cycles and variation trends of the silicate in the bay. The results indicated that the rivers around Jiaozhou Bay provided abundant supply of silicate to the bay. The silicate concentration there depended on river flow variation. The horizontal variation of silicate concentration on the transect showed that the silicate concentration decreased with distance from shorelines. The vertical variation of it showed that silicate sank and deposited on the sea bottom by phytoplankton uptake and death, and zooplankton excretion. In this way, silicon would endlessly be transferred from terrestrial sources to the sea bottom. The silicon took up by phytoplankton and by other biogeochemical processes led to insufficient silicon supply for phytoplankton growth. In this paper, a 2D dynamic model of river flow versus silicate concentration was established by which silicate concentrations of 0.028–0.062 μmol/L in seawater was yielded by inputting certain seasonal unit river flows (m³/s), or in other words, the silicate supply rate; and when the unit river flow was set to zero, meaning no river input, the silicate concentrations were between 0.05–0.69 μmol/L in the bay. In terms of the silicate supply rate, Jiaozhou Bay was divided into three parts. The division shows a given river flow could generate several different silicon levels in corresponding regions, so as to the silicon-limitation levels to the phytoplankton in these regions. Another dynamic model of river flow versus primary production was set up by which the phytoplankton primary production of 5.21–15.55 (mgC/m²·d)/(m³/s) were obtained in our case at unit river flow values via silicate concentration or primary production conversion rate. Similarly, the values of primary production of 121.98–195.33 (mgC/m²·d) were achieved at zero unit river flow condition. A primary production conversion rate reflects the sensitivity to silicon depletion so as to different phytoplankton primary production and silicon requirements by different phytoplankton assemblages in different marine areas. In addition, the authors differentiated two equations (Eqs. 1 and 2) in the models to obtain the river flow variation that determines the silicate concentration variation, and in turn, the variation of primary production. These results proved further that nutrient silicon is a limiting factor for phytoplankton growth. This study was funded by NSFC (No. 40036010), and the Director's Fund of the Beihai Sea Monitoring Center, the State Oceanic Administration.     

水下滑翔器主体外形优化设计

对水下滑翔器主体外形的优化设计问题进行研究.首先,在考虑内部机械结构限制的条件下,建立了主体外形优化数学模型,并采用CFX计算了若干主体形状的绕流阻力.在此基础上建立了映射主体外形的尺寸参数与绕流阻力的BP神经网络.然后将建立的神经网络作为优化设计问题的目标函数,采用坐标轮换法对滑翔器主体外形进行了优化设计,确定了尺寸参数的最优解.     

塔上无人提引器的应用

塔上无人提引器,在60年代已被广泛使用,但由于经常发生“跑管”事故,故许多地质队没有继续使用。1987年,我队在绳索取心钻进工作中,使用塔上无人爬杆斜脱式提引器,5年中完成钻探工作量12363.63m,基本上消除了因提引器而造成的事故。所用钻机为THJ-500型或XU-1000型;钻塔为14.5m角铁斜塔;钻具为φ75或φ59绳     

Biogenic silicate accumulation in sediments, Jiaozhou Bay

1 INTRODUCTION Silicate, or silicic acid (H4SiO4), is a very im- portant nutrient in the ocean. Unlike other major nu- trients such as phosphate and nitrate or ammonium, which are needed by almost all marine plankton, silicate is an essential chemical req…     

旋流除砂机理研究及自动旋流除砂器的开发

旋流除砂技术是利用离心力从泥浆中分离固相成分的技术,可广泛应用在地质钻探、有色、冶金工业及石油天然气工业领域。研制开发的自动旋流除砂器弥补了传统除砂器固相成分分离效果不佳、排砂口易堵的缺陷,显著提高泥浆或矿浆的净化质量与除砂效率,且能自动排堵,降低了除砂工作的时间消耗和成本。