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。     

A multiscale work-analysis approach for geotechnical structures

This paper presents a second-order work analysis in application to geotechnical problems by using a novel effective multiscale approach. To abandon complicated equations involved in conventional phenomenological models, this multiscale approach employs a micromechanically-based formulation, in which only four parameters are involved. The multiscale approach makes it possible a coupling of the finite element method (FEM) and the micromechanically-based model. The FEM is used to solve the boundary value problem (BVP) while the micromechanically-based model is utilized at the Gauss point of the FEM. Then, the multiscale approach is used to simulate a three-dimensional triaxial test and a plain-strain footing. On the basis of the simulations, material instabilities are analyzed at both mesoscale and global scale. The second-order work criterion is then used to analyze the numerical results. It opens a road to interpret and understand the micromechanisms hiding behind the occurrence of failure in geotechnical issues.     

Plane of elastic non-resisting tension material under foundation structures

In the frame of 2D-static problems one approaches the problem of elastic-NRT (not-resisting tension) semi-plane loaded on its limit line. This problem is intended to model the stress situation induced in the soil by a foundation structure. The solution, in terms of activated stress field, is searched for in the class of stress fields satisfying equilibrium and admissibility conditions, by applying an energy approach. Copyright © 2004 John Wiley & Sons, Ltd.     

显性语法知识传授中的发现原则

尽管语法在交际教学法鼎盛时期一度遭到冷遇，但现在又重新被英语语言教学所接纳，作为一种新的语法教学方式，发现原则综合了传统归纳发和演绎法的长处，概述了发现原则的理论依据，指出发现原则旨在鼓励学习者积极参与而非被动接受，符合当前认知主义对二语学习的认识。     

无规取向、无吸收非球形粒子光散射的T-矩阵方法

较详细地研究了无规取向、无吸收椭球体粒子的T－矩阵收敛问题。首先，简要概括了nmax的3种收敛方案和它们的基本特性。然后，应用1993年提出的数学收敛方法（M－方法）和1998年提出和物理收敛方法（P－方法）研究收敛问题。结果表明椭球粒子收敛精度对粒子的尺度参数，纵横比以及椭球体的种类（例如，长／扁椭球）有很强的依赖性。当粒子的尺度参数不太大时，甚至在极端纵横比的条件下，P－收敛方案优于M－收敛方案。     

关于非球形粒子光散射的T-矩阵数值计算方法的研究

首先介绍了无规取向轴对称非球形粒子光散射的T－矩阵数值方法。然后，进一步研究了T－矩阵计算的收敛问题，提出了一种新的关于无规取向无吸收非线形散射物体的物理收敛方法，我们研究了椭球粒子的收敛问题，结果表明我们的数值方法和T－矩阵计算程序是有效的， 收敛精度与粒子的尺度和形状有很强的依赖性，在一定的条件下，我们的物理收敛速度优于NASA Mishchenko的数学收敛速序。     

利用地震矩张量反演鲜水河断裂带现今运动学特征

本文探讨了利用地震矩反演断裂形变带运动学参数的基本理论和方法，将其初步应用于鲜水河断裂形变带变形分析和运动机制的研究。结果表明，鲜水河断裂带呈现出走向拉伸、倾向压缩的形变格局，由地震矩反演的断裂带剪切形变速率（１０．９ｍｍ／ａ）与用地质学估算方法（１７ｍｍ／ａ）和现今地壳形变测量（８ｍｍ／ａ）的结果相当。同时，反演出的应变主方向能解释鲜水河断裂现今活动分段性特征以及多种滑动方式共存的现状，从而证明该方法是目前研究区域运动学问题切实有效的手段之一。     

Internal generation of waves: Delta source function method and source term addition method

In this study, we investigate two internal wave generation methods in numerical modeling of time-dependent equations for water wave propagation, i.e., delta source function method and source term addition method, the latter of which has been called the line source method in literatures. We derive delta source functions for the Boussinesq-type equations and extended mild-slope equations. By applying the fractional step splitting method, we show that the delta source function method is equivalent to the source term addition method employing the energy velocity. This suggests that the energy velocity should be used rather than the phase velocity for the transport of incident wave energy in the source term addition method. Finally, the performance of the delta source function method is verified by accurately generating nonlinear cnoidal waves as well as linear waves for horizontally one-dimensional cases.     

Freely floating-body simulation by a 2D fully nonlinear numerical wave tank

Nonlinear interactions between large waves and freely floating bodies are investigated by a 2D fully nonlinear numerical wave tank (NWT). The fully nonlinear 2D NWT is developed based on the potential theory, MEL/material-node time-marching approach, and boundary element method (BEM). A robust and stable 4th-order Runge–Kutta fully updated time-integration scheme is used with regriding (every time step) and smoothing (every five steps). A special φ_n-η type numerical beach on the free surface is developed to minimize wave reflection from end-wall and wave maker. The acceleration-potential formulation and direct mode-decomposition method are used for calculating the time derivative of velocity potential. The indirect mode-decomposition method is also independently developed for cross-checking. The present fully nonlinear simulations for a 2D freely floating barge are compared with the corresponding linear results, Nojiri and Murayama’s (Trans. West-Jpn. Soc. Nav. Archit. 51 (1975)) experimental results, and Tanizawa and Minami’s (Abstract for the 6th Symposium on Nonlinear and Free-surface Flow, 1998) fully nonlinear simulation results. It is shown that the fully nonlinear results converge to the corresponding linear results as incident wave heights decrease. A noticeable discrepancy between linear and fully nonlinear simulations is observed near the resonance area, where the second and third harmonic sway forces are even bigger than the first harmonic component causing highly nonlinear features in sway time series. The surprisingly large second harmonic heave forces in short waves are also successfully reproduced. The fully updated time-marching scheme is found to be much more robust than the frozen-coefficient method in fully nonlinear simulations with floating bodies. To compare the role of free-surface and body-surface nonlinearities, the body-nonlinear-only case with linearized free-surface condition was separately developed and simulated.