Experimental Study of a Command Governor Adaptive Depth Controller for an Unmanned Underwater Vehicle

Unmanned Underwater Vehicles (UUVs) are increasingly being used in advanced applications that require them to operate in tandem with human divers and around underwater infrastructure and other vehicles. These applications require precise control of the UUVs which is challenging due to the non-linear and time varying nature of the hydrodynamic forces, presence of external disturbances, uncertainties and unexpected changes that can occur within the UUV’s operating environment. Adaptive control has been identified as a promising solution to achieve desired control within such dynamic environments. Nevertheless, adaptive control in its basic form, such as Model Reference Adaptive Control (MRAC) has a trade-off between the adaptation rate and transient performance. Even though, higher adaptation rates produce better performance they can lead to instabilities and actuator fatigue due to high frequency oscillations in the control signal. Command Governor Adaptive Control (CGAC) is a possible solution to achieve better transient performance at low adaptation rates. In this study CGAC has been experimentally validated for depth control of a UUV, which is a unique challenge due to the unavailability of full state measurement and a greater thrust requirement. These in turn leads to additional noise from state estimation, time-delays from input noise filters, higher energy expenditure and susceptibility to saturation. Experimental results show that CGAC is more robust against noise and time-delays and has lower energy expenditure and thruster saturation. In addition, CGAC offers better tracking, disturbance rejection and tolerance to partial thruster failure compared to the MRAC.     

苏北浅滩沉积物中的大型绿藻微观繁殖体的垂直分布和物种多样性

本研究通过在2017年秋冬季组织实施的2个绿潮种源调查航次,研究苏北浅滩紫菜养殖区沉积物中的大型绿藻微观繁殖体的垂直分布和物种多样性。对沉积物中的微观繁殖体的定量实验结果表明:表层泥样中绿藻微观繁殖体的丰度最高,随着深度的增加迅速降低。在9月份表层沉积物中丰度为9±2ind./g,而在11月份表层丰度达到98±25ind./g;与9月份相比, 11月份浅滩沉积物中绿藻繁殖体数量呈现出显著升高的趋势。通过对51个绿藻样品的分子鉴定发现:沉积物中存在石莼属(Ulva)、尾孢藻属(Urospora)、盘苔属(Blidingia)等大型绿藻的微观繁殖体;数量占优是石莼属繁殖体,主要包括曲浒苔(Ulva flexuosa)、浒苔(Ulva prolifera)、扁浒苔(Ulva compressa)、缘管浒苔(Ulva linza);其中曲浒苔占据的比例最高,在9和11月份分别达到80.94%和73.33%。在2个调查航次中,都从沉积物中发现了绿潮浒苔的微观繁殖体,这些微观繁殖体是绿潮浒苔在苏北浅滩种源维持的重要方式和关键阶段,也构成了黄海浒苔绿潮连年暴发的"种子库"。     

沉积物中硬质粘土层的研究进展

大量的钻孔资料表明,平原地区及其海域沉积物中普遍有硬质粘土层的存在。硬质粘土层在工程地质、地理学研究等方面具有重要的价值,它不仅是高层建筑的持力层,而且是研究全球环境变化事件、古气候演变的良好载体。该文阐述了硬质粘土层的一般特征、成因以及在粒度、地球化学元素、年代学、沉积环境等方面的研究进展,并展望了硬质粘土层在年代、物质来源和沉积环境等方面的研究方向,认为黄河三角洲硬质粘土层研究较少,需要开展大范围的、系统深入的、多学科的宏观和微观综合分析,挖掘硬质粘土层蕴含的古环境意义和应用价值。     

Dynamic modelling of retrogressive landslides with emphasis on the role of clay sensitivity

This paper presents a detailed numerical study of the retrogressive failure of landslides in sensitive clays. The dynamic modelling of the landslides is carried out using a novel continuum approach, the particle finite element method, complemented with an elastoviscoplastic constitutive model. The multiwedge failure mode in the collapse is captured successfully, and the multiple retrogressive failures that have been widely observed in landslides in sensitive clays are reproduced with the failure mechanism, the kinematics, and the deposition being discussed in detail. Special attention has been paid to the role of the clay sensitivity on each retrogressive failure as well as on the final retrogression distance and the final run‐out distance via parametric studies. Moreover, the effects of the viscosity of sensitive clays on the failure are also investigated for different clay sensitivities.     

基于TPB拓展模型游艇旅游行为意向影响机制研究

在改进计划行为理论(TPB)模型基础上,引入人口特征和游艇文化变量,构建游艇旅游行为意向的影响机制模型,以实地调研和问卷调查作为数据来源,运用结构方程模型(SEM)实证检验影响旅游者参与游艇旅游行为意向的主要因素及其作用机制。研究表明:当前我国旅游者参与游艇旅游的意向较高;旅游者的行为态度、主观规范、感知行为控制和游艇文化是影响其选择游艇旅游活动的重要因素;旅游者的行为态度、游艇文化2个变量对游艇旅游行为意向具有显著的正向影响;主观规范和感知行为控制均通过行为态度这一中介变量间接影响游艇旅游行为意向。     

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.     

A CASE STUDY ON CONCENTRATION AND DECENTRALIZATION：BEHAVIOR AND DYNAMIC MECHANISM OF SPATIAL EVOLUTION IN METROPOLITAN AREA，NANJING，CHINA

In rapid socio-economic development,the process of concentration and dispersal of various elements tends to be more dramatic,tremendously influencing the shaping and transformation of the space in metropolitan area.Survey of spatial concentration and decentralization has thus become a basic method in examining metropolitan spatial evolution.In this research,three elements were selected as the essential indicators of the process:demographic density distribu-tion,employment density distribution and business office location.Performance of these elements in Nanjing City was exam-ined historically.As Nanjing City could be regarded as a representative of metropolitan areas in China,its situation large-ly suggestes the general characteristics in similar areas of China.Hence based on the investigation of Nanjing City,four general implications were highlighted.First ,metropolitan areas in China are in a violent process and shift of spatial concentra-tion and decentralization.Second,from now to at least the near future,concentration will continue to be the central fea-ture.Third,the landscape of metropolitan areas basically exhibits a dual structure character.The gap in environmental and ecological qualities among different districts will continue for a long time.Fourth,Central Business District (CBD) is playing an important role in helping to convert the traditionally single-centered city structure into a polycentric one.     

Preliminary investigation of mercury in bone tissues of skua and penguin in Antarctica using AFS and Synchrotron Radiation X-ray Fluorescence （SR-XRF）

Mercury （Hg） was investigated in bone tissues of skua （ Catharacta maccormick） and penguin （Pygoscelis adeliae） collected in the maritime Antarctic using atomic fluorescence spectrometry （AFS） and synchrotron radiation X-ray fluorescence （SR-XRF） method. The total levels of mercury in bone tissues of penguin and skua are much lower than those in other organs （e. g. , kidney, liver）. The toxic effects of mercury in bone tissues of seabirds in polar region are not known. We have used SR- XRF method to map the distribution of trace levels of mercury in bones. The levels of mercury are found to be enriched somewhere near the periosteal surface and/or endosteal surface. The distribution of mercury shows strongly correlation with that of some essential elements and probably poses negative effect on the bone metabolism inferring from the relationship of mercury with the other elements. These studies represent a first step toward understanding the toxic effects of mercury on bone of polar animals by suggesting the possible microscopic investigation.     

Mobile Agent系统结构及其关键技术

Mobile Agent技术是一门新兴的技术,具有移动性、智能性和异步计算的特点,已成为计算机网络和分布式系统最具活力的发展方向.现对Mobile Agent的概念、系统结构及其关键技术进行了分析和探讨.     

西南矿区山体崩塌成因机制分析及防治对策

西南地区的矿区具有相似的地理、地质环境,通过四川芙蓉煤矿白岩崩塌的典型实例,对西南矿区山体崩塌的成灾环境进行调查研究,揭示了西南矿区山体崩塌的成因机制,并简要提出了对该煤矿开发与综合治理建议,指出了加强防治工作的紧迫性,强调开展系统工程防灾的重要性,并为该煤矿解决正常采掘接替及工作面的布置问题作出了科学的指导.