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。     

The double solid reactant method: II. An application to the shallow groundwaters of the Porto Plain,Vulcano Island (Italy)

This paper presents an example of application of the double solid reactant method (DSRM) of Accornero and Marini (Environmental Geology, 2007a), an effective way for modeling the fate of several dissolved trace elements during water–rock interaction. The EQ3/6 software package was used for simulating the irreversible water–rock mass transfer accompanying the generation of the groundwaters of the Porto Plain shallow aquifer, starting from a degassed diluted crateric steam condensate. Reaction path modeling was performed in reaction progress mode and under closed-system conditions. The simulations assumed: (1) bulk dissolution (i.e., without any constraint on the kinetics of dissolution/precipitation reactions) of a single solid phase, a leucite-latitic glass, and (2) precipitation of amorphous silica, barite, alunite, jarosite, anhydrite, kaolinite, a solid mixture of smectites, fluorite, a solid mixture of hydroxides, illite-K, a solid mixture of saponites, a solid mixture of trigonal carbonates and a solid mixture of orthorhombic carbonates. Analytical concentrations of major chemical elements and several trace elements (Cr, Mn, Fe, Ni, Cu, Zn, As, Sr and Ba) in groundwaters were satisfactorily reproduced. In addition to these simulations, similar runs for a rhyolite, a latite and a trachyte permitted to calculate major oxide contents for the authigenic paragenesis which are comparable, to a first approximation, with the corresponding data measured for local altered rocks belonging to the silicic, advanced argillic and intermediate argillic alteration facies. The important role played by both the solid mixture of trigonal carbonates as sequestrator of Mn, Zn, Cu and Ni and the solid mixture of orthorhombic carbonates as scavenger of Sr and Ba is emphasized.

Prediction of local scour around circular piles under waves using a novel artificial intelligence approach

Abstract

The scour phenomena around vertical piles in oceans and under waves may influence the structure stability. Therefore, accurately predicting the scour depth is an important task in the design of piles. Empirical approaches often do not provide the required accuracy compared with data mining methods for modeling such complex processes. The main objective of this study is to develop three data-driven methods, locally weighted linear regression (LWLR), support vector machine (SVR), and multivariate linear regression (MLR) to predict the scour depth around vertical piles due to waves in a sand bed. It is the first effort to develop the LWLR to predict scour depth around vertical piles. The models simulate the scour depth mainly based on Shields parameter, pile Reynolds number, grain Reynolds number, Keulegan–Carpenter number, and sediment number. 111 laboratory datasets, derived from several experimental studies, were used for the modeling. The results indicated that the LWLR provided highly accurate predictions of the scour depths around piles (R?=?0.939 and RMSE = 0.075). Overall, this study demonstrated that the LWLR can be used as a valuable tool to predict the wave-induced scour around piles.     

海洋综合测量声学系统间信号干扰的分析

针对海洋综合测量多种声学测量系统间的窄带相干声学干扰现象进行了理论分析，并针对克服窄带干扰提出了一些具有实用价值的建议。     

Long-Term Effect of TMD on Vibration Control of An MDOF Offshore Fixed Platform

A three-dimensional fixed offshore platform in deep water modeled by the finite element method is studied in this paper. Analysis of the dynamic response of the MDOF structure is realized taking the non-linearity of the wave drag force and the wave-structure interaction into account. The structural response statistics, which have Gaussian distributions, are used to evaluate the vibration effect of the structure without TMD and with TMD. And an optimal method to design TMD controlling the first mode of the multi-mode structure is proposed. Moreover, the probabilities of occurrence of sea states at the platform site are considered for prediction of the long-term effect of a TMD. Simulation results demonstrate that the long-term effect of a well-designed TMD is good and the practical use is possible due to the good stability of its optimal parameters under different sea states.     

Interference fringes on GLORIA side-scan sonar images from the Bering Sea and their implications

GLORIA side-scan sonographs from the Bering Sea Basin show a complex pattern of interference fringes sub-parallel to the ship's track. Surveys along the same trackline made in 1986 and 1987 show nearly identical patterns. It is concluded from this that the interference patterns are caused by features in the shallow subsurface rather than in the water column. The fringes are interpreted as a thin-layer interference effect that occurs when some of the sound reaching the seafloor passes through it and is reflected off a subsurface layer. The backscattered sound interferes (constructively or desctructively) with the reflected sound. Constructive/destructive interference occurs when the difference in the length of the two soundpaths is a whole/half multiple of GLORIA's 25 cm wavelength. Thus as range from the ship increases, sound moves in and out of phase causing bands of greater and lesser intensity on the GLORIA sonograph. Fluctuations (or wiggles) of the fringes on the GLORIA sonographs relate to changes in layer thickness. In principle, a simple three dimensional image of the subsurface layer may be obtained using GLORIA and bathymetric data from adjacent (parallel) ship's tracks. These patterns have also been identified in images from two other systems; SeaMARC II (12 kHz) long-range sonar, and TOBI (30 kHz) deep-towed sonar. In these, and other cases world-wide, the fringes do not appear with the same persistence as those seen in the Bering Sea.     

港口靠船桩工作性状计算的双参数法

港口靠船桩是承受重复性荷载或多循环荷载的一种横向承载桩。双参数法能较好地描述靠船桩 (单桩、群桩 )的桩土工作性状。用双参数法进行计算时 ,所给的地面条件必须由重复荷载或多循环荷载作用下实测出来。根据现场试桩资料 ,标定桩土参数 ,即k =mx1/n的指数l/n、桩土相对柔度系数α、桩土综合刚度EI等值 ,可以用来设计试桩附近局部地区同类条件下的其它长桩。对于没有进行试桩的某些工程 ,可以联合运用双参数法和p -y曲线法进行桩的分析     

小直径组合桩的波浪力实验分析

本文给出小直径孤立桩、两个桩和2×2个桩的波浪作用力实验结果。在波浪水槽中以0°,45°,90°三个波浪方向测量了各桩所受的纵向力和横向力,文中讨论了组合桩之间的干扰效应,给出了干扰系数随KC数和桩距的变化。     

冬至初春黄海暖流的路径和起源

主要根据近几年来中韩黄海水循环动力学合作调查结果,结合有关观测资料,进一步分析了冬至初春黄海暖流的路径和起源.与以往类似研究不同的主要有两点:(1)初步探讨了黄海暖流路径的季节和年际变异,并指出这种变异与北向风的强弱密切相关;(2)通过分析济州岛西侧海域混合水的去向,进一步确认了部分混合水绕济州岛运行,并进入济州海峡这一事实.同时,初步揭示进入黄海的混合水,即黄海暖流水,含有更多的东海陆架水成分.     

黄河入海口壬基酚污染分布特征

黄河口表、底层水体和沉积物中壬基酚的浓度分布特征研究结果表明,表层水体中壬基酚浓度为15.7~148.6 ng/L,平均值为47.5 ng/L;底层水体中壬基酚浓度为15.8~52.7ng/L,平均值为31.0 ng/L;表层沉积物中壬基酚浓度为2.31~5.47 ng/g,平均浓度为3.87ng/g。黄河口水体中壬基酚浓度呈现由河道向出海口外逐渐降低的趋势;河道中表层沉积物壬基酚含量高于出海口外。黄河口水体中壬基酚浓度低于文献中报道的海河口水体中的浓度,表层沉积物中壬基酚含量低于珠江口文献报道值。水体中壬基酚浓度超过抑制藤壶附着浓度(10 ng/L),河道最上游的站点水体中的浓度超过影响太平洋牡蛎幼苗的发育并增加幼苗死亡率的浓度(100 ng/L)。