Robust and adaptive path following for underactuated autonomous underwater vehicles

This paper proposes a nonlinear robust adaptive control strategy to force a six degrees of freedom underactuated underwater vehicle with only four actuators to follow a predefined path at a desired speed despite of the presence of environmental disturbances and vehicle’s unknown physical parameters. The proposed controller is designed using Lyapunov’s direct method, the popular backstepping and parameter projection techniques. The closed loop path following errors can be made arbitrarily small. Interestingly, it is shown that our developed control strategy is easily extendible to situations of practical importance such as parking and point-to-point navigation. Numerical simulations are provided to illustrate the effectiveness of the proposed methodology.     

进入渤海的热带气旋路径特点分析

热带气旋是夏季影响渤海的灾害性天气系统之一。其影响路径主要有三类，各类路径在影响时前期中高纬500hPa高空环流形势及夏季西太平洋副热带高压特征指数有显著差异。     

变质作用P—T—t轨迹若干问题评述

着重介绍了目前变质作用P－T─t轨迹研究在变质作用温压确定、变质作用不同阶段时间标定、变质作用动态演化过程的组构标志、变质作用演化热模拟以及变质作用P─T─t轨迹与大地构造环境之间关系等方面所存在的若干问题。     

辽宁省海洋服务新业态培育与法律保障研究

海洋服务业已成为海洋经济发展的重要引擎,"十三五"时期是辽宁省海洋经济加快转型升级的关键期,要求培育新动能、发展新模式。因此,培育海洋服务新业态对辽宁省海洋经济发展具有重要意义。文章针对辽宁海洋服务业发展滞后,规模偏小、区域发展不平衡,同质化严重、科技含量低,层次相对低下、与其他产业融合不足,资源整合较差等问题,提出培育海洋服务新业态重要路径为:积极发展四大产业,提高经济规模总量;优化产业区域布局,形成错位发展;提高科技含量,提升海洋服务业层次;促进海洋服务业与其他行业融合协调,提升资源整合度。法律保障措施为:完善法规体系、严格项目审批、提高执法水平、健全应急管理。     

湛江经济跨越式发展路径探讨

湛江具有独特的区位、自然资源和政策优势,但湛江经济发展与广东省其他城市及同批沿海开放城市相比却日趋落后。在剖析湛江经济发展中存在问题的基础上,提出了湛江各级政府应准确定位,彻底转变职能;做大做强支柱产业,积极培育战略产业;加大扶持农业龙头企业力度,提升湛江名牌、特色产品国际竞争力等实现湛江经济跨越式发展的路径。     

西藏扎布耶碳酸盐型盐湖卤水相化学研究

中国盐湖资源丰富,且水化学类型齐全。西藏扎布耶盐湖位于西藏高原腹地,该湖卤水水化学类型为碳酸盐型,已处于盐湖演化晚期,是一个固液共存的盐湖矿床,具有很好的工业开发价值。笔者分别在15℃、25℃下对该卤水进行了等温蒸发实验,研究了在此两个温度下卤水中各元素富集行为和盐类矿物析出规律。并通过讨论其与国内外碳酸盐型和硫酸盐型锂盐湖的卤水蒸发路径和矿物析出异同,指出扎布耶盐湖具有其独特的卤水蒸发析盐路径。在本实验中低温有利于卤水中锂的富集,而高温有利于硼的富集,碳酸锂和钾盐交叉析出,低温时钾的矿物主要为钾石盐,高温时主要为钾芒硝,高温有利于获得高品位的碳酸锂混盐。     

Phase Chemistry Study of the Dangxiongcuo Salt Lake Brine:Isothermal Evaporation at 25℃

正Production of lithium carbonate from brines has become the dominate trend in the world from the beginning of this century.Dangxiongcuo,a carbonate-type salt lake,is located in the interior of the Tibetan Plateau,China.As a salt lake deposit,rich in Li,B,K and other useful trace     

人居环境治理视域下地质文化村建设路径研究

地质文化村是脱贫攻坚和乡村振兴背景下衍生出的乡村地质遗迹保护和开发利用相结合的新概念,目前正在全国多地推广设立,现有研究主要集中在内涵分析和规划设计方面,其具体建设过程中缺乏科学的路径参考。本研究从乡村人居环境治理的视角出发,首先,在讨论的基础上将地质文化村归类于人居环境“景区化治理”的一种形式;其次,基于扎根理论的研究方法将筛选的39篇“人居环境治理”主题文献作为研究资料,利用NVivo11对文献内容进行编码,构建了“人居环境治理”主题分析框架;最后,在归纳和借鉴人居环境领域研究成果的基础上,从“响应国家战略”、“建设思路”、“保障措施”“建设手段”四个方面提出了地质文化村的建设路径。     

东秦岭石界河群中石榴石成分环带所记录的PTt轨迹

位于河南省西峡县北部地区的石界河群榴云片岩中的石榴石发育有很好的结构和成分环带。本文应用微分热力学方法对其环带成分进行计算,确定出一条顺时针方向的PTt轨迹。该轨迹与应用矿物共生组合世代关系确定的PTt轨迹十分吻合。     

Closed-loop randomized kinodynamic path planning for an autonomous underwater vehicle

A randomized kinodynamic path planning algorithm based on the incremental sampling-based method is proposed here as the state-of-the-art in this field applicable in an autonomous underwater vehicle. Designing a feasible path for this vehicle from an initial position and velocity to a target position and velocity in three-dimensional spaces by considering the kinematic constraints such as obstacles avoidance and dynamic constraints such as hard bounds and non-holonomic characteristic of AUV are the main motivation of this research. For this purpose, a closed-loop rapidly-exploring random tree (CL-RRT) algorithm is presented. This CL-RRT consists of three tightly coupled components: a RRT algorithm, three fuzzy proportional-derivative controllers for heading and diving control and a six degree-of-freedom nonlinear AUV model. The branches of CL-RRT are expanded in the configuration space by considering the kinodynamic constraints of AUV. The feasibility of each branch and random offspring vertex in the CL-RRT is checked against the mentioned constraints of AUV. Next, if the planned branch is feasible by the AUV, then the control signals and related vertex are recorded through the path planner to design the final path. This proposed algorithm is implemented on a single board computer (SBC) through the xPC Target and then four test-cases are designed in 3D space. The results of the processor-in-the-loop tests are compared by the conventional RRT and indicate that the proposed CL-RRT not only in a rapid manner plans an initial path, but also the planned path is feasible by the AUV.