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。     

Screening of polymers on selected Hawaii soils for erosion reduction and particle settling

In recent years, high‐molecular‐weight anionic polyacrylamides (PAMs) have been tested on a variety of soils, primarily in temperate climates. However, little information is available regarding the effectiveness of PAM for preventing soil loss through runoff in tropical settings. Screening tests were performed using three negatively charged PAMs and one positively charged PAM on five Hawaii soils (two Oxisols, one Vertisol, and two Aridisols) to determine erosion loss, sediment settling, and aggregate stability. A laboratory‐scale rainfall simulator was used to apply erosive rainfall at intensities from 5 to 8·5 cm h^?1 at various PAM doses applied in both dry and solution forms. Soil detachment due to splash and runoff, as well as the runoff and percolate water volumes, were measured for initial and successive storms. The impact of PAM on particle settling and aggregate stability was also evaluated for selected soil‐treatment combinations. Among the PAMs, Superfloc A‐836 was most effective, and significantly reduced runoff and splash sediment loss for the Wahiawa Oxisol and Pakini Andisol at rates varying between 10 and 50 kg ha^?1. Reduced runoff and splash sediment loss were also noted for PAM Aerotil‐D when applied in solution form to the Wahiawa Oxisol. Significant reductions in soil loss were not noted for either the Lualualei Vertisol or the Holomua Oxisol. It is believed that the high montmorillonite content of the Lualualei Vertisol and the low cation‐exchange capacity of the Holomua Oxisol diminished the effectiveness of the various PAMs tested. The polymers were also found to enhance sediment settling of all soils and helped improve their aggregate stability. This screening study shows the potential use of PAM for tropical soils for applications such as infiltration enhancement, runoff reduction, and enhanced sedimentation of detention ponds. Copyright © 2005 John Wiley & Sons, Ltd.     

Natural recolonization of a productive tropical pond: Day to day variations in the photosynthetic parameters

Chlorophyll pigments (CHL), primary productivity (PP) and particulate nitrogen (N_p) in relation to several environmental factors were monitored during planktonic colonization of an aquaculture pond (Layo, Côte d'Ivoire). How interactions between the organisms are established in an initially azoic environment were investigated. From March, 15 (D1) to March, 31 (D16), the system transformation went through three stages. First, a precolonization by heterotrophic microbial community from D1 to D2 (N_p < 1 m maximum at D2: 243 mg m^–2; CHL around 0). Then, a pioneer microalgal community developped from D3 to D7 (maximum CHL on D6: 19 mg m^–2; PP: 1.0 g C m^–2 d^–1) with a significant contribution of picoplankton (CHL and PP < 3 m: 33 and 23% of the total, respectively). Finally, a second microalgal colonization was noticed from D9 to D12 (maximum CHL: 55 mg m^–2, PP: 2.8 g C m^–2 d^–1), largely dominated by nanoplankton (CHL and PP > 3 m: 95 and 99% of the total, respectively). Overall, photosynthetic activity appeared to be closely linked to algal biomass. The study of autotrophic biomass and activity in different size classes in relation to the other parameters allowed us to precise the origin of the biomass fluctuations. The first bloom appeared to be controlled by selective grazing on small algae. The second algal development ended when N requirement represented at least 69% of N supply (in the N — NH₄ form). This control was enhanced by the appearance of rotifers, leading to a more complex equilibrium.     

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.

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。     

东亚温带气旋及其长期预报（二）：预报应用分析

本文以赤道东太平洋海温作为主导因子，分析其与东亚温带气旋的关系。得出：高海温多气旋，低海温少气旋的对应关系较为明显。并进一步对不符合这种主要关系的年份从环流型。下垫面海温等作了分类鉴别分析。     

登陆我国热带气旋活动的年代际变化分析

本文利用1950－1999年西北太平洋热带气旋资料，对50年来登陆我国热带气旋的月际、年际和年代际变化及异常情况进行了统计分析，指出了登陆我国的热带气旋频数存在明显的年代际差异，并对比分析了同期的副热带高压等海洋大气环流指数的统计特征。     

9711号北上台风演变及暴雨过程的位涡诊断分析

通过对 971 1号台风登陆北上穿过山东造成山东特大暴雨过程的湿位涡的分析 ,并从湿位涡的角度研究了台风演变及山东特大暴雨的形成机制 ,揭示了冷空气在台风演变及暴雨过程中的重要作用。结果表明 :倾斜涡度发展是暴雨产生和台风加强的重要机制之一 ,暴雨产生在 θe线陡立密集区内 ;湿位涡在这次暴雨过程中对流层低层具有 MPV1 <0 ,MPV2 >0的特征 ,此次暴雨产生在负的MPV1等值线密集区中 ;对流层上部及平流层下部高位涡的下传使得低层斜压性增大 ,引起低层的对流稳定度减小 ,促使气旋性涡度发展 ,有利于位势不稳定能量的释放 ,使得暴雨增幅 ,导致台风的加强并演变为温带气旋。     

热带大西洋年际和年代际变率的时空结构模拟

使用美国夏威夷大学发展的中等复杂程度海洋模式(IOM)在给定表面强迫条件下模拟了热带大西洋上层海洋年际和年代际变率的时空结构.利用NCEP的41a(1958～1998年)逐月平均表面资料作为强迫场,积分海洋模式41a作为控制试验,并利用模式分别做动量(风应力)通量和热量通量无异常变化的平行试验,与控制试验作比较.对3组试验模拟上层海洋变率状况的比较,并按年际和年代际时间尺度分别分析,揭示表面风应力和热通量异常对海表面温度和温跃层深度变化的影响,并比较了其影响的相对重要性.结果表明模式成功地模拟出了热带大西洋上层海洋的变率.模式模拟的海表面温度年际变化主要表现为弱ENSO型,年代际变化表现为南、北大西洋变化相反的偶极子型.在年际时间尺度上,热力强迫和动力强迫对海表温度变化都有贡献,其中赤道外海表面温度异常(SSTA)变化主要由热通量异常引起,而近赤道SSTA的变化主要由动量异常强迫引起.在年代际时间尺度上,热通量强迫的作用远比动量强迫重要.模式不仅能够模拟SST在年际和年代际时间尺度上的变率,还能够模拟温跃层深度在年际和年代际时间尺度上的变率.年际和年代际时间尺度上,温跃层深度的变率主要由动量异常决定,热通量异常强迫的贡献很小.     

Molecular phylogenetic analysis of sulfate-reducing bacteria from deep sediment layers of the tropical West Pacific warm pool

1IntroductionThe tropical West Pacific warm pool(TWP-WP),which spans an area roughly between10°Nto10°S of the equator from Indonesia to the dateline,has the world’s warmest sea surface temperature ofbeing greater than29℃.With the increase of recog-niz…