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 geological and geotechnical investigation of the settlement area of Zümrüt Building (Konya, Turkey) which caused 92 fatalities due to its collapse

This study examines the local geological conditions and soil structure as possible causes of the collapse of the Zümrüt Building 2 February 2004. This catastrophe resulted in 92 fatalities and 35 injuries. This study also examines other views which claim weak soil structure, elastic and consolidation settlement of soil and excessive groundwater extraction as well as subsidence resulting from the underground silt erosion as possible factors. Zümrüt Building was constructed on normally consolidated, low plasticity clay. The underground water table was 30 m in depth. The internal friction angle of soil was 8°–30°, its cohesion was between 34 and 127 kN/m² and standard penetration test numbers varied between 11 and 50. The underground water level beneath Zümrüt Building had risen 4.5 m since its construction. Therefore the claim that subsidence resulting from the decrease of underground water level contributed to the collapse is incorrect. Secondly the settlement, resulting from the filling up of the pores created by the silt receding with the underground water, was 4.4 mm in total, and attributing this as the primary cause of the collapse is also incorrect. Soil properties, in situ and laboratory test results showed that the existing and/or expected settlement and the differential ground settlement in the Zümrüt building vicinity had the potential to cause structural damage. The tensile stresses caused by differential settlements recorded here are thought to be an indicator, but not the main cause contributing to the collapse of the building. The Zümrüt Building collapse was due to several compounding mistakes during the construction phase. These were geotechnical and other project faults and the use of low quality construction materials. The resulting catastrophe caused 92 fatalities, 35 injuries and a material loss of approximately US$7 million.     

手掘式顶管在市政排水工程中的应用

从混凝土管材的选定、工作坑的设计及施工、顶管顶进中若干关键问题入手,介绍了手掘式顶管施工技术在成都市中心城水环境综合整治工程G标段管道排水工程中的应用。     

Characteristic analysis on oxygen isotopic tracer in the East China Sea and waters to east of the Ryūkyū-guntō

Samples of O isotopic tracer were mlleMed at Sections P₃,P₂₅,P_cM-t/2-E and P_CM-1/2.w in both the Fast China Sea and the area to the east of the Ryūkyū-gunto during October-November,1991.Analytical results of the δ¹⁸O are as follows: (1) In the Kuroshio area,the δ¹⁸O isolines are almost parallel to the 200 m isobath.The value of δ¹⁸O is negative and reaches minimum mt the main axis of the Kuroshio,and increases on both sides.(2) In the Taiwan Warm Current (TWC) area there is a high δ¹⁸O tongue extending to the northeast.(3) In the area near the coast,the distribution of δ¹⁸O isoline shows that the Changjiang River runoff diffuses seaward and the land-ocean isotopic effect from the nearshore to the offshore.(4) The values of δ¹⁸O are from -1.0×10^-3 to -0.5×10^-3 in the shelf.(5) There is a low mre of δ¹⁸O value(<-1.6×10^-3) at the 600 m layer in the Kuroshio area,which is quite in accord with the existence of a low salinity mre (S G 34.30) between the 600 and 800 m layers in the same area.Finally,the mrrelations of the δ¹⁸O with the salinity and temperature,the upwelling and so on are discussed.     

南海中建南盆地构造样式分析

中建南盆地是发育于南海西部陆缘我国传统疆界线附近的新生代沉积盆地,大部分区域位于我国传统疆界线内。在对盆地近万千米多道地震资料综合分析解释的基础上,对盆地的主要构造样式以及它们与油气的关系进行了分析,结果表明,盆地分布面积广,沉积厚度大,油气前景良好。盆地是属于早期断陷、后期经走滑改造而成的复合型盆地,其构造演化经历了3个阶段,不同的阶段发育不同的构造样式:早期为断陷阶段,伸展型构造样式发育;中期为断坳—压扭或走滑反转阶段,产生走滑或压扭性构造样式;晚期为区域沉降阶段,以垂向沉积为主,无明显的构造样式发育。     

Actinic flux and photolysis frequency comparison computations using the model PHOTOGT

The accurate radiative transfer model GOMETRAN, initially designed to yield radiances at TOA in the wavelength range 240–790 nm, has been extended to allow for the computation of actinic fluxes down to 175 nm and for the calculation of photolysis frequencies in the atmosphere. The capability of the extended model PHOTOGT (PHOTOGOMETRAN) is demonstrated in a number of successful comparison studies both with recent experiments (ground-based, balloonborne, airborne) and model calculations of radiances, actinic fluxes and photolysis frequencies in the stratosphere and troposphere. In an atmospheric case study, the impact of new quantum yield data for the O₃ » O₂+O(¹ d) photodissociation channel on the photolytic production of O(¹ d) atoms in the lower atmosphere has been quantified.     

DMC＋4小卫星在国际灾害监测中的应用与评价

针对国际灾害监测星座应用技术和中国各种自然灾害的现状,着重研究了DMC(DisasterMonitoringConstellation)星座应用技术和DMC 4小卫星的数据特点,研究了利用小卫星星座对防灾、抗灾救灾的突出作用,研究了小卫星地面系统集成技术和星地一体化运营、管理和控制体系,以便进一步推动国内小卫星技术、遥感应用技术、卫星星座技术、天地一体化运管控技术和机制创新的发展。促进中国灾害监测星座的研制,最终实现对各种自然灾害的实时、动态监测。     

山岳型旅游区人文建筑环境后效与调控模型

许多山岳型旅游区内或其流域上游，都建有人文建筑，而且在急剧增多，导致自然环境日趋恶化，其中乱建疗养院和旅馆的影响最为严重。通过地监测并全面分析张家界环境演变趋势，发现住宿施对环境的影响，比其他游乐设施更为明显。张家界国家森林公园生态环境的脆弱因子是金鞭溪水质。金鞭溪水质恶化主要表现为蓝藻，绿藻迅速繁殖，感官质量下降。主要原因是磷污染较重，总磷年均值100%超标。本文提出了基于环境脆弱因子的动态阈值调控模型，通过计算得出：在不超出张家界景区最为脆弱的环境因子-金鞭溪水质标准：总磷≤0.02前提下，金鞭溪上游接待区住宿设施生态阈值的动态系列：春季临界床位数为1186，夏季为3057，冬季为545，秋季为333。目前的建筑规模已超过了金鞭溪上游接待区住宿设施生态阈值。