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。     

漂浮式海上风电张力腿平台筋腱选型与防腐蚀论述

文章通过对现有的漂浮式平台张力腿筋腱进行调研,简要分析了筋腱类型及优缺点,总结了常见漂浮式平台筋腱防腐蚀措施。在此基础上,探讨了受限于海洋腐蚀环境的两种筋腱提高耐久性的防腐措施,为漂浮式风电深水平台筋腱选型提供参考和依据。     

蔚蓝色：中华文明的再度辉煌

在数千年的历史长河中，中华民族既有因亲近海洋，在航运及船舶制造、海上贸易、海洋渔业等方面谱写下了壮丽的篇章，创造出了灿烂的海洋文明的辉煌时期，也有过因疏远海洋、丧失了世界文明领先地位，沦为“东亚病夫”而遭受任人崭割的悲惨岁月。回顾过去，展望未来，开发海洋、经略海洋，必将带来中华文明的再度辉煌。     

赤潮

严格来讲,赤潮是一种自然现象。《圣经》中记载的河水变红、《聊斋志异》里提到的河水发光,或许是民间对赤潮类事件最古朴也最形象的记录。1831～1836年达尔文乘“Beagle”号环球航行时也对赤潮做过相关记录,虽然那时尚无人提出明确的“赤潮”概念。近几十年来由于对人类的娱乐及生产活动影响越来越严重,频繁发生的赤潮逐渐被界定为环境污染及海洋灾害的一种。河里的水都变作血了。河里的鱼死了,河也腥臭了,埃及人就不能吃这河里的水,埃及遍地都有了血。——《旧约·出埃及记》众坐舟中,旋见青火如灯状,突出水面,随水浮游;渐近舡,则火顿灭…     

Effect of Cyclic Loading Frequency on Undrained Behaviors of Undisturbed Marine Clay

Based on a series of cyclic triaxial tests, the effect of cyclic frequency on the undrained behaviors of undisturbed marine clay is investigated. For a given dynamic stress ratio, the accumulated pore water pressure and dynamic strain increase with the number of cycles. There exists a threshold value for beth the accumulated pore water pressure and dynamic strain, below which the effect of cyclic frequency is very small, but above which the accumulated pore water pressure and dynamic strain increase intensely with the decrease of cyclic frequency for a given number of cycles. The dynamic strength increases with the increase of cyclic frequency, whereas the effect of cyclic frequency on it gradually diminishes to zero when the number of cycles is large enough, and the dynamic strengths at different frequencies tend to the same limiting minimum dynamic strength. The test results demonstrate that the reasons for the frequency effect on the undrained soil behaviors are beth the creep effect induced by the loading rate and the decrease of sample effective confining pressure caused by the accumulated pore water pressure.     

第二章 重力场与地壳性质

(一)重力观测 海上重力观测使用两台海洋重力仪,即GSS3(No.53)和KSS31(No.22),前者为后者发生故障时的替补设备。 海上重力观测与世界重力网IGSN71相联时,采用拉柯斯特—龙贝格(LaCoste—Romberg)G型(No.480)重力仪在陆上进行测量。     

他是国内海蓬子产业化种植第一人 让中国海水蔬菜步入国际市场第一人——“海疯子”的“海上农场”

出于对海蓬子的痴迷，张春银的夫人封给他“海疯子”这个“昵称”。而在张春银看来，如果没有这种热情和冲动，海水蔬菜产业化则只是纸上谈兵，也正是凭着这份热情，我国江苏东部广袤而荒凉的盐碱地上，一个真正意义上的“海上农场”正渐渐浮出水面。     

Spectral Analysis of Nonlinear Drag Forces

The spectral properties of nonlinear drag forces of random waves on vertical circular cylinders are analyzed in this paper by means of nonlinear spectral analysis. The analysis provides basic parameters for estimation of the characteristic drag forces. Numerical computation is also performed for the investigation of the effects of nonlinearity of the drag forces.The results indicate that the wave drag forces calculated by linear wave theory are larger than those calculated by the third order Stokes wave theory for given waves. The difference between them increases with wave height. The wave drag forces calculated by use of hnear approximation are about 5% smaller than their actual values when measured in the peak values of spectral densities. This will result in a safety problem for the design of offshore structures. Therefore, the nonlinear effect of wave drag forces should be taken into comidemtion in design and application of important offshore structures.     

Seismic Response Control of Offshore Platform Structures with Shape Memory Alloy Dampers

In this study, the seismic response control of offshore platform structures with Shape Memory Alloy (SMA) dampers is investigated. A new SMA damper and its restoring force medel are introduced for the calculation of seismic response reduction. Based on an actual platform structure and its mechanical medel, the parameters which may affect the rate of shock absorption are analyzed, such as the number, position and characteristics of the SMA dampers and the condition of the site where the platform is located. The results show that the SMA damper is an effective control device for offshore platforms and satisfactory control can be achieved by proper selection of the parameters.