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.

The optimum control of thruster system for dynamically positioned vessels

An offshore vessel with a dynamic positioning system (DP system) needs fast response to produce thrust to counteract the environmental forces acting on it for the purpose of maintaining its position and heading as close as possible to the working position. Therefore, quick and effective modulation of the thrust is the problem to determine the thrust and the rotation angle of the thruster devices of the ship. This paper presents an effective optimum control for a thruster system, using the sequential quadratic method to achieve economical and effective modulation of the thrust and the direction of the thruster. An optimum control study of a 2280 tons DP coring vessel with five rotary azimuth thruster marine positioning is studied in detail, which can quickly and exactly estimate the thrusts and angles of direction of all the thrusters. The results can provide a valuable thruster system for a dynamically positioned vessel.     

Fuzzy Optimum Model of Semi-Structural Decision for Lectotype Optimization of Offshore Platforms

In the process of concept design of offshore platforms, it is necessary to select the best from feasible alternatives through comparison and filter. The criterion set, used to evaluate and select the satisfying alternative, consists of many qualitative and quantitative factors. Therefore, the selection is a problem of multicriteria and semi- structural decision- making. Different from traditional methods in semi- structural decision- making, a new framework and methodology is presented in this paper for evaluation of offshore platform alternatives. First, the criterion set is established for the evaluation of alternatives. Next, the approach is studied to construct the relative membership degree matrix, in which both qualitative and quantitative factors are consistent with the uniform calculating standard. And then a new weight-assessing method is developed for calculation of the weights based on the relative membership degree matrix. Finally, a multi-hierarchy fuzzy optimum model is adopted to select t     

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.     

烟单14号夏玉米产量三因素最佳取值范围的探讨

作者根据大量试验和调查数据的分析,提出烟单14号夏玉米在高产条件下,亩穗数、穗粒数、千粒重三因素的最佳取值范围。 亩穗数:3569～4980 穗/亩; 穗粒数:423～526 粒/穗; 千粒重:259～278 克/1000粒。     

Cross-Calibration and Long-Term Monitoring of the Microwave Radiometers of ERS, TOPEX, GFO, Jason, and Envisat

The radiometers on board the satellites ERS-1, TOPEX/Poseidon, ERS-2, GFO, Jason-1, and Envisat measure brightness temperatures at two or three different frequencies to determine the total columnal water vapor content and wet tropospheric path delay, a major correction to the altimeter range measurements. In order to asses the long-term stability of the path delay, the radiometers are calibrated against vicarious cold and hot references, against each other, and against several atmospheric models. Four of these radiometers exhibit significant drifts in at least one of the channels, resulting in yet unmodeled errors in path delay of up to 1 mm/year, thus limiting the accuracy at which global sea level rise can be inferred from the altimeter range measurements.     

1998年长江巨洪与厄尔尼诺事件

1997～ 1 998年出现了 2 0世纪中最强的一次厄尔尼诺事件。根据长江洪水与厄尔尼诺事件的实测资料 ,指出 1 998年的长江巨洪与这次厄尔尼诺事件具有较密切的关系。同时讨论了厄尔尼诺事件影响长江洪水的物理途径 ,这对长江巨洪的长期及超长期预报具有较重要的指示作用     

地震作用下的导管架海洋平台结构动力优化设计研究

把导管架海洋平台看作钢框架结构，并把优化方法用于结构的抗震设计中；以结构的总重量最小为优化目标，导管的平均直径和壁厚作为设计变量，考虑强度、刚度和稳定等约束条件。通过渤海BZ28—1油田储油平台为例进行了计算，计算结果表明，此方法对海洋平台的设计具有一定的参考意义。     

随机激励下非线性海洋结构物响应分析方法研究进展

对在随机载荷作用下非线性海洋结构物的运动响应分析的各种方法进行了综述,对有些方法的基本原理做了阐述,并指出一些最新的研究进展和今后进一步研究的方向。