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。     

关于t-模的生成

讨论了概率度量空间中ｔ－模生成的概率意义。对构造ｔ－模提供了具体方法，并以实例介绍了这种构造方法。     

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.     

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.

海洋声层析的基本原理和应用

从射线声学和简正波声学的角度，概述了海洋声层析的基本理论，包括射线走时反演、简正波走时反演、简正波相位反演和简正波水平折射层析。海洋声层析以反演海水温度和流速为基础。还总结了声层析在海洋学研究中的应用。     

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.     

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.     

冲绳海槽浮岩包裹体的测温试验

对浮岩中斜长石斑晶中的包裹体及玻璃基质中的包裹体首先进行双面光薄片的镜下观察，然后进行了系统的均化法与爆裂法测温试验。观察与试验结果表明：(1)斜长石中的包裹体均为玻璃质+气泡的两相包裹体，未发现气—液包裹体。固化包裹体为玻璃质，非晶质的固化包裹体外即是大量的气泡，特别是基质当中气泡更为发育，说明熔浆中含有丰富的挥发性组分，同时也说明包裹体形成于较浅的地质条件下。(2)长石中包裹体的均化温度不受包裹体特征不同的影响，均化温度分布范围从910—1250℃，峰值明显，计算的均化温度为Tz=(1081.4±177.9)℃，但还存在有高于1250℃的均化温度峰。包裹体均化法测试结果说明浮岩中斜长石的形成过程至少有两个阶段：第一阶段的岩浆温度在1200—1300℃左右，在此温度下形成的是An值较高的基性斜长石，同时结晶的还有辉石等矿物，斜长石结晶第二个阶段时的熔浆温度在1100℃以下，这一阶段持续的时间长，跨越的温度范围大，应是岩浆在近地表和岩浆喷出过程中的岩浆快速冷却期，同时伴随有矿物大规模晶出。(3)包裹体中的气相部分均聚合成圆形或近圆形，说明温度下降速度较快。斑晶斜长石中部分包裹体与基质玻璃中包裹体的形成温度是连续变化的，这一事实应该与冲绳海槽特殊的地质条件有关     

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     

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。