轮式移动机器人定点目标控制问题及线性分解方法

提出轮式移动机器人在给定时间内的定点目标控制问题并提出一种解决该类问题的线性分解控制方法。根据轮式移动机器人的非完整性非线性动力学模型的结构特性,将机器人的运动分解为原地旋转和直线运动。按不同时间段分别设计移动机器人的原地旋转和直线运动规律,从而实现了非线性系统的线性解耦分解。利用线性分解控制方法,将轮式移动机器人的原地旋转和直线运动按匀加速起步、匀速行驶和匀减速停车运动规律控制,实现了在给定时间内的定点目标控制。仿真结果验证了所提出方法的有效性。     

在狭窄通道环境下书库管理机器人的最优路径规划

研究移动机器人在狭窄通道环境下的定位和路径规划问题。首先,根据在书架和图书上预置的射频识别(RFID)标签,利用RFID技术提出了确定书库管理机器人位置和姿态的方法。然后,根据书库的书架间通道狭窄的特点,将书库管理机器人的行驶状态分解为匀速直线运动和原地匀速旋转运动,并给出了机器人匀速直线运动和原地匀速旋转运动的用时模型。最后,提出一种书库管理机器人从任意起始位置和姿态到达任意目标位置的最小用时路径规划算法。仿真结果表明,本文提出的路径规划算法是有效的。     

海浪波面极大值分布的非线性影响

依非线性海浪模型,在二阶近似下,利用特征函数展开技术和直接求矩的方法,导出了定点波面位移及其对时间的一阶和二阶导数的联合分布。由此联合分布,导出了二阶非线性近似下的波面极大值分布。它由线性意义下的海浪频谱及所考虑的二阶级。波相互作用所确定。当忽略非线性影响时,文中给出的波面极大值分布退化为Cartwright和Longuet-Higgins所导出的分布。     

非线性随机波的数值模拟

本文根据作者提出的非线性不规则波四阶近似理论解,首先导出二阶非线性谱和线性谱的关系式,并应用非线性有约束最优化方法建立了从靶谱分解线性谱和二阶非线性谱的数学模式,进而建立非线性随机波数值模拟的数学模型及其快速傅里叶交换算式,从而大大地缩短计算机时。由于采用从靶谱分解出的线性谱,模拟的非线性随机波现实谱和靶谱符合一致。最后通过算例,对模拟的非线性及线性随机波的谱估计及波面统计特性进行初步分析,本方法为浅水不规则波与水流及建筑物相互作用的研究提供随机模拟基础。     

旋转谱理论探讨

本文应用向量随机过程分解模型对旋转谱作出物理解释;此外,还修改了线性振荡度的定义,导出了极化度、线性振荡度和旋转系数之间的关系式,并讨论了它们与总相干、同相相干、异相相干之间的关系。     

基于引导角的非完整移动机器人轨迹跟踪控制

研究非完整移动机器人的轨迹跟踪控制问题。首先根据移动机器人侧向误差和角度误差的几何关系,提出了一种基于引导角的轨迹跟踪控制方法。然后利用Lyapunov直接法和积分Backstepping方法设计了基于引导角的轨迹跟踪控制器,并证明了移动机器人轨迹跟踪误差收敛性。最后通过仿真结果验证了本文方法的有效性。     

基于支持向量回归的海面高度统计预报方法研究

本文提出一种基于支持向量回归的统计预报方法,通过经验正交分解对原始数据矩阵进行时空分解,提取出空间模态和时间系数。由于海面高度变化具有非线性、大惯性的特点,对时间系数进行小波分析,能有效滤除其中的高频信号,得到表征海面高度变化的低频信号。利用支持向量回归方法对小波分解后的低频信号构建预报模型。最后,进行小波重构,还原时间序列长度,实现未来7天的海面高度预报。通过黑潮附近海域的海面高度预报结果验证,该预报方法的预报效果优于整合滑动平均自回归预报方法。本文通过机器学习的算法实现了海面高度的预报,为海洋预报方法提供了新的思路。     

波浪沿斜面传播过程的数值模拟

精确模拟非线性波沿斜面传播过程非常困难,为此论文从势函数的边界积分方程出发,建立了一种时域内二维波浪模拟的数值模型,主要用来模拟完全非线性波浪的传播变形过程。论文的数值模型使用高阶二维边界元方法,采用可调节时间步长的基于二阶显式泰勒展开的混合欧拉-拉格郎日时间步进来求解带自由表面的线性或完全非线性波浪传播问题。在计算区域一端造出线性或非线性的周期性波浪,另一端采用消除反射波的人工粘性吸收边界。通过与现有理论比较证明了论文数值方法所得结果是准确可靠的。     

基于磁异常信号解析的目标速度特性研究

水下磁性目标产生的磁场成为重要的水下目标非声探测信号源,因此对水下磁性目标的静磁场建模原理开展了研究。实现了均匀磁化的旋转椭球体模型和磁偶极子模型,并对2种模型在目标磁异常信号仿真上的适应性进行了分析。研究表明：相比于磁偶极子模型,旋转椭球体模型在传感器与目标距离较近时也能表现很好的适应性。由此,利用旋转椭球体模型,首先通过仿真计算构建了目标在不同运动速度状态下的近距离磁异常信号数据集,然后开展基于深度学习方法的水下磁性目标运动速度识别方法研究,最后识别效果在验证集和测试集上分别取得了0.17m/s和0.74m/s良好的误差精度,为后续目标的航向等状态识别奠定重要基础。     

失稳背景流下对称型海洋内波的生成演变

本文采用无海底地形但考虑海洋跃层和剪切背景流的二维非静力准不可压缩方程组的数值模式,开展失稳垂向剪切背景流下线性和非线性对称型海洋内波生成演变的数值实验,并对结果进行分析、比较和讨论。研究结果表明,线性内波强度随积分时间始终呈指数增长,并有内波的对称不稳定;而非线性内波强度则在发展期呈准线性增长,最终进入稳定期。线性增长比非线性增长要快得多,非线性效应具有维稳作用。对该线性和非线性对称型内波,在跃层附近位密度扰动均有大值中心,即其为跃层所俘获,这与实际观测相一致;流函数与位密度扰动两者均有很好配合,位密度扰动的正、负中心分别相应于流函数的上升、下沉运动,表明有从海底向上的斜对流发生,且以跃层为顶盖。对线性内波来说,随积分时间增加,其波形大体不变,其正、负振幅也大体相同,并有符号相反原地增长的两个倾斜环流圈,而在它们之间则有较强倾斜上升流。非线性内波波形随积分时间改变,倾斜环流圈数目也在增加,最终形成负环流强于正环流的结果,并导致流函数、位密度扰动水平梯度剧增,其可视为间断。     

Microbial Biomass and Organic Nutrients in the Deep-Sea Sediments of the Central Indian Ocean Basin

In order to assess the impact of deep-sea mining on the in situ benthic life, we measured the microbial standing stock and concentration of organic nutrients in the deep-sea sediments of the Central Indian Ocean Basin in the Indian pioneer area. Sediments were collected using box core and grab samples during September 1996. The total bacterial numbers ranged from 10 10 -10 11 cells per g -1 dry weight sediment. There was a marginal decrease in the number of bacteria from surface to 30 cm depth, though the subsurface section registered a higher number than did the surface. The highest numbers were encountered at depths of 4-8 cm. The retrievable number of bacteria were two orders less in comparison with the direct total counts of bacteria. An almost homogeneous distribution of bacteria, total organic carbon, living biomass, and lipids throughout the depth of cores indicates active microbial and benthic processes in the deep sea sediments. On the other hand, a uniform distribution of total counts of bacteria, carbohydrates, and total organic carbon in all the cores indicates their stable nature and suggests that they can serve as useful parameters for long-term monitoring of the area after the benthic disturbance. Further studies on temporal variability in this region would not only verify the observed norms of distribution of these variables but would also help to understand restabilization processes after the simulated benthic disturbance.     

海上大直径钢管桩打桩过程中桩周土强度弱化研究

海上大直径钢管桩打桩过程中,桩周土体受到强烈扰动而发生强度弱化,掌握桩周土体强度弱化规律对于准确预测打桩过程、保证工程安全具有重要意义。为研究土体强度弱化规律,开展了环剪试验模拟打桩对桩周土体的扰动,测试土体强度随剪切速率的变化规律,建立了描述土体强度弱化规律的拟合公式,引入到打桩分析软件中。研究结果表明：土体的强度折减程度不仅与土体本身的性质有关还受到土体的埋深和剪切速率的影响,埋深越深土体强度折减程度越低,剪切速率越高土体强度折减越高,在打桩分析中可采用这里推荐的线性折减方法来模拟不同深度处土体强度的折减规律。     

Geoacoustic Inversion via Genetic Algorithm and Its Application to Manganese Sediment Identification

An acoustic inversion method using a wide-band signal and two near field receivers is proposed and applied to multiple layered seabed models including a manganese sediment. The inversion problem can be formulated into a probabilistic model comprised of signals, a forward model, and additive noise. The forward model simulates wide-band signals, such as chirp signals, and is chosen to be the source-waveletconvolution plane wave modeling method. The wavelet matching technique, using weighted least-squares fitting, estimates the sediment sound-speed and thickness on which determination of the possible numerical ranges for a priori uniform distribution is based. The genetic algorithm is applied to a global optimization problem to find a maximum a posteriori solution for determined a priori search space. Here the object function is defined by an L 2 norm of the difference between measured and modeled signals. Not only the marginal pdf but also its statistics are calculated by numerical evaluation of integrals using the samples selected during importance sampling process of the genetic algorithm.     

Phylogenetic diversity and phenotypic characterization of cultivable bacterioplankton isolated from polar oceans

A set of 27 marine planktonic bacteria isolated from the polar regions was characterized by 16S rDNA sequencing and physiological and biochemical testing. More than half of these bacteria were positive for caseinase, gelatinase and 13-glucosidase, and could utilize glucose, maltose or malic acid as carbon source for cell growth. Twelve isolates expressed nitrate reduction activities. Except for one antarctic isolate BSwlO175 belonging to Actinobacteria phylum, these isolates were classified as γ-Proteobacteria, suggesting that γ-Proteobacteria dominated in cultivable marine bacterioplankton at both poles. Genus Pseudoalteromonas was the predominant group in the Chukchi Sea and the Bering Sea, and genus ShewaneUa dominated in cultivable bacterioplankton in the Prydz Bay. With sequence similarities above 97%, genus Psychrobacter was found at both poles. These 27 isolates were psychrotolerant, and significant 16S rDNA sequence similarities were found not only between arctic and antarctic marine bacteria （ 〉 99% ）, but also between polar marine bacteria and bacteria from other aquatic environments （ ≥ 98.8% ）, including temperate ocean, deep sea, pond and lake, suggesting that in the polar oceans less temperature-sensitive bacteria may be cosmopolitan and have a bipolar, even global, distribution at the species level.     

Deep-Sea Sediment Compression Curves: Some Controlling Factors, Spurious Overconsolidation, Predictions, and Geophysical Reproduction

Oedometer tests have been carried out on 70 undisturbed surficial clays (at approximately 250 mm below the mudline), mostly collected by free-fall corers from sites widely scattered throughout the deep-sea North Atlantic. Acoustic measurements were also made, initially on contiguous samples and ultimately on the same sample using a geophysically instrumented oedometer which also collected electrical resistivity data. Apart from those quiescent areas below the carbonate compensation depth, such as north of the West Indies where very fine clays exist, most of the samples are silty clays whose geotechnical-geophysical properties are dependent on the type of clay minerals present (and their ability to take in moisture), the sand-size fraction, and the quantity of carbonate present. Thus the pure clays have high compressibilities which decrease on the addition of coarse particles, while the converse is true for the acoustic parameters, these increasing with the sand fraction. Using the notion of the intrinsic compression line for all samples, and comparison to it of the measured compression curves, it is clear that, contrary to some previously held ideas, most deep-sea clays are normally consolidated; the addition of carbonate has the effect of creating an open, stronger sediment skeleton. Interestingly, where information is available, the variation with depth of a sample's acoustic velocity follows the void ratio pressure relationship of the compression curve. This allows the construction of an in-situ sediment compression curve using the in-situ geophysical observations.     

INFORMATION FOR AUTHORS

<正>Acta Oceanologica Sinica(AOS)is a comprehensive academic journal edited by the Editorial Committee of Acta Oceanologica Sinica and is designed to provide a forum for important research papers of the marine scientific community which reflect the information on a worldwide basis.The journal publishes scholarly papers on marine science and technology,including physics,chemistry,biology,     

Estimation of Sediment Properties during Benthic Impact Experiments

Sediment properties, such as water content and density, have been used to estimate the dry and wet weights, as well as the volume of sediment recovered and discharged, during benthic impact experiments conducted in the Pacific and Indian Oceans. The estimates show that the weights of dry (355-1332 t) and wet sediment (1651-4888 t) recovered during the experiments, are not only a function of the total duration and distance covered during the experiment, but also depend on water content and density of the sediment. Estimation of dry sediment and its volumetric ratio in the discharge, are key parameters for calculating the discharged volume. The estimated volume of wet sediment recovered (1427-4049 m 3 ) as well as discharged (2693-6951 m 3 ) during the experiments, provide important inputs to evaluate the sediment resettlement and migration. Using these estimates, the average depth of excavation on the seafloor, can also been calculated. However, the stages of sediment recovery and discharge are expressed differently in some of the experiments. In order to standardize these, different stages have been identified, and definitions of certain terms have been suggested, for use in the future. The methods of calculating different properties, as well as weight and volume of discharged sediment are described in the paper for use in other applications concerning deep-sea discharges.