Adaptive output feedback control based on DRFNN for AUV

The tracking control problem of AUV in six degrees-of-freedom (DOF) is addressed in this paper. In general, the velocities of the vehicles are very difficult to be accurately measured, which causes full state feedback scheme to be not feasible. Hence, an adaptive output feedback controller based on dynamic recurrent fuzzy neural network (DRFNN) is proposed, in which the location information is only needed for controller design. The DRFNN is used to online estimate the dynamic uncertain nonlinear mapping. Compared to the conventional neural network, DRFNN can clearly improve the tracking performance of AUV due to its less inputs and stronger memory features. The restricting condition for the estimation of the external disturbances and network's approximation errors, which is often given in the existing literatures, is broken in this paper. The stability analysis is given by Lyapunov theorem. Simulations illustrate the effectiveness of the proposed control scheme.     

中国城际公路零担专线网络空间结构特征

基于社会网络分析方法,利用国家交通运输物流公共信息平台2018年全国地级及以上城市的公路零担专线数据,从城市节点、城际联系、子网络3个层面对中国城市网络结构特征进行识别,结果表明：1）上海、天津、郑州、广州、杭州在网络中处于主导性地位,根据货流组织系数,可将城市节点划分为强中心、次强中心、弱中心、从属型4种类型。2）在首位联系总量排名前十的城市中,输出型城市和输入型城市的比例为4∶1,反映货流流向的不均衡性。由公路零担专线数据刻画的网络空间呈现显著的距离衰减规律,集中在500 km的专线数量占比为41.9%。3）公路零担专线网络形成东北―冀鲁蒙社区、中原社区、关中社区、江淮社区、泛珠三角―长三角社区、长株潭社区6个具有显著地域特征的城市社区,社区结构表现出明显的空间集聚和跨行政区特征。最后,提出以下建议：增强成渝城市群公路零担专线服务能力,发挥核心城市产业集聚和带动作用;优化边缘城市产业结构,加强交通与产业融合;积极引导无车承运人平台发挥网络规模化效应,提高公路货运组织效率。     

静海地震台地磁加卸载响应比与邻区地震关系研究

研究分析了静海地磁台2002～2006年观测资料的加卸载响应比异常与邻区ML 4.0以上地震之间的关系,提出了适用于静海地磁台的地震分析预报异常形态特征和阈值判据.     

钨、锡流-熔分配实验结果及其矿床成因意义

本文用实验确定了钨、锡在成分不同的花岗质熔体相与共存水热流体相的流-熔分配系数(D_(Me)~(V/L))及其与介质溶液(NaF,KF,HF,NaCl等水溶液)摩尔浓度间的函数关系。实验结果表明,钨、锡的分配行为明显不同。在相同条件下,随体系的不同,D_W~(V/L)比D_(Sn)~(V/L)大几倍至二十倍。钠和钾对钨、锡的流-熔分配行为的影响基本相同,而氟和氯对钨、锡的分配行为的影响相差甚远,花岗质熔体的主成分对D_W~(V/L)和D_(Sn)~(V/L)有复杂的影响。利用这些结果探讨与花岗岩有关的钨、锡矿床的成矿机理,得出了一些与前人不同的新认识。     

煎茶岭镍矿床成矿作用特征

煎岭镍矿与同类矿床相比,具有特殊的地质、地球化学物征，是一种特殊类型镍矿。本矿床流体包裹体同位素特征，表现出成矿体为岩浆与地层两端元混合趋势，成矿流体分属于Mg2+-Ca2+-Na+-F-(Cl-)型。根据 Pb、Sr、O、H、C 同位素及 REE资料，作者认为该镍矿的形成与后期酸性岩浆活动有密切关系，后期岩浆活动为成矿提供热力与热液，使成矿元素活化迁移、富集。本文最后提出了初步的成矿模式。     

漳州热田地下热水的循环深度

漳州热田是我国东南沿海地区目前所见温度(121.5℃)最高的一个。热田地热地质、地球化学以及地温场的研究结果表明,漳州热田属于深循环对流型热田。为了计算热田的热水循环深度,本文采用管道模型的方法,利用热田中心钻孔的测温资料计算地下热水上涌的流速,利用热田内水化学资料计算热储温度,然后用图解法求出漳州热田热水的循环深度为3.4—4.0 km,为漳州热田的成因分析和热水资源的评价提供了依据。     

Chemistry of alkali extraction of brown coals—I. Kinetics, characterisation and implications to coalification

Three Australian brown coals have been separated into humin and humic acid fractions and studied by high resolution solid state ¹³C NMR spectroscopy and Fourier transform IR spectroscopy. The aromatic rings of the humic acids are highly substituted showing that extensive cross linking must have occurred during formation from wood lignin and tannin. However, the humins contain more aliphatic carbon and hydrogen than the corresponding humic acids. This shows that little cross linking has occurred with other components of the brown coal such as resins, waxes cutin and algal detritus, and cross linking has not rendered the aromatics alkali insoluble. The kinetics of extraction are complex and not simple first order. This is reflected in the chemical composition of the humic acid which is extraction temperature dependent. We also observed that there is a conversion of aromatic carbon to aliphatic carbon and gas during extraction, probably by alkaline oxidation, resulting in ring opening. A range of suitable model compounds have been studied to confirm this finding. Such a mechanism may account for the modification of lignin in oxidising environments such as those occurring in the initial stages of coalification (lignite or brown coal formation) and in soils.     

S,Pb, C and O isotopic compositions and ore genesis of the strata-bound polymetallic sulfide deposits in central Inner Mongolia,China

The strata-bound Cu−Pb−Zn polymetallic sulfide deposits occur in metamorphic rocks of greenschist phase of the middle-upper Proterozoic Langshan Group in central Inner Mongolia. δ³⁴S values for sulfides range from −3.1‰ to +37.3‰, and an apparent difference is noticed between vein sulfides and those in bedded rocks. For example, δ³⁴S values for bedded pyrite range from +10.6‰ to +20.0‰, while those for vein pyrite vary from −3.1‰ to +14.1‰. δ³⁴S of bedded pyrrhotite is in the range +7.9‰–+23.5‰ in comparison with +6.5‰–+17.1‰ for vein pyrrhotite. The wide scatter of δ³⁴S and the enrichment of heavier sulfur indicate that sulfur may have been derived from H₂S as a result of bacterial reduction of sulfates in the sea water. Sulfur isotopic composition also differs from deposit to deposit in this area because of the difference in environment in which they were formed. The mobilization of bedded sulfides in response to regional metamorphism and magmatic intrusion led to the formation of vein sulfides. δ¹⁸O and δ¹³C of ore-bearing rocks and wall rocks are within the range typical of ordinary marine facies, with the exception of lower values for ore-bearing marble at Huogeqi probably due to diopsidization and tremalitization of carbonate rocks. Pb isotopic composition is relatively stable and characterized by lower radio-genetic lead. The age of basement rocks was calculated to be about 23.9 Ma and ore-forming age 7.8 Ma.²⁰⁷Pb/²⁰⁴Pb−²⁰⁶Pb/²⁰⁴Pb and²⁰⁸Pb/²⁰⁴Pb−²⁰⁶Pb/²⁰⁴Pb plots indicate that Pb may probably be derived from the lower crust or upper mantle. It is believed that the deposits in this region are related to submarine volcanic exhalation superimposed by later regional metamorphism and magmatic intrusion.     

黄土高原晚更新世黄土与古季风研究进展

黄土高原晚更新世黄土地层含有末次间冰期一次期东亚季风演变的大量信息，经外地学界十年来的探索，初步揭示了东亚季风演化的规律，本文对于这方面研究的现状作了综合评述。