Robust leader-follower formation tracking control of multiple underactuated surface vessels

This paper is concerned with the formation control problem of multiple underactuated surface vessels moving in a leader-follower formation.The formation is achieved by the follower to track a virtual target defined relative to the leader.A robust adaptive target tracking law is proposed by using neural network and backstepping techniques.The advantage of the proposed control scheme is that the uncertain nonlinear dynamics caused by Coriolis/centripetal forces,nonlinear damping,unmodeled hydrodynamics and disturbances from the environment can be compensated by on line learning.Based on Lyapunov analysis,the proposed controller guarantees the tracking errors converge to a small neighborhood of the origin.Simulation results demonstrate the effectiveness of the control strategy.     

瘤背石磺体腔细胞分类、免疫相关酶特性及初步转录组学分析

瘤背石磺(Onchidium struma)广泛分布于潮间带和潮下带,是海洋生物向陆地生物辐射进化的重要代表,也是环境监测的指示生物.为丰富瘤背石磺的基础免疫学资料,本文研究了瘤背石磺体腔细胞的类别、细胞密度和体腔液免疫相关酶活性,并通过RNA-Seq测序获得体腔细胞转录本,进行生物信息学分析.结果表明,瘤背石磺主要有...     

一种优化多通道声波束形成的方法

因基阵各通道不均衡,使得水声接收系统波束形成时,目标检测、方位估计等性能经常达不到预期。分析了各通道信噪比、辐值、相位影响波束信噪比的机理,提出了一种减小基阵各通道不均衡的方法,并利用实测数据进行了仿真。仿真结果表明：该方法可有效地提高水声接收系统的目标检测、方位估计等性能。     

Self-Weight Penetration Characteristics of the Suction Foundation with Different Diameters in Sand

During the self-weight penetration process of the suction foundation on the dense sand seabed, due to the shallow penetration depth, the excess seepage seawater from the outside to the inside of the foundation may cause the negative pressure penetration process failure. Increasing the self-weight penetration depth has become an important problem for the safe construction of the suction foundation. The new suction anchor foundation has been proposed, and the self-weight penetration characteristics of the traditional suction foundation and the new suction anchor foundation are studied and compared through laboratory experiments and analysis. For the above two foundation types, by considering five foundation diameters and two bottom shapes, 20 models are tested with the same penetration energy. The effects of different foundation diameters on the penetration depth, the soil plug characteristics, and the surrounding sand layer are studied. The results show that the penetration depth of the new suction foundation is smaller than that of the traditional suction foundation. With the same penetration energy, the penetration depth of the suction foundation becomes shallower as the diameter increases. The smaller the diameter of the suction foundation, the more likely it is to be fully plugged, and the smaller the height of the soil plug will be. In the stage of self-weight penetration, the impact cavity appears around the foundation, which may affect the stability of the suction foundation.

     

未饱和砂土含水量GPR反射波法检测研究

未饱和砂土含水量变化会引起介电性质改变,影响土体中电磁波传播速度。利用GPR反射波法测得土体电磁波速后,基于正确的土体介电常数模型可求得含水量,这一过程具有快速、连续、无损特点。为实现目标,以不同粒径组成的3组典型砂土为样品,利用探地雷达反射波法测定其介电常数,研究影响土样介电常数的关键因素和遵循的介电常数模型,讨论基于介电理论的土体含水量求取方法。研究表明粒径级配差异不会引起砂土介电常数较大变化;含水量是决定其介电常数的关键因素,两者关系可采用拟合的Topp或Alharathi型公式表示;砂土介电常数遵循Looyenga混合介电常数模型。研究成果在土方路基含水量连续检测中得到有效应用。     

打造杭州湾湾口强劲增长极的相关问题研究

打造杭州湾湾口强劲增长极,有助于支撑我国高质量发展和现代化建设,并成为引领浙江省又快又好发展的新引擎。文章探究打造杭州湾湾口强劲增长极的相关问题,以期提供理论参考。研究结果表明：打造杭州湾湾口增长极具有特殊的时代必要性和现实可行性,其以“互联网+创新”为发展路径,实现以区域产业结构、科技创新、基础设施、资源要素和公共服务等为核心的共同发展目标。重点举措包括：补齐“短板”,构建错位互补产业体系;集聚资源,打造科创协同优质网络;凝聚共识,建设一流高效基础设施;立足开放,打造高端要素汇聚平台;共建共享,构筑民生服务品质湾区;绿色发展,缔造宜居宜业幸福湾区。     

Spatial–temporal distribution of phytoplankton pigments in relation to nutrient status in Jiaozhou Bay,China

We conducted studies of phytoplankton and hydrological variables in a semi-enclosed bay in northern China to understand the spatial–temporal variability and relationship between these variables. Samples were collected during seven cruises in Jiaozhou Bay from November 2003 to October 2004, and were analyzed for temperature, nutrients and phytoplankton pigments. Pigments from eight possible phytoplankton classes (Diatoms, Dinoflagellates, Chlorophyceae, Prasinophyceae, Chrysophyceae, Haptophyceae, Cryptophyceae and Caynophyceae) were detected in surface water by high performance liquid chromatography (HPLC). Phytoplankton pigment and nutrient concentrations in Jiaozhou Bay were spatially and temporally variable, and most of them were highest in the northern and eastern parts of the sampling regions in spring (May) and summer (August), close to areas of shellfish culturing, river estuaries, dense population and high industrialization, reflecting human activities. Chlorophyll a was recorded in all samples, with an annual mean concentration of 1.892 μg L⁻¹, and fucoxanthin was the most abundant accessory pigment, with a mean concentration of 0.791 μg L⁻¹. The highest concentrations of chlorophyll a (15.299 μg L⁻¹) and fucoxanthin (9.417 μg L⁻¹) were observed in May 2004 at the station close to the Qingdao Xiaogang Ferry, indicating a spring bloom of Diatoms in this area. Although chlorophyll a and other biomarker pigments showed significant correlations, none of them showed strong correlations with temperature and nutrients, suggesting an apparent de-coupling between the pigments and these hydrological variables. The nutrient composition and phytoplankton community composition of Jiaozhou Bay have changed significantly in the past several decades, reflecting the increasing nutrient concentrations and decline of phytoplankton cell abundance. The unchanged total chlorophyll a levels indicated that smaller species have filled the niche vacated by the larger species in Jiaozhou Bay, as revealed by our biomarker pigment analysis.     

Molecular and isotopic compositions of bitumens in Silurian tar sands from the Tarim Basin,NW China: Characterizing biodegradation and hydrocarbon charging in an old composite basin

Biodegradation and oil mixing in Silurian sandstone reservoirs of the Tarim Basin, one of the largest composite basins in China, were investigated by analyzing the molecular characteristics and stable carbon isotopic signatures of low-molecular-weight (LMW) saturated hydrocarbons and high-molecular-weight (HMW) asphaltenes. Detection of 25-norhopanes and 17-nortricyclic terpanes in most Silurian tar sands from the Tabei Uplift in the Tarim Basin suggests a much greater degree of biodegradation here than in the Tazhong Uplift. This explains the relatively more abundant tricyclic terpanes, gammacerane, pregnane and diasteranes in tar sands from the Tabei Uplift than in those from the Tazhong Uplift. Hence, care must be taken when assigning oil source correlations using biomarkers in tar sands because of the biodegradation and mixing of oils derived from multiple sources in such an old composite basin. Asphaltenes in the tar sands seem to be part of the oil charge before biodegradation, depending on the relative anti-biodegradation characteristics of asphaltenes, the similarity in carbon isotopic signatures for asphaltenes and their pyrolysates, and the consistent product distribution for flash pyrolysis and for regular steranes in asphaltene pyrolysates, regardless of whether the tar sands were charged with fresh oil. According to the relative distributions of regular steranes and the relatively abundant 1,2,3,4-tetramethylbenzene significantly enriched in ¹³C, the oil sources for asphaltenes in the tar sands might be related to lower Paleozoic marine source rocks formed in euxinic conditions. Nevertheless, the relatively low abundance of gammacerane and C₂₈ regular steranes observed in asphaltene pyrolysates and residual hydrocarbons, within limited samples investigated in this work, made a direct correlation of oils originally charged into Silurian tar sands with those Cambrian source rocks, reported so far, seem not to be possible. Comparison of carbon isotopic signatures of n-alkanes in asphaltene pyrolysates with those of LMW saturated hydrocarbons is helpful in determining if the abundant n-alkanes in tar sands are derived from fresh oil charges after biodegradation. The limited carbon isotopic data for n-alkanes in LMW saturated hydrocarbons from the tar sands can be used to classify oils charged after biodegradation in the composite basin into four distinct groups.     

黄河三角洲潮间带大型底栖无脊椎动物群落结构与分布特征

为了解黄河三角洲潮间带大型底栖无脊椎动物现状,于2019年5月分别对建国后黄河入海口4个流路区域20个潮间带站位进行了采样调查.调查共采集到大型底栖无脊椎动物5纲16目37科60种,主要优势种有托氏（虫昌）螺(Umbonium costatum)、泥螺(Bullacta exarata)、光滑河篮蛤(Potamocor...     

深水弯曲水道几何形态定量分析——以赤道几内亚Rio Muni盆地为例

深水水道作为深水沉积体系中重要的沉积单元之一,一直是深水沉积和地层研究的热点。基于西非几内亚湾Rio Muni盆地陆坡区的高分辨率三维地震资料,利用地震属性及参数定量分析法对第四系陆坡重力流水道的剖面和平面形态进行了研究,旨在探索深水水道内部结构的相互影响和外部因素对水道形态的控制,丰富深水沉积学理论。研究表明：坡度及距水道头部距离影响了深水水道的剖面和平面形态,随着坡度变缓,距水道头部距离越远,水道宽度越小;堤岸于中、下陆坡开始发育,水道堤岸脊的高程差及内、外弯曲带都不同程度地影响了堤岸的长度;水道的弯曲度控制着堤岸脊高程差的变化,同时作用于堤岸长度的变化;样本水道为高弯曲水道,且弯曲度受地形坡度控制。