Approximate optimal tracking control for near-surface AUVs with wave disturbances

This paper considers the optimal trajectory tracking control problem for near-surface autonomous underwater vehicles (AUVs) in the presence of wave disturbances. An approximate optimal tracking control (AOTC) approach is proposed. Firstly, a six-degrees-of-freedom (six-DOF) AUV model with its body-fixed coordinate system is decoupled and simplified and then a nonlinear control model of AUVs in the vertical plane is given. Also, an exosystem model of wave disturbances is constructed based on Hirom approximation formula. Secondly, the time-parameterized desired trajectory which is tracked by the AUV’s system is represented by the exosystem. Then, the coupled two-point boundary value (TPBV) problem of optimal tracking control for AUVs is derived from the theory of quadratic optimal control. By using a recently developed successive approximation approach to construct sequences, the coupled TPBV problem is transformed into a problem of solving two decoupled linear differential sequences of state vectors and adjoint vectors. By iteratively solving the two equation sequences, the AOTC law is obtained, which consists of a nonlinear optimal feedback item, an expected output tracking item, a feedforward disturbances rejection item, and a nonlinear compensatory term. Furthermore, a wave disturbances observer model is designed in order to solve the physically realizable problem. Simulation is carried out by using the Remote Environmental Unit (REMUS) AUV model to demonstrate the effectiveness of the proposed algorithm.     

西北内陆盆地浅层地下水温度场及动态类型:以酒泉东盆地为例

温度是地下水的固有属性,地下水温度场和动态特征是地下水流系统的外在表现。为揭示地下水开采等人类活动影响下西北内陆盆地浅层地下水温度场特征与地下水流系统的关系,基于多点位、长序列、高精度的地下水温度监测数据,在酒泉东盆地开展了地下水温度场及动态特征研究。结果表明：酒泉东盆地浅层地下水温度9.33～20.77℃不等,平均水温为13.54℃,自地下水补给区至排泄区,沿地下水径流方向,浅层地下水温度逐渐升高;循环深度相近的不同地下水流系统对比表明,浅层地下水温度与地下水动力条件呈负相关,地表水入渗补给大、水动力条件强的水流系统地下水平均温度低,入渗补给小、水动力条件弱的地下水平均温度高;浅层地下水温度动态受自然地下水循环和地下水开采等人类活动共同影响,从山前地下水补给区到中游绿洲区再到下游排泄区,浅部地下水温度动态可划分为4种基本类型,依次分别为河流补给型、水温稳定型、开采相关型、正弦波动型。     

Main genetic types of Ni ore deposits in China and their relations to paleo-plate tectonics

So far three main genetic types of nickel deposit have been recognized in China: magmatic copper-nickel sulfide deposits, nickel deposits occurring in the crust of weathering, and sedimentary nickel deposits. On the basis of the geotectonic settings of intrusive bodies, their genetic types, and the way sulfides are concentrated, the copper-nickel sulfide deposits fall into two broad categories: deposits emplaced along paleolandmass edges and those in the mobile zones on the outside of paleolandmasses. They can further be divided into six sub-categories and then a variety of types. The magmatic copper-nickel sulfide deposits constitute one of the most important genetic types in China. Geological evidence shows that the individual ferruginous ultrabasic bodies intruding along paleolandmass edges are most favourable for Ni-mineralization. In the light of the paleo-structural analysis, the author has proposed three mechanisms with respect to the formation of Ni-bearing ultrabasic bodies.     

Initial results of centralized autonomous orbit determination of the new-generation BDS satellites with inter-satellite link measurements

Autonomous orbit determination is the ability of navigation satellites to estimate the orbit parameters on-board using inter-satellite link (ISL) measurements. This study mainly focuses on data processing of the ISL measurements as a new measurement type and its application on the centralized autonomous orbit determination of the new-generation Beidou navigation satellite system satellites for the first time. The ISL measurements are dual one-way measurements that follow a time division multiple access (TDMA) structure. The ranging error of the ISL measurements is less than 0.25 ns. This paper proposes a derivation approach to the satellite clock offsets and the geometric distances from TDMA dual one-way measurements without a loss of accuracy. The derived clock offsets are used for time synchronization, and the derived geometry distances are used for autonomous orbit determination. The clock offsets from the ISL measurements are consistent with the L-band two-way satellite, and time–frequency transfer clock measurements and the detrended residuals vary within 0.5 ns. The centralized autonomous orbit determination is conducted in a batch mode on a ground-capable server for the feasibility study. Constant hardware delays are present in the geometric distances and become the largest source of error in the autonomous orbit determination. Therefore, the hardware delays are estimated simultaneously with the satellite orbits. To avoid uncertainties in the constellation orientation, a ground anchor station that “observes” the satellites with on-board ISL payloads is introduced into the orbit determination. The root-mean-square values of orbit determination residuals are within 10.0 cm, and the standard deviation of the estimated ISL hardware delays is within 0.2 ns. The accuracy of the autonomous orbits is evaluated by analysis of overlap comparison and the satellite laser ranging (SLR) residuals and is compared with the accuracy of the L-band orbits. The results indicate that the radial overlap differences between the autonomous orbits are less than 15.0 cm for the inclined geosynchronous orbit (IGSO) satellites and less than 10.0 cm for the MEO satellites. The SLR residuals are approximately 15.0 cm for the IGSO satellites and approximately 10.0 cm for the MEO satellites, representing an improvement over the L-band orbits.     

区县级自动化管理的土地储备信息平台建设探讨

土地资源是地球资源的重要组成部分,目前全球城市化进程正快速推进,土地资源已成为城市资源的重要组成部分,土地资源在城市发展中占用重要的作用.城市建设快速发展的同时,基础薄弱、城市控规覆盖范围小、土地储备开发信息化基础差等现实问题,造成土地征收、整合、储备、出让周期长、效率低,无法满足城市快速发展对土地的应用需求.为解决以...     

基于宁东干旱特点的水土保持生态环境变化研究

干旱是一种涉及自然、经济、社会的气候现象,长期困扰着工农业生产.分析宁东能源化工基地气候干旱特点,预防以土壤旱化为主要特征的地力衰退和土壤退化等现象在宁东基地再现.研究以MODIS NDVI遥感数据为基础数据,结合研究区同期降雨量和温度数据,采用降水量距平百分率法作为宁东基地干旱评估的方法,根据干旱评估国家标准分析宁东...     

基于云架构的自然资源与地理空间数据库建设

基于云架构的省级自然资源与地理空间数据库建库技术涉及面极为广泛,需要在现有的技术条件、硬件设备条件、人力条件、资金条件的基础上,综合分析考虑海量自然资源和地理空间数据的关联关系以及建库规则,提出可行的、数据安全的、高可用的、易于实施维护的数据库构建方案.本文通过分析市场上的主流云平台以及云数据库解决方案,从云空间数据库...     

村落的形成时间及空间分布特征研究——以广州市增城区为例

主要研究我国村落的形成及空间分布特征.村落形成初期主要集聚在平原、河流沿线等水域丰富、地形平缓地区,后期因其他因素往沿海地区不断迁移.本文实例研究中,以广州市增城区自然村落为研究对象,梳理了自唐代至新中国成立期间在增城开村数量的变化及其在空间上的分布特征.增城村庄开居经历了慢速发展、稳定发展、快速发展、平稳发展和阻滞发展等5个发展时期.从迁移地看,前期主要从中原地带迁来,后期主要从广东及周边城市迁来等特征;从空间分布上看总体上呈现出南密北疏、平原密山区疏的分布特征.     

The Austrian node of the natural resources satellite remote sensing cloud service platform:examples of Sino-Austrian cooperation

The Austrian node of the Natural Resources Satellite Remote Sensing Cloud Service Platform was established in 2016 through a cooperation agreement between the Land Satellite Remote Sensing Application Center(LASAC),Ministry of Natural Resources of the Peoples Republic of China and the University of Vienna,Austria.Under this agreement panchromatic and multi-spectral data of the Chinese ZY-3 satellite are pushed to the server at the University of Vienna for use in education and research.So far,nearly 500 GB of data have been uploaded to the server.This technical note briefly introduces the ZY-3 system and illustrates the implementation of the agreement by the first China-Sat Workshop and several case studies.Some of them are already completed,others are still ongoing.They include a geometric accuracy validation of ZY-3 data,an animated visualization of image quick views on a spherical display to demonstrate the time series of the image coverage for Austria and Laos,and the use of ZY-3 data to study the spread of bark beetle in the province of Lower Austria.An accuracy study of DTMs from ZY-3 stereo data,as well as a land cover analysis and comparison of Austria with ZY-3 and other sensors are still ongoing.     

奉献农业 发展学科——对黄秉维院士农业研究工作的认识

简述了黄秉维院士的农业研究工作的光辉历程,分析了黄秉维农业研究工作的特色,强调学习黄秉维的精神.