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.     

贵州大竹园大型铝土矿稀土元素地球化学特征及其意义

贵州大竹园大型铝土矿是中国近年来取得重要找矿进展的大型铝土矿之一。以采自大竹园矿区栗园向斜不同部位铝土矿、铝土岩和黏土岩的样品为研究对象,分析了这些样品的稀土元素含量(质量分数)特征及空间分布特征,研究了稀土元素含量与铝土矿质量及成矿过程的关系,最后就稀土元素对于成因和环境的指示意义进行了讨论。结果表明:铝土矿、铝土岩和黏土岩稀土元素总含量(不包括Y)分别为107.07×10-6、185.00×10-6和246.28×10-6,依次增高,说明铝土矿的成矿过程是一个稀土元素贫化的过程,也是Eu异常和Ce异常趋于增大的过程,即相对于黏土岩来说,铝土矿具有高Eu异常、Ce异常的特征;相对于重稀土元素来说,无论是栗园向斜西翼还是东翼,铝土矿轻稀土元素相对富集,且轻稀土元素含量以及La与Yb含量之比均随深度变浅而增加;单纯利用稀土元素图解不能有效反映成矿物质的来源,但可以大体反映含矿岩系形成于海相或海陆过渡相环境;大竹园大型铝土矿与黔北其他铝土矿一样,总体上属于沉积型,可能与古喀斯特化过程、古风化过程有关。     

天然地基强迫振动测试与分析

在试验块体分别为明置与埋置情形时,利用激振器对某工程场地天然地基分别进行竖向、水平回转及扭转稳态强迫振动试验。试验结果表明,埋置情形试验的动力特性参数值均大于明置情形试验相应值;同种试验情形下,地基第一振型共振频率竖向最大,水平回转向其次,扭转向最小;土的参振质量均远大于基础本身质量。     

Corrosion behavior of anodic oxidized TiO<Subscript>2</Subscript> film in seawater

TiO₂ films were formed on metallic titanium substrates by the anodic oxidation method in H₂SO₄ solution under the 80V D.C.. Phase component and microstructure were characterized by X-ray diffraction (XRD) and scanning electron microscopy (SEM). Water contact angles on titanium oxide film surface were measured under both dark and sunlight illumination conditions. Corrosion tests were carried out in seawater under different illumination conditions by electrochemistry impedance spectrum (EIS) and polarization curves. The result showed that the TiO₂ film prepared by the anodic oxidation method was anatase with a uniform structure and without obvious pores or cracks on its surface. The average water contact angle of the film was 116.4° in dark, in contrast to an angle of 42.7° under the UV illumination for 2 hours, which demonstrates good hydrophobic property. The anti-corrosion behavior of the TiO₂ film was declining with the extended immersion time. Under dark conditions, however, the hydrophobic TiO₂ film retarded the water infiltrating into the substrate. The impedance changed slowly and the corrosion current density was 2 orders of magnitude lower than that with the film illuminated by sunlight. All of those mentioned above indicate that the TiO₂ film possesses much better performance under dark condition, and it can be applied as an engineering material under dark seawater environment.     

福建沿海主要城市入境旅游客源市场结构的比较研究

入境旅游是旅游业的重要组成部分,是旅游产业发展水平的重要体现.当前,福建省经济社会持续发展,改革开放稳步推进,对外经济文化交流日益增加,为福建省大力发展入境旅游带来了新的机遇.本研究选取福州、厦门、泉州、漳州(其入境客源总量占全省入境客源总量的85%)4个城市作为研究对象,主要运用转移-份额(SSM)分析并结合波士顿矩阵法,分析这4个城市的入境旅游客源市场结构、市场竞争力及其总体发展潜力特征,提出优化主体客源市场,做好多样化旅游市场的目标定位;加强旅游市场细分营销,凸显区域竞争优势;深挖城市旅游市场潜力,促进城市之间联动发展等建议.     

基于卫星链路实现地震现场应急通讯技术系统公网接入

根据新疆地震局地震现场应急通讯实际工作情况,利用RouterOS技术,解决卫星链路VPN上网,该方法在不改变网络拓扑,基本不增加硬件的情况下,为地震现场设备以及地震现场人员提供了一种新的上网途径,详细叙述了设计方案和实现方法.     

地形对地震烈度衰减的影响

本文采用阶跃截面固体的一维弹性波传播模型,研究了地形对地震烈度衰减的影响。采用固体入射纵波来模拟无地形影响的地震烈度衰减;采用固体透射波来模拟有地形影响的地震烈度衰减。利用阶跃截面处的放松连续条件,得出了烈度与高度差的近似定量关系。同时,以新疆地区逆冲走滑型地震为例,讨论了烈度与高度差的近似定量关系描述地形对地震烈度衰减影响的有效性。     

A subsurface intensity index of the cold eddy in the East China Sea

The Cold Eddy in the East China Sea (CEECS) is located about 150 km southwest of Cheju Island. This region experiences a complex current system under the influences of the Yellow Sea Warm Current (YSWC), the Yellow Sea Coastal Current (YSCC), and the northward Kuroshio residual. To identify the strength of the CEECS, a simple subsurface intensity index is developed. Because the CEECS can be traced by temperature minimum, the intensity index is determined by the difference in sea temperature averaged across cores within and surrounding the region. Based on SODA, the CEECS subsurface intensity index time series can be calculated, with which the inter-annual variation of the CEECS is analyzed.     

强震动作用下土体非线性动力特征研究发展与展望

浅地表覆盖土层动力特性对地震动影响显著,软厚土层会明显改变地震动强度及频谱特性。由于观测数据匮乏,强震动作用下土体非线性动力特征研究长期以来均以室内试验为主,但在实验室中难以可靠地模拟实际地震历程中土体承受的加载路径、边界条件、排水条件等复杂因素。近二十年来竖向台阵(至少包含一个地表测点和一个井下基岩测点)记录数据大量增加,为土体非线性动力学研究提供了新的基础数据与发展机遇,使基于现场观测的土体非线性动力特征实证研究成为可能。     

淤泥质土固结过程孔压及变形规律研究

对深入了解土在外荷作用下的孔隙水压力与变形变化规律对研究土的排水固结机理具有重要意义。对黄石地区淤泥质土进行分级加荷与一次性加荷的各向等压固结试验及单向固结试验,分析全过程孔压与变形的变化规律,结果表明：两种加荷方式孔压消散的规律并不相同,当孔压降到相应某临界值以下时,固结过程会变得缓慢,即使在较大的外荷载作用下,土中孔压反映也远不如加载初期明显。固结排水过程具有阶段性,这主要是自由水与孔隙水排水速度变化所引起的。黄石淤泥质土的主固结时间总体在5-100min范围内,当固结压力接近先期固结压力时固结系数最小,而次固结系数约为最大值。