Robust coordinated motion control of an underwater vehicle-manipulator system with minimizing restoring moments

For autonomous manipulation in water, an underwater vehicle-manipulator system (UVMS) should be able to generate trajectori9es for the vehicle and manipulators and track the planned trajectories accurately. In this paper, for trajectory generation, we suggest a performance index for redundancy resolution. This index is designed to minimize the restoring moments of the UVMS during manipulation, and it is optimized without impeding the performance of a given task. As a result, the restoring moments of the UVMS are decreased, and control efforts are also reduced. For tracking control of the UVMS, a nonlinear H_∞ optimal control with disturbance observer is proposed. This control is robust against parameter uncertainties, external disturbances, and actuator nonlinearities. Numerical simulations are presented to demonstrate the performance of the proposed coordinated motion control of the UVMS. The results show that control inputs for tracking are reduced, and the UVMS can successfully track generated trajectories.     

基于扩散滤波的多尺度三维变分研究

将扩散方程引入三维变分分析,揭示了传统3D-VAR不能有效提取多尺度观测信息的根本原因,即观测导致的目标函数梯度在空间的不连续分布.将扩散滤波融入基于梯度的最优化算法,发展了基于扩散滤波的多尺度3D-VAR.海表面温度数据同化试验结果表明,新方法可从长波至短波有效地提取多尺度的观测信息.     

白沙口潮汐电站前海区泥沙冲淤规律及防淤对策的研究

白沙口潮汐电站的淤沙问题在1972年就由中国科学院海洋研究所与山东省水文总站合作进行了研究,并于1974年提出了研究结果和淤沙防治措施的建议。但由于某些原因有关建议未能得以实施。近几年来淤沙又有发展,严重威胁着潮汐电站(图1)的寿命。1983年9月国家科委海洋专业组与山东省科委决定对白沙口电站的淤沙问题开展进一步的研究。解决洄淤问题,不仅是白沙口潮汐电站的迫切任务,而且对开发我国潮汐资源也有着重要的意义。本文根据此项研究的成果撰写,主要阐明电站泥沙运动的基本规律,在此基础上提出防治措施的建议。     

石榴石橄榄岩的熔融实验及其地质意义

在20×10~9Pa和25×10~9Pa条件下,对石榴石橄榄岩进行的14次高温高压熔融实验研究表明,在1600℃时石榴石橄榄岩开始熔融(初熔),熔体中的SiO_2>70％,Na_2O+K_2O>8％,类似于A型花岗岩成分。本实验为地幔花岗岩的成因提供了证据。     

Molecular analysis of complete ssu to lsu rdna sequence in the harmful dinoflagellatealexandrium tamarense (korean isolate, HY970328M)

New PCR primers (N=18) were designed for the isolation of complete SSU to LSU rDNA sequences from the dinoflagellateAlexandrium tamarense. Standard PCR, employing each primer set selected for amplifications of less than 1.5 kb, successfully amplified the expected rDNA regions of A. tamarense (Korean isolate, HY970328M). Complete SSU, LSU rDNAs and ITS sequences, including 5.8S rDNA, were recorded at 1,800 bp, 520 bp and 3,393 bp, respectively. The LSU rDNA sequence was the first report inAlexandrium genus. No intron was found in the LSU rRNA coding region. Twelve D-domains within the LSU rDNA were put together into 1,879 bp (44.4% G+C), and cores into 1514 bp (42.8% G+C). The core sequence was significantly different (0.0867 of genetic distance, 91% sequence similarity) in comparison withProrocentrum micans (GenBank access. no. X16108). The D2 region was the longest in length (300 bp) and highly variable among the 12 D-domains. In a phylogenetic analysis using complete LSU rDNA sequences of a variety of phytoplankton,A tamarense was clearly separated with high resolution against other species. The result suggests that the sequence may resolve the taxonomic ambiguities ofAlexandrium genus, particularly of the tamarensis complex.     

西太平洋海域现场培养实验中挥发性卤代烃浓度的变化及其影响因素

CH₃I、CHCl₃、C₂HCl₃和CH₂Br₂是挥发性卤代烃4种重要成分,对大气化学产生重要影响。于2018年10月在西太平洋进行船基现场培养实验,研究微量元素Fe (50 nmol/L)、酸化(pH=7.9)、酸化(pH=7.9)和微量元素Fe (50 nmol/L)耦合作用、微量元素Fe (50 nmol/L)和N/P (16∶1)耦合作用及沙尘(4 mg/L)对浮游植物释放CH₃I、CHCl₃、C₂HCl₃和CH₂Br₂含量的影响。结果表明,与对照组相比,实验组CH₃I、C₂HCl₃和CH₂Br₂的释放均被不同程度抑制;CHCl₃的释放除添加沙尘时表现抑制作用外,其他条件下均为促进作用;实...     

东海西北部水团分析及与渔场的关系

作者用聚类分析法划分浅海水团,目的在于克服大洋水团分析法进行分析所遇到的一些困难,它在根据不同海区特点确定临界值与检验值时有较大的灵活性。本文讨论了浅海变性水团与中心渔场的关系。结果表明,东海底层冷水、东海表层水和大陆沿岸水对渔业生产有重要影响。     

赤潮生物种类特征光谱获取技术

较为系统地研究了赤潮生物水体反射率曲线获取方法。通过对 2类反射率反演方法得出的反射率曲线与实际反射率曲线进行比较 ,得出在不具备大气环境参数的情况下 ,经验线性法的反演结果与实际反射率曲线最接近的结论 ,并进一步对正常海水和赤潮生物水体的光谱特性进行分析 ,提取出赤潮生物水体的特征光谱。这是进行赤潮监测和识别的重要前提     

Sea surface height anomaly and geostrophic circulation variations in the South China Sea from TOPEX/POSEIDON altimetry

The sea surface height anomaly (SSHA) and geostrophic circulation in the South ChinaSea (SCS) are studied using TOPEX/POSE1DON (T/P) altimetry data. The SSHA, which is obtained after tidal correction based on the tidal results from T/P data, is predominated by seasonal alternating monsoons. The results reveal that the SSHA in the central part of the SCS is positive in spring and summer, but negative in autumn and winter. It is also found that the SSHA in the SCS can be approached with the sum of tidal constituents SA and SSA. The geostrophic circulations in the SCS are calculated according to sea surface dynamic topography, which is the sum of SSHA and mean sea surface height. It is suggested that the circulation in the upper layer of the SCS is generally cyclonic and notably western intensified during autumn and winter, while the western intensification is weak during spring and summer. It is also indicated that the Kuroshio intrudes into the northeastern SCS throuth the Luzon Strait in winter. But ther     

关于二阶伴随模型的理论研究

Hesse矩阵-目标函数关于控制变量的二阶偏导数形成的矩阵,在变分数据同化过程中以及敏感性分析等方面起着重要的作用;它可以通过建立数学模型的一阶和二阶伴随模型求得.以浅水方程模型为例,利用泛函的Gâteaux微分和Hilbert空间上伴随算子的概念,导出了一阶和二阶伴随模型并由此得到Hesse矩阵.改进了Zhi Wang等(1992)建立的二阶伴随模型理论.