A hierarchical real-time control architecture for a semi-autonomous underwater vehicle

This paper describes a real-time control architecture for Dual Use Semi-Autonomous Underwater Vehicle (DUSAUV), which has been developed at Korea Research Institute of Ships and Ocean Engineering (KRISO) for being a test-bed of development of underwater navigation and manipulator technologies. DUSAUV has three built-in computers, seven thrusters for six DOF motion control, one 4-function electric manipulator, one ballasting motor, built-in power source, and various sensors. A supervisor control system with GUI and a multi-purpose joystick is mounted on the surface vessel and communicates with vehicle through a fiber optic link. Furthermore, QNX, one of real-time operating system, is ported on the built-in control and navigation computers for real-time control purpose, while Microsoft OS product is ported in the supervisor computer for GUI programming convenience. A hierarchical control architecture, which consists of application layer, real-time layer and physical layer, has been developed for efficient control system of above complex underwater robotic system. The experimental results with implementation of the layered control architecture for various motion control of DUSAUV in an ocean engineering basin of KRISO is also presented.     

锯缘青蟹胚胎发育过程主要生化组成

锯缘青蟹胚胎３种主要生化组成以蛋白质含量为最高，脂类含量次之，碳水化合物含量最低。胚胎发育的结果导致三种主要生化组成含量降低，其中蛋白质减少了３９．０％，脂类、碳水化合物含量分别减少了１７．０％、７．７％，说明蛋白是青蟹胚胎发育的主要能源物质，这可能与动物适应热带、亚热带的水生环境有关。     

酸雨的研究进展及厦门酸雨研究的趋势

本文综述了国内外酸雨的研究现状；包括酸雨的来源、成因、模式、影响及防治对策；介绍了酸雨的研究趋势；并着重就厦门地区今后酸雨的研究方向提出也作者的看法。     

官井洋大黄鱼标志放流技术与放流标志鱼早期生态习性的初步研究

用人工培育的大黄鱼幼鱼，经丁香酚溶液浸浴麻醉，体背系挂塑料牌，经 网箱暂养后于１９８７年１月２０日在官井洋中放流６ １２６尾。２个月内回捕４８３尾。 通过对回捕鱼及其捕捞实况调查，并结合定置网渔获物中天然大黄鱼及海区温盐 断面调查，对放流标志鱼早期的生态习性进行了初步研究。     

山东沿海旅游业可持续发展对策研究

滨海旅游是旅游活动的重要组成部分 ,在我国具有广阔的发展潜力。在讨论了山东沿海旅游业发展中存在的问题的基础上 ,指出发展滨海旅游与滨海和海洋环境之间的相关关系 ,探讨了使山东沿海旅游业可持续发展的主要对策     

上新世——早更新世青藏高原北缘隆升的磁性地层学证据

对新疆叶城剖面西域砾岩及下伏第三纪地层的磁性地层学研究表明 ,西域砾岩的沉积时代为晚上新世至早更新世 ,磁性地层年龄为 3.5至 <1.8Ma。阿图什组沉积于早上新世 ,古地磁年龄为 4 .6～ 3.5 Ma。阿图什组以砂岩和粉砂岩为主夹薄层砾岩 ,为河流相及冲积扇前缘相。西域砾岩以厚层砾岩为主夹风成粉砂岩 ,为典型洪积—冲积扇堆积。西域砾岩的沉积反映了青藏高原北缘晚上新世至早更新世强烈的隆起和剥蚀     

Tephra Discovered in High Resolution Peat Sediment and Its Indication to Climatic Event

Floating tephra was deposited together with ice core,snow layer,abyssal sediment,lake sediments,and other geological records.It is of great significance to interpret the impact on the climate change of volcanic eruptions from these geological records.It is the first time that volcanic glass was discovered from the peat of Jinchuan(金川)Maar,Jilin(吉林)Province,China.And it is in situ sediments from a near-source explosive eruption according to particle size analysis and identification results.The tephra were neither from Tianchi(天池)volcano eruptions,Changbai(长白)Mountain,nor from Jinlongdingzi(金龙顶子)volcano about 1 600 aBP eruption,but maybe from an unknown eruption of Longgang(龙岗)volcano group according to their geochemistry and distribution.Geochemical characters of the tephra are similar to those of Jingiongdingzi,which are poor in s.Jica,deficient in alkali,Na20 content is more than K20 content,and are similar to distribution patterns of REE and incompatible elements,which helps to speculate that they originated from the same mantle magma with rare condemnation,and from basaltic explosive eruption of Longgang volcano group.The tephra,from peat with age proved that the eruption possibly happened in 15 BC-26 AD,is one of Longgang volcano group eruption that was not recorded and is earlier than that of Jinglongdingzi about 1 600 aBP eruption.And the sedimentary time of tephra is during the period of low temperature alteration.which may be the influence of eruption toward the local climate according to the correlativity of eruption to local temperature curve of peat cellulose oxygen isotope.     

频谱分析在虎门大桥动态监测中的应用研究

采用了频谱分析法对虎门跨海悬索大桥进行安全监测,通过利用GPS RTK技术方法获取虎门大桥在台风激励下的动态监测数据,对动态监测数据进行时程分析和频谱分析,获取虎门悬索大桥的振动特性,得到了大桥的运营特征和实时位移特征.     

城市框架数据的更新模式及应用研究

分析了利用竣工测量数据、VRS技术及高分辨率影像更新城市框架数据三种模式的可行性,给出了适合青岛地区框架数据的更新方案.     

雾水的D和18O同位素研究进展

凝结水的D、¹⁸O同位素研究目前主要集中在雾水方面,露水和土壤吸附水的相关研究仍属空白。由于形成时的温度较高,大多数雾水的D、¹⁸O同位素较当地雨水富集,但不同类型雾的同位素特征存在差异。平流式海洋雾为单级的蒸发—冷凝封闭循环系统的首次凝结,D、¹⁸O同位素较当地雨水显著富集;热带云雾林中的地形雾与降雨同时发生,且水分源于同一云团,δD、δ¹⁸O值差异较小;内陆辐射雾因部分水汽源于当地水分的再循环,过量氘和δD、δ¹⁸O值高于降雨。目前有少量研究用D、¹⁸O同位素指示雾水对植被、地下水和地表径流的补给作用,但以定性分析为主,基于端元混合模型的定量评价极少。露水和土壤吸附水的稳定同位素研究是干旱区凝结水研究的重要方向;D、¹⁸O同位素与其它同位素或化学指标的结合有助于促进凝结水生态水文效应的研究进展;短间隔、高密度的长期观测和用于稳定同位素分析的凝结水采样器的设计是需要进一步开展的工作。