Robust adaptive control of underactuated ships on a linear course with comfort

This paper addresses an important problem in ship control application—the robust stabilization of underactuated ships on a linear course with comfort. Specifically, we develop a multivariable controller to stabilize ocean surface ships without a sway actuator on a linear course and to reduce roll and pitch simultaneously. The controller adapts to unknown parameters of the ship and constant environmental disturbances induced by wave, ocean current and wind. It is also robust to time-varying environmental disturbances, time-varying change in ship parameters and other motions of the ship such as surge and heave. The roll and pitch can be made arbitrarily small while the heading angle and sway are kept to be in reasonably small bounds. The controller development is based on Lyapunov’s direct method and backstepping technique. A Lipschitz continuous projection algorithm is used to update the estimate of the unknown parameters to avoid the parameters’ drift due to time-varying environmental disturbances. Simulations on a full-scale catamaran illustrate the effectiveness of our proposed controller.     

A nitrate and silicate budget in the equatorial Pacific Ocean: a coupled physical–biological model study

A coupled physical–biological model was developed to simulate the low-silicate, high-nitrate, and low-chlorophyll (LSHNLC) conditions in the equatorial Pacific Ocean and used to compute a detailed budget in the Wyrtki box (5°N–5°S, 180–90°W) for the major sources and cycling of nitrogen and silicon in the equatorial Pacific. With the incorporation of biogenic silicon dissolution, NH₄ regeneration from organic nitrogen and nitrification of ammonia in the model, we show that silicon recycling in the upper ocean is less efficient than nitrogen. As the major source of nutrients to the equatorial Pacific, the Equatorial Undercurrent provides slightly less Si(OH)₄ than NO₃ to the upwelling zone, which is defined as 2.5°N–2.5°S. As a result, the equatorial upwelling supplies less Si(OH)₄ than NO₃ into the euphotic zone in the Wyrtki box, having a Si/N supply ratio of about 0.85 (2.5 vs. 2.96 mmolm⁻² day⁻¹). More Si(OH)₄ than NO₃ is taken up with a Si/N ratio of 1.17 (2.72 vs. 2.33 mmolm⁻² day⁻¹) within the euphotic zone. The difference between upwelling supply and biological uptake is balanced by nutrient regeneration and horizontal advection. Excluding regeneration, the net silicate and nitrate uptakes are nearly equal (1.76 vs. 1.84 mmolm⁻² day⁻¹). However, biogenic silica export production is slightly higher than organic nitrogen (1.74 vs. 1.59 mmolm⁻² day⁻¹) following a 1.1 Si/N ratio. In the central equatorial Pacific, low silicate concentrations limit diatom growth; therefore non-diatom new production accounts for most of the new production. Higher silicate supply in the east maintains elevated diatom growth rates and new production associated with diatoms dominate upwelling zone. In contrast, the new production associated with small phytoplankton is nearly constant or decreases eastward along the equator. The total new production has a higher rate in the east than in the west, following the pattern of surface silicate. This suggests that silicate regulates the diatom production, total new production, and thereby carbon cycle in this area. The modeled mean primary production is 48.4 mmolCm⁻² day⁻¹, representing the lower end of direct field measurements, while new production is 15.0 mmolCm⁻² day⁻¹, which compares well with previous estimates.     

宁镇地区的限制性断层

宁镇山脉的褶皱带被一系列横断层分割为褶断段。横断层相邻的断块,无论是褶皱的形态、纵断层的数目、规模和断距等特征沿纵向跨越横断层均存在不连续性的跃变,表明这些横断层是早于褶皱或与之伴生的纵断层而存在,并对各断块内发育的地质构造起到限制作用。因横断层作为较早的边界,后期的挤压在被分割的各块段内可以是有差异的,导致宁镇褶皱带在总体上的一致性,分段上的有特殊性。     

红色无硫细菌处理高浓度鱼品废水的研究

本文从城市生活污水的沉降污泥中分离出三株红色无硫细菌,经鉴定R1为胶质红假单胞菌(Rhodopscudomonas gelatinosa),R2为沼泽红假单胞菌(R palustris)、RS-1为红螺属(Rhodosprillum)的一种。R1与R2均为兼性需氧和兼性光能利用菌,RS-1为专性厌氧光合菌。作者提出了它们的主要生理、生化特性和最适生长条件,最后确定R1、R2是较有利用前途的优势种类。作者利用上述分离的菌株对高浓度的鱼品废水进行了净化处理试验,得出R1对CODcr的去除率约为65％,R2的去除率为74％以上。二者混合使用可提高至87％。作者还发现废水中的非光合性杂生菌有助于提高光合细菌的净化力。     

黄、东海环流的数值研究Ⅲ——正压环流的数值模拟

依据黄、东海环流的的动力学模型 ,运用“流速分解法”对黄、东海正压环流进行了数值模拟。计算结果表明冬季黄海正压环流主要受风应力影响 ,基本形态为黄海暖流由济州岛西南进入南黄海中部 ,其东西两侧分别为两支向南流动的沿岸流 ;夏季主要受到潮致体力的影响 ,为一逆时针涡旋。东海环流主要是边界力作用驱动的结果 ,东海黑潮、台湾暖流和对马暖流较稳定。冬季风应力对东海环流表层流场有消弱作用 ,在夏季则有一定增强作用。     

中华半管藻繁殖生物学研究──Ⅱ.营养细胞和休眼孢子的形态结构

通过扫描电镜观察中华半管藻的营养细胞和休眠孢子的形态结构显示：营养细胞上下壳各具一个线性裂口而不外突的唇形突,壳壁上的眠纹放射状,爪状连接刺上有零散的单孔,从单孔分泌胶质与相邻细胞连接;休眠孢子双凸透镜形或近球形,壳厚,表面平滑无纹饰,上壳面边缘具8～16根分叉长刺,下壳面具微刺,外围有一裙状物,其上有微孔。两类细胞不同的形态特征反映其不同的生态适应。     

Origin and evolution of alkali basaltic magma in the Okinawa Trough

I~IOXThe Okinawa Trough is an extending back--arc basin between the East China Sea Shelf andthe Ry'Ukyu Island Arc of Japan. There are widespreadly distributing acid pumice in the troughand a little basalt just in some area of the extending center. There have been some detailed rePOrtsabout the mineralogy and petrochemical feature of the subalkali tholeiite and alkali trachyte in thetrough (Zhai and Gan, 1995; Li et al., 1997; Qin and Zhai, 1988). This paper mainly reportselectron mic…     

三疣梭子蟹全人工工厂化育苗技术

2000年笔者在日照市水产研究所利用1450m^3水进行梭子蟹全人工工厂化育苗生产，共出Ⅱ-Ⅲ期幼蟹512．7万只，创造了出苗量为3500只／m^3，总产值为150多万元的直接经济效益，同时对幼体培育的密度进行了初步试验，结果表明：从Z1至M期幼体培育密度10－15万／m^3为宜，M期以后密度以0．8－1．5万／m^3为宜。     

青岛市大气污染时间序列分析预报方法研究

根据青岛市大气污染监测资料 ,采用时间序列分析方法 ,建立多种预报模型 ,有原序列周期外延法、均生函数周期外延法、均生函数逐步回归法以及自回归预报法等 ,最后提出一种综合预报模型。连续预报试验表明 ,综合预报模型优于任何个别预报模型 ,有较好的预报能力。利用马尔可夫概型对污染状态 (轻、中、重 )进行了分级预报试验 ,也获得良好的效果。     

二(甲基环戊二烯)钐氯化物合成和晶体结构研究

作者以 Sm Cl3 与 (CH3 Cp) Na反应分离得到了三价稀土有机配合物 [(CH3 Cp) 2 Sm Cl·THF]2 的单晶 ,X-射线四圆衍射测定 ,该配合物属正交晶系 ,Pbna空间群 ,晶胞参数 a=9.6 6 2 (2 ) ,b=16 .4 76 (9) ,c=2 0 .582 (9) ;α=β=γ=90°,Z=4。并分析比较 [(CH3 Cp) 2 Sm Cl· THF]2 与其他三价稀土一氯化物的结构特点