Robust and adaptive path following for underactuated autonomous underwater vehicles

This paper proposes a nonlinear robust adaptive control strategy to force a six degrees of freedom underactuated underwater vehicle with only four actuators to follow a predefined path at a desired speed despite of the presence of environmental disturbances and vehicle’s unknown physical parameters. The proposed controller is designed using Lyapunov’s direct method, the popular backstepping and parameter projection techniques. The closed loop path following errors can be made arbitrarily small. Interestingly, it is shown that our developed control strategy is easily extendible to situations of practical importance such as parking and point-to-point navigation. Numerical simulations are provided to illustrate the effectiveness of the proposed methodology.     

基于二次散射的水污染遥感模型及其在珠江口水域的应用

根据水中悬浮物、污染物和水分子等的散射和吸收物理机制建模是实现水污染定量遥感的有效途径.基于一次散射的水污染遥感模型简单易行,但在浑浊度较大时其精度不高.在基于一次散射模型的基础上分析了多次散射的能量组成特点,提出再考虑二次散射可使模型的精度显著提高且不至于使模型过于复杂;导出了二次散射的补偿因子,同时给出了考虑二次散射因子的简单计算方法.将该模型应用于珠江口水域的水污染遥感的结果表明,较之基于一次散射的模型,考虑二次散射的水污染遥感模型在精度上有明显改进.遥感提取结果显示,珠江口水域重污染区主要分布在伶仃洋东北部,香港维多利亚港和深圳湾.     

Performance assessment of a concept propulsor: the thrust-balanced propeller

This paper presents the results of a numerical performance analysis to demonstrate the worthiness of a recently patented new concept propulsor, the so-called “thrust-balanced propeller (TBP)”. The main advantage of this unconventional propulsor is its inherent ability to reduce the unsteady effect of blade forces and moments when it is operating in a non-uniform wake flow. The propulsor comprises a pair of diametrically opposed blades that are connected to one another and mounted so as to be rotatable together through a limited angle about their spindle axis. A quasi-hydrodynamic approach is described and applied to perform the numerical analysis using a state-of-the-art lifting surface procedure for conventional propellers. Performance comparisons with a conventional fixed-pitch propeller are made for the blade forces and moments, efficiency, cavitation extents and fluctuating hull pressures. Bearing in mind the quasi-static nature of the analyses, the results present favourable performance characteristics for the thrust-balanced propeller and support the worthiness of the concept. However, the concept needs to be proved through physical model tests, which are planned to take in a cavitation tunnel.     

用多元分析法研究泥蚶(Tegillarca granosa)氨基酸地区差异

采用贝克曼System6300氨基酸分析仪检测了7个地区泥蚶群体的氨基酸种类及含量,并利用多元分析法对这些群体的氨基酸含量差异进行了比较研究。聚类分析结果表明,7个泥蚶群体中,乐清和韩国群体间的氨基酸含量差异最小,汕头群体与其他6个群体间的氨基酸差异程度最大。通过软件分析,构建3个能反映氨基酸信息的综合性指标——主成分1、主成分2和主成分3,三者的贡献率分别为50.138%、23.332%和15.619%,累计贡献率高达89.089%。     

A novel technique in analyzing non-linear wave-wave interaction

During wave growth non-linear wave–wave interactions cause transfer of some wave energy from lower to higher wave periods as the spectrum grows. Wavelet bicoherence, which is a new technique in the analysis of wind–wave and wave–wave interactions, is used to analyze non-linear wave–wave interactions. A selected record of wind wave that contains the maximum wave height observed during 6 h of wave generation is divided into five segments and wavelet bicoherence is computed for the whole record, and for all divided segments. The study shows that the non-linear wave–wave interaction occurs at different bicoherence levels and these levels are different from one segment to another due to the non-stationarity feature of the examined data set.     

Filters for linear sea-wave prediction

Deterministic sea-wave prediction (DSWP) models are appearing in the literature designed for quiescent interval prediction in marine applications dominated by large swell seas. The approach has focused upon spectral methods which are straightforward and intuitively attractive. However, such methods have the disadvantage that while the sea is aperiodic in nature, the standard discrete spectral processing techniques force an absolutely periodic structure onto the resulting sea surface prediction models. As it is the shape of the sea surface that is important in such applications, particularly near the end of the domain which is important, the standard windowing techniques used in signal processing work to reduce leakage artifacts cannot be employed. This has necessitated the use of end matching methods that can be both inconvenient and may reduce the fraction of the time for which legitimate predictions are available. As a result, an investigation has been undertaken of the use of finite impulse response prediction filters to provide the necessary dispersive phase shifting required in DSWP systems. The present work examines the theoretical basis for such filters and explores their properties together with their application to both long and short crested swell seas. It is shown that wide band forms of such filters are only convergent in the sense of distributions having both infinite duration impulse responses and asymptotically divergent first derivatives. However, appropriate band limitation can produce useful finite impulse responses allowing implementation via standard discrete convolution methods. It is demonstrated that despite the prediction filters having a non-causal impulse response such filters can be used in practice due to a combination of the asymmetric nature of the impulse response and the fundamental nature of the prediction process. The findings are confirmed against actual sea-wave data.     

粘土矿物去除赤潮生物的动力学研究

于１９９２年４－９月进行粘土矿的絮凝赤潮生物（微型原甲藻）的动力学研究；考察粘土种类、浓度、第二组分（ＰＡＣＳ）和ＰＨ等因素对絮凝速率的影响，建立粘土矿物絮凝赤潮生物的动力学模型，从理论上分析和讨论各种因素的影响，并提出提高絮凝速率的方法和途径。结果表明，高岭土体系絮凝速率大于蒙脱土体系，其速率方程可用双分子反应来描述。其中，速率常数随絮凝过程发生变化；粒子间的相互作用能和作用半径是控制和影响絮凝     

Ultimate strength of ship hulls under torsion

For a ship hull with large deck openings such as container vessels and some large bulk carriers, the analysis of warping stresses and hatch opening deformations is an essential part of ship structural analyses. It is thus of importance to better understand the ultimate torsional strength characteristics of ships with large hatch openings. The primary aim of the present study is to investigate the ultimate strength characteristics of ship hulls with large hatch openings under torsion. Axial (warping) as well as shear stresses are normally developed for thin-walled beams with open cross sections subjected to torsion. A procedure for calculating these stresses is briefly described. As an illustrative example, the distribution and magnitude of warping and shear stresses for a typical container vessel hull cross section under unit torsion is calculated by the procedure. By theoretical and numerical analyses, it is shown that the influence of torsion induced warping stresses on the ultimate hull girder bending strength is small for ductile hull materials while torsion induced shear stresses will of course reduce the ship hull ultimate bending moment.     

The Mid-atlantic Ridge (31°S–34°30′S): Temporal and spatial variations of accretionary processes

The ridge located between 31° S and 34°30′S is spreading at a rate of 35 mm yr⁻¹, a transitional velocity between the very slow (≤20 mm yr⁻¹) opening rates of the North Atlantic and Southwest Indian Oceans, and the intermediate rates (60 mm yr⁻¹) of the northern limb of the East Pacific Rise, and the Galapagos and Juan de Fuca Ridges. A synthesis of multi-narrow beam, magnetics and gravity data document that in this area the ridge represents a dynamically evolving system. Here the ridge is partitioned into an ensemble of six distinct segments of variable lengths (12 to 100 km) by two transform faults (first-order discontinuities) and three small offset (< 30 km) discontinuities (second-order discontinuities) that behave non-rigidly creating complex and heterogeneous morphotectonic patterns that are not parallel to flow lines. The offset magnitudes of both the first and second-order discontinuities change in response to differential asymmetric spreading. In addition, along the fossil trace of second-order discontinuities, the lengths of abyssal hills located to either side of a discordant zone are observed to lengthen and shorten creating a saw-toothed pattern. Although the spreading rate remains the same along the length of the ridge studied, the morphology of the spreading segments varies from a deep median valley with characteristics analogous to the rift segments of the North Atlantic to a gently rifted axial bulge that is indistinguishable from the shape and relief of the intermediate rate spreading centers of the East Pacific Rise (i.e., 21°N). Like other carefully surveyed ridge segments at slow and fast rates of accretion, the along-axis profiles of each ridge segment are distinctly convex upwards, and exhibit along-strike changes in relief of 500m to 1500 between the shallowest portion of the segment (approximate center) and the segment ends. Such spatial variations create marked along-axis changes in the morphology and relief of each segment. A relatively low mantle Bouguer anomaly is known to be associated with the ridge segment characterized by a gently rifted axial bulge and is interpreted to indicate the presence of focused mantle upwelling (Kuo and Forsyth, 1988). Moreover, the terrain at the ends of each segment are known to be highly magnetized compared to the centers of each segment (Carbotte et al, 1990). Taken together, these data clearly establish that these profound spatial variations in ridge segment properties between adjoining segments, and along and across each segment, indicate that the upper mantle processes responsible for the formation of this contrasting architecture are not solely related to passive upwelling of the asthenosphere beneath the ridge axis. Rather, there must be differences in the thermal and mechanical structure of the crust and upper mantle between and along the ridge segments to explain these spatial variations in axial topography, crustal structure and magnetization. These results are consistent with the results of investigations from other parts of the ridge and suggest that the emplacement of magma is highly focused along segments and positioned beneath the depth minimum of a given segment. The profound differences between segments indicate that the processes governing the behavior of upwelling mantle are decoupled and the variations in the patterns of axis flanking morphology and rate of accretion indicate that processes controlling upwelling and melt production vary markedly in time as well. At this spreading rate and in this area, the accretionary processes are clearly three-dimensional. In addition, the morphology of a ridge segment is not governed so much by opening rate as by the thermal structure of the mantle which underlies the segment.