Robust control based on feedback linearization for roll stabilizing of autonomous underwater vehicle under wave disturbances

In the case of Autonomous Underwater Vehicle(AUV) navigating with low speed near water surface,a new method for design of roll motion controller is proposed in order to restrain wave disturbance effectively and improve roll stabilizing performance.Robust control is applied,which is based on uncertain nonlinear horizontal motion model of AUV and the principle of zero speed fin stabilizer.Feedback linearization approach is used to transform the complex nonlinear system into a comparatively simple linear system.For parameter uncertainty of motion model,the controller is designed with mixed-sensitivity method based on H-infinity robust control theory.Simulation results show better robustness improved by this control method for roll stabilizing of AUV navigating near water surface.     

Impact of land use change on groundwater recharge in Guishui River Basin,China

It is important to understand how land use change impacts groundwater recharge,especially for regions that are undergoing rapid urbanization and there is limited surface water.In this study,the hydrological processes and re-charge ability of various land use types in Guishui River Basin,China(in Beijing Municipality) were analyzed.The impact of land use change was investigated based on water balance modeling,WetSpass and GIS.The results indicate that groundwater recharge accounts for only 21.16% of the precipitation,while 72.54% is lost in the form of evapotranspiration.The annual-lumped groundwater recharge rate decreases in the order of cropland,grassland,urban land,and forest.Land use change has resulted in a decrease of 4 × 106 m3 of yearly groundwater recharge in the study area,with a spatially averaged rate of 100.48 mm/yr and 98.41 mm/yr in 1980 and 2005,respectively.This variation has primarily come from an increase of urban area and rural settlements,as well as a decrease of cropland.     

大气中一类非线性方程的非线性波解及周期的近似计算法

大气中许多模式可化为Ｆ＇＇＝ＡＦ／Ｆ＋Ｂ（ＡＢ≠０）一类非线性常微分方程。利用常微分方程定性理论说明了该方程存在非线性波解，讨论了其周期的计算问题，并求得了波解及其周期的近似表达式。     

环境磁学研究现状和进展

环境磁学是八十年代逐步发展起来的具有学科交叉特点的边缘学科。它主要应用岩石和矿磁学研究磁性颗粒的搬运、沉积以及转化受大气圈、水圈和岩石圈环境变化影响的过程。近年来，环境磁学已提供了大量有关全球变化过程以及人类活动对环境影响等重要资料，其研究范畴迅速扩展，已成为当今地学的前沿学科之一。     

热带海洋珍珠贝类立克次体病研究 Ⅳ.组织细胞病理学研究

类立克次体(RLO)对大珠母贝和合浦珠母贝具有强烈的致病性,引起基本一致的病理变化.在急性坏死破坏期内,RLO导致外套膜、鳃、消化管、肝胰腺、生殖腺腺管及全身血管内皮系统等多器官组织的变性坏死,使器官组织结构的完整性遭到破坏,破坏程度与RLO包涵体的数目密切相关,而细胞的破坏与细胞内RLO的生长发育及繁殖到大量数目密切相关.鉴于此,将RLO引起的珍珠贝病称为类立克次体病(RLO病).RLO病呈急性变质性炎症和慢性增生性炎症病理,在前者细胞呈现崩解性坏死、溶解性坏死和退变性坏死;在后者存在实质细胞增生和纤维母细胞增生为纤维细胞并形成纤维化.根据炎症病理的发展过程,RLO病可分为急性坏死破坏期和慢性增生修复期.     

用新显色剂3-甲氧基-甲亚胺H光度测定海水中的硼

采用新试剂３－甲氧基－甲亚胺Ｈ测定海水中的硼，加入ＥＤＴＡ和酒石酸掩蔽各种干扰离子，不须分离可直接测定，方法简便、快速、准确。     

Study on chemical forms of fluorine enrichment of Antarctic krill

I~IOWFluorine is one of fewer biogenic ndcroelernent, which has two thresholds. In certain extentcontent, fluorine plays an ~ant ace in constructing and growing normally for organisms. Incontrast, too high or too low content is not gabs for living being growing (Chen and Yu, 1988).In general, nuorine in seawater is known as one of conversation elements, and the average contentof nuorine of all world ocean seawater is 1. 3o rug/dln3(Chen et al., 1987).Under high fluorine seawat(lr environmen…     

The Data Depth-weight-kernel Estimation of the Model Error of Satellite Orbit Determination

It is an objective fact that there exists error in the satellite dynamic model and it will be transferred to satellite orbit determination algorithm, forming a part of the connotative model error. Mixed with the systematic error and random error of the measurements, they form the unitive model error and badly restrict the precision of the orbit determination. We deduce in detail the equations of orbit improvement for a system with dynamic model error, construct the parametric model for the explicit part of the model and nonparametric model for the error that can not be explicitly described. We also construct the partially linear orbit determination model, estimate and fit the model error using a two-stage estimation and a kernel function estimation, and finally make the corresponding compensation in the orbit determination. Beginning from the data depth theory, a data depth weight kernel estimator for model error is proposed for the sake of promoting the steadiness of model error estimation. Simulation experiments of SBSS are performed. The results show clearly that the model error is one of the most important effects that will influence the precision of the orbit determination. The kernel function method can effectively estimate the model error, with the window width as a major restrict parameter. A data depth-weight-kernel estimation, however, can improve largely the robustness of the kernel function and therefore improve the precision of orbit determination.     

南海北部表层颗粒有机碳的季节和年际变化遥感分析

海洋颗粒有机碳（POC）是海洋固碳的一个关键参数。为了研究南海北部陆架及海盆表层POC浓度的时空分布特征以及变化趋势,本文利用2009-2011年4个季节的实测数据,对NASA发布的MODIS/AQUA卫星月平均POC遥感产品,进行了验证和校正;并利用校正后的遥感数据分析了2003-2014年POC的时空分布特征和变化趋势。发现POC遥感产品与南海北部实测数据具有较好的线性关系（R2=0.72）,但存在系统性偏高,需利用实测数据对遥感数据进行区域性校正。分析校正后的遥感数据发现,南海北部陆架POC浓度较高,平均为（33.34±8.02）mg/m3;吕宋海峡西南海域浓度较低,平均为（29.25±6.20）mg/m3;中央海盆区浓度最低,平均为（27.02±4.84）mg/m3。春夏季POC浓度较低,最低值一般出现在5月,冬季（12月至翌年1月）POC浓度达到最高。利用2003-2014年的长时间序列遥感叶绿素（Chl a）和海表温度（SST）、混合层深度（MLD）模式数据,以及实测数据对南海北部POC浓度的影响机制进行了分析。发现POC与Chl a在秋冬呈现较好的相关关系（R2=0.51）,但在春夏季较离散,表明秋冬季生物作用对POC影响较大。2003-2014年期间,POC与Chl a、MLD及SST存在明显的年际变化,但并没有显著的上升或下降趋势。     

退火对B掺杂纳米金刚石薄膜微结构和电化学性能的影响

采用热丝化学气相沉积法制备B掺杂纳米金刚石薄膜,并对薄膜进行真空退火处理,系统研究了不同退火温度对B掺杂纳米金刚石薄膜的微结构和电化学性能的影响.结果表明,当退火温度升高到800 ℃后,薄膜的Raman谱图中由未退火时在1157,1346,1470,1555 cm^-1处的4个峰转变为只有D峰和G峰,说明晶界上的氢大量解吸附量减少;并且D峰和G峰的积分强度比I_D/I_G值变为最小,即sp²相团簇