基于非线性干扰观测器的UUV反演滑模深度控制

针对水下无人航行器（UUV）在浅水海洋环境下的悬停作业需求,提出一种基于非线性干扰观测器的 UUV 反演滑模深度控制算法。首先,根据全驱动 UUV 的悬停运动特性,建立五自由度及解耦的垂荡通道动力学模型。然后,采用非线性干扰观测器（NDO）对时变海浪扰动与模型的不确定进行有效估计,并证明了 NDO 的指数收敛特性。根据 UUV 的标称模型及 NDO 对扰动状态的估计,采用反演思路,设计了反演滑模控制器。通过引入双曲正切函数取代不连续切换函数,改进滑模趋近律,进而降低滑模的抖振效应。根据 Lyapunov 理论证明了系统的稳定性。最后,通过仿真实验验证了该控制算法的有效性与优越性。     

Waveform Retrieval and Phase Identification for Seismic Data from the CASS Experiment

The little destruction to the deployment site and high repeatability of the Controlled Accurate Seismic Source (CASS) shows its potential for investigating seismic wave velocities in the Earth's crust. However, the difficulty in retrieving impulsive seismic waveforms from the CASS data and identifying the seismic phases substantially prevents its wide applications. For example, identification of the seismic phases and accurate measurement of travel times are essential for resolving the spatial distribution of seismic velocities in the crust. Until now, it still remains a challenging task to estimate the accurate travel times of different seismic phases from the CASS data which features extended wave trains, unlike processing of the waveforms from impulsive events such as earthquakes or explosive sources. In this study, we introduce a time-frequency analysis method to process the CASS data, and try to retrieve the seismic waveforms and identify the major seismic phases traveling through the crust. We adopt the Wigner-Ville Distribution (WVD) approach which has been used in signal detection and parameter estimation for linear frequency modulation (LFM) signals, and proves to feature the best time-frequency convergence capability. The Wigner-Hough transform (WHT) is applied to retrieve the impulsive waveforms from multi-component LFM signals, which comprise seismic phases with different arrival times. We processed the seismic data of the 40-ton CASS in the field experiment around the Xinfengjiang reservoir with the WVD and WHT methods. The results demonstrate that these methods are effective in waveform retrieval and phase identification, especially for high frequency seismic phases such as PmP and SmS with strong amplitudes in large epicenter distance of 80–120 km. Further studies are still needed to improve the accuracy on travel time estimation, so as to further promote applicability of the CASS for and imaging the seismic velocity structure.     

低纬子午环绝对测定瞬时方位差方法的改进（Ⅰ）

利用低纬子午环在卯酉圈东西两边同时观测得到的一对赤纬近似相等的恒星的天顶距，可以用来绝对确定仪器的瞬时方位差。这一方法不必对方位差的变化规律作任何假设，不需要改变现有的仪器设计方案。这将有利于改善低纬子午环的观测系统。     

低纬子午环的仪器误差

对低纬子午环的仪器误差作了分类，包括制造误差、安装误差、仪器重力变形和热变形的影响，还分别列出了各种误差测量设备的制造误差、安装误差、读数零点偏差及其漂移的影响。文中强调了在该仪器误差修正中，不建立和使用任何误差模型，而是采用实时测定值，并且特别注意消除系统误差的影响，在这基础上，才能通过重复采数来压缩随机误差的影响。     

研制低纬子午环初衷的沿革

介绍了在低纬子午环研制过程中，如何跟踪国内外测量方法和科学技术的发展，调整该仪器的主要课题目标：开始时仅计划在低纬度地区进行天体位置的绝对测定，改善基本星表系统；在１ｍ望远镜试验ＣＣＤ底片重迭法成功后，打算把该仪器绝对测定的恒星位置与河外天体联系起来，间接地建立准惯性天球参考架；当国外传统子午环配备ＣＣＤ测微器作相对测量后，提出了在该仪器上配备ＣＣＤ测微器作绝对测定的方法，用其观测数据直接建立实用的准惯性天球参考架，并为太阳系和银河系研究提供有用数据的总体目标。     

低纬子午环配备科学CCD后的课题目标

针对低纬子午环配备科学ＣＣＤ后的观测能力，叙述了该仪器观测的课题目标：为建立准惯性天球参考架提供充分的观测数据，为建立动力学参考架和太阳系动力学研究提供天然卫星和小行星的高精度数据，为银河系结构和运动学研究提供必要的数据，为某些天体物理课题研究提供有用的数据，为地球动力学和天文地震研究提供基本的测量数据。将来编制观测纲要时，会兼顾到这些方面的需要，合理安排，以求充分发挥该仪器的作用。     

有关求解星径曲率改正问题的探讨

对于配置光子计数探测器的低纬子午环，在其观测数据的归算过程中应该加以考虑的星径曲率改正包括三种改正量：卯酉方向记录时刻的星径曲率改正；卯酉方向天顶距的星径曲率改正；子午方向天顶距的星径曲率改正。结合测微器的新视栅形式，本文给出了一种旨在解决星径曲率改正问题的新思路。     

Joint land-sea seismic survey and research on the deep structures of the Bohai Sea areas

This paper presents the survey and research work of two land-sea profiles in the Bohai Sea, China, carried out in 2010-2011, including the seismic sources on land and in the sea, the ocean bottom seismographs （OBS） and their recovery, the coupling of OBS and the environment noise in sea area, the data quality of OBSs, and the result of data analysis. We focused on the investigation of crustal structures revealed by the two NE／EW-trending joint land-sea profiles. In combination with the Pn-velocity distribution and gravity- magnetic inversion results in the North China Craton, we propose that the undulation of the Moho interface in the Bohai and surrounding areas is not strong, and the lithospheric thinning is mainly caused by the thinning of its mantle part. The research result indicates that obvious lateral variations of Moho depth and seismic velocity appear nearby all the large-scale faults in Bohai Sea, and there is evidence of underplating and reforming of the lower crust by mantle material in the Bohai area. However, geophysical evidence does not appear to support the ＂mantle plume＂ or ＂delamination＂ model for the North China Craton destruction. The crustal structure of the Bohai Sea revealed ＂a relatively normal crust and obviously thinned mantle lid＂, local velocity anomalies and instability phenomena in the crust. These features may represent a combined effect of North China-Yangtze collision at an early stage and the remote action of Pacific plate subduction at a late stage.     

我国省域人口城镇化特点及其相关因素的分析

本文从人口城镇化的基本原理开始,讨论了建国以来我国省域城镇人口变化的基本特点,并进行了人口城镇化的相关因素分析。     

Tectonic-climatic events in eastern Qilian Mountains over the past 0.83 Ma

The eastern part of Qilian Mountains experienced strong tectonic uplift during the late Quaternary, and climate record there was influenced by Tibetan Plateau to some extent. Based on studies on the fluvial terrace series and eolian loess deposition, we find that the tectonic uplifts of the Tibetan Plateau had coupled with climatic changes in our studied region and others since the mid-Pleistocene. The uplift that occurred at 0.83 Ma corresponded to significant desert expansion in L6 and periodic variation since MIS16, while the 0.14Ma one to the further drying in northwest China. Those coupled events may indicate that tectonic uplift drove climatic changes, and the Tibetan Plateau has important impacts on East Asian Monsoon system.