Discrete time-delay control of an autonomous underwater vehicle: Theory and experimental results

A discrete time-delay control (DTDC) law for a general six degrees of freedom unsymmetric autonomous underwater vehicle (AUV) is presented. Hydrodynamic parameters like added mass coefficients and drag coefficients, which are generally uncertain, are not required by the controller. This control law cancels the uncertainties in the AUV dynamics by direct estimation of the uncertainties using time-delay estimation technique. The discrete-time version of the time-delay control does not require the derivative of the system state to be measured or estimated, which is required by the continuous-time version of the controller. This particularly provides an advantage over continuous-time controller in terms of computational effort or availability of sensors for measuring state derivatives, i.e., linear and angular accelerations. Implementation issues for practical realization of the controller are discussed. Experiments on a test-bed AUV were conducted in depth, pitch, and yaw degrees of freedom. Results show that the proposed control law performs well in the presence of uncertainties.     

Numerical study of baroclinic tides in Luzon Strait

The spatial and temporal variations of baroclinic tides in the Luzon Strait (LS) are investigated using a three-dimensional tide model driven by four principal constituents, O₁, K₁, M₂ and S₂, individually or together with seasonal mean summer or winter stratifications as the initial field. Barotropic tides propagate predominantly westward from the Pacific Ocean, impinge on two prominent north-south running submarine ridges in LS, and generate strong baroclinic tides propagating into both the South China Sea (SCS) and the Pacific Ocean. Strong baroclinic tides, ∼19 GW for diurnal tides and ∼11 GW for semidiurnal tides, are excited on both the east ridge (70%) and the west ridge (30%). The barotropic to baroclinic energy conversion rate reaches 30% for diurnal tides and ∼20% for semidiurnal tides. Diurnal (O₁ and K₁) and semidiurnal (M₂) baroclinic tides have a comparable depth-integrated energy flux 10–20 kW m⁻¹ emanating from the LS into the SCS and the Pacific basin. The spring-neap averaged, meridionally integrated baroclinic tidal energy flux is ∼7 GW into the SCS and ∼6 GW into the Pacific Ocean, representing one of the strongest baroclinic tidal energy flux regimes in the World Ocean. About 18 GW of baroclinic tidal energy, ∼50% of that generated in the LS, is lost locally, which is more than five times that estimated in the vicinity of the Hawaiian ridge. The strong westward-propagating semidiurnal baroclinic tidal energy flux is likely the energy source for the large-amplitude nonlinear internal waves found in the SCS. The baroclinic tidal energy generation, energy fluxes, and energy dissipation rates in the spring tide are about five times those in the neap tide; while there is no significant seasonal variation of energetics, but the propagation speed of baroclinic tide is about 10% faster in summer than in winter. Within the LS, the average turbulence kinetic energy dissipation rate is O(10⁻⁷) W kg^{− 1} and the turbulence diffusivity is O(10⁻³) m²s⁻¹, a factor of 100 greater than those in the typical open ocean. This strong turbulence mixing induced by the baroclinic tidal energy dissipation exists in the main path of the Kuroshio and is important in mixing the Pacific Ocean, Kuroshio, and the SCS waters.     

Field detection of chlorophyll-a concentration in the sea surface layer by an airborne oceanographic lidar

An airborne oceanographic lidar, with a frequency-tripled Q-switched Nd： YAG laser of 355 nm, has been designed to measure chlorophyll-a （Chl-a） concentration in the sea surface layer by the Ocean Remote Sensing Institute, OUC. The field experiment was carried out in the bay which is located south of the Liaodong Peninsula on the 10th of September 2005. After the flight, the raw data were processed and analyzed by the fluorescence-to-Raman ratio method with seawater attenuation coefficients calculated from signal profiles. The results of Chl-a concentration sea water were also compared with those of Chl-a concentration by measurements by lidar are shown. The measurements in clear a Moderate Resolution Imaging Spectroradiometer （MODIS）.     

Field Detection of Chlorophyll-a Concentration in the Sea Surface Layer by an Airborne Oceanographic Lidar

An airborne oceanographic lidar, with a frequency-tripled Q-switched Nd: YAG laser of 355 nm, has been designed to measure chlorophyll-a (Chl-a) concentration in the sea surface layer by the Ocean Remote Sensing Institute, OUC. The field experiment was carried out in the bay which is located south of the Liaodong Peninsula on the 10th of September 2005. After the flight, the raw data were processed and analyzed by the fluorescence-to-Raman ratio method with seawater attenuation coefficients calculated from signal profiles. The results of Chl-a concentration measurements by lidar are shown. The measurements in clear sea water were also compared with those of Chl-a concentration by a Moderate Resolution Imaging Spectroradiometer (MODIS).     

蛋白核小球藻在废水污泥中培养的研究

啤酒厂废水污泥中含有一定的营养元素和活性物质。本研究利用废水污泥培养蛋白核小球藻（Chlorellapyrenoidosa）取得了初步结果。将一定比例的活性污泥掺入普通培养液形成混合培养基,其中80：20试验组无论从蛋白核小球藻的生物量还是粗蛋白的含量均与普通培养基的培养产物近似,具有实践意义。结果表明,混合培养基培养某些藻类,不仅降低了养殖成本,还可净化环境,为废水污泥用于藻类养殖开辟了一条新途径。     

基于DEA和SFA的我国海水养殖技术效率

文章采用2005—2015年我国沿海地区的面板数据,运用数据包络分析(DEA)和随机前沿分析(SFA)方法对海水养殖技术效率进行测度,并系统分析海水养殖技术效率的影响因素和意义。研究结果表明:我国海水养殖投入和产出水平较合理,但投入资源的优化配置仍有不足;海水养殖面积、海水养殖人员数量和中间物质消耗对海水养殖产量有显著的正相关影响,投入的鱼苗数对产量的影响不显著;运用DEA和SFA方法测度海水养殖技术效率存在显著相关性和差异性,在排序上存在显著一致性;海水养殖技术水平、海水养殖结构、机动渔船比例、海水养殖产值水平和海水养殖规模与海水养殖技术效率呈显著正相关,海产品加工水平呈正相关但不显著;研究海水养殖技术效率对海水养殖产业的发展具有重要意义。最后,基于海水养殖技术效率的影响因素提出相关建议。     

利用Lg波Q值反双台层析成像方法研究青藏高原南部地区的地壳衰减

首次基于2017—2019年西藏自治区区域台网27个宽频带固定台站记录的757次地震的波形资料,利用反双台法开展了青藏高原南部地区1 Hz的Lg波Q值层析成像研究.研究中采用3.5—2.4 km/s的速度窗截取了1981条Lg波,计算得到13543条路径上的Q值,测试了1°×1°和0.5°×0.5°网格下的棋盘格恢复情...     

芙蓉岛秋季鸟类生物多样性研究

为了解芙蓉岛鸟类生态类群和多样性,本文以2019年9月芙蓉岛鸟类调查数据为基础,利用样点法对芙蓉岛鸟类的种类、生态类群、区系、居留型和鸟类多样性等进行了研究。结果表明：本次调查共记录鸟类5目15科31种,其中国家Ⅱ级保护鸟类7种,列入《濒危野生动植物种国际贸易公约及有效决议汇编》附录Ⅲ中的鸟类1种。从生态类群构成上：鸣禽19种,猛禽7种,涉禽4种,陆禽1种;从鸟类地理区系构成上：广布种23种,古北种7种,东洋界1种;从居留类型构成上：冬候鸟5种,留鸟3种,旅鸟17种,夏候鸟、冬候鸟和旅鸟混合类型6种。鸟类群落多样性指数（H’）为3.83,均匀度指数（J）为0.77。芙蓉岛鸟类优势种为红嘴鸥（Larus ridibundus）、家燕（Hirundo rustica）和树麻雀（Passer montanus）。本文对芙蓉岛鸟类生物多样性进行了报道,对芙蓉岛鸟类资源的本底调查以及该区域鸟类生物多样性保护具有重要意义。     

Spatial–temporal variability and hydrologic connectivity of runoff generation areas in a North Alabama pasture—implications for phosphorus transport

This study delineated spatially and temporally variable runoff generation areas in the Sand Mountain region pasture of North Alabama under natural rainfall conditions, and demonstrated that hydrologic connectivity is important for generating hillslope response when infiltration‐excess (IE) runoff mechanism dominates. Data from six rainfall events (13·7–32·3 mm) on an intensively instrumented pasture hillslope (0·12 ha) were analysed. Analysis of data from surface runoff sensors, tipping bucket rain gauge and HS‐flume demonstrated spatial and temporal variability in runoff generation areas. Results showed that the maximum runoff generation area, which contributed to runoff at the outlet of the hillslope, varied between 67 and 100%. Furthermore, because IE was the main runoff generation mechanism on the hillslope, the data showed that as the rainfall intensity changed during a rainfall event, the runoff generation areas expanded or contracted. During rainfall events with high‐intensity short‐ to medium‐duration, 4–8% of total rainfall was converted to runoff at the outlet. Rainfall events with medium‐ to low‐intensity, medium‐duration were found less likely to generate runoff at the outlet. In situ soil hydraulic conductivity (k) was measured across the hillslope, which confirmed its effect on hydrologic connectivity of runoff generation areas. Combined surface runoff sensor and k‐interpolated data clearly showed that during a rainfall event, lower k areas generate runoff first, and then, depending on rainfall intensity, runoff at the outlet is generated by hydrologically connected areas. It was concluded that in IE‐runoff‐dominated areas, rainfall intensity and k can explain hydrologic response. The study demonstrated that only connected areas of low k values generate surface runoff during high‐intensity rainfall events. Identification of these areas would serve as an important foundation for controlling nonpoint source pollutant transport, especially phosphorus. The best management practices can be developed and implemented to reduce transport of phosphorus from these hydrologically connected areas. Copyright © 2009 John Wiley & Sons, Ltd.