欠驱动AUV水平面动力定位控制方法研究

以欠驱动自主水下机器人(Autonomous Underwater Vehicle,AUV)为试验平台,提出了一种水平面动力定位控制方法.根据自研AUV平台的运动执行机构配置,针对其欠驱动特性设计运动控制器,控制纵向推力与转艏力矩,经过路径跟踪与区域镇定两个阶段,使航行器先沿预设路径快速接近目标点,再低速逐渐调整水平位...     

西藏斯弄多地区晚白垩世埃达克岩:岩石成因及成矿潜力指示

西藏冈底斯带广泛分布晚白垩世埃达克质岩,其岩石成因一直存在争论,并且对于成矿潜力的研究也十分有限.为此对谢通门县斯弄多-加多捕地区具铜矿化的黑云母二长花岗岩开展了锆石U-Pb定年、全岩地球化学以及锆石微量元素地球化学特征的研究,以探明岩石成因及成矿潜力.结果表明黑云母二长花岗岩侵位时间为晚白垩世(83.1± 1.6 M...     

东太湖浮游植物与浮游动物群落的嵌套性及其互作网络的季节特征

浮游生物主要由浮游植物和浮游动物组成,是湖泊生态系统的重要组分.嵌套性结构及物种间的互作关系对群落的分布格局、功能乃至稳定性都具有重要意义,然而到目前为止,我们对此仍知之甚少.为此,本研究以东太湖为研究区域,在2019-2020年期间进行了春、夏、秋、冬季的观测调查,根据浮游生物群落的组成和多样性特征,结合群落分布矩阵和二分网模型研究浮游生物的嵌套性格局及其互作关系,并探讨其驱动机制.结果显示:(1)在时间上,春、秋、冬季水体的理化特征较为相似,但与夏季的水质差异显著.在空间上,西南部区域的综合污染指数显著高于东北部;(2)环境异质性使得浮游植物呈现出明显的嵌套性分布,即秋、冬季群落是春、夏季群落的子集.然而,浮游动物并未呈现该分布特征;(3)浮游生物的互作关系具有明显的季节特征:冬季的互作网络组成最简单,物种竞争最激烈,物种的特异性关系、物种脆弱性和一般性最小,说明浮游生物群落的稳定性在冬季最弱.综上所述,水环境的时空差异性造成的生态位分离可能是造成浮游生物嵌套性及其互作网络季节性变化的主要机制.     

A coupled discrete element model for the simulation of soil and water flow through an orifice

Soil erosion around defective underground pipes can cause ground collapses and sinkholes in urban areas. Most of these soil erosion events are caused by fluidization of the surrounding soil with subsequent washing into defective sewer pipes. In this study, this soil erosion process is simplified as the gradual washout of sand particles mixed with water through an orifice. The discrete element method is used to simulate the large deformation behavior of the sand particles, and the Darcy fluid model is coupled with this approach to simulate fluid flow through porous sand media. A coupled 3D discrete element model is developed and implemented based on this scheme. To simulate previous experiments using this coupled model considering the current computing capacity, we incorporated a ‘supply layer’ to study the continuous erosion process. The coupled model can predict the erosion flow rates of sand and water and the shape of erosion void. Thus, the model can be used as an effective and efficient tool to investigate the soil erosion process around defective pipes. Copyright © 2017 John Wiley & Sons, Ltd.     

Hydrodynamic characteristics and sediment transport of a tidal river under influence of wading engineering groups

By taking the Yong River for example in this paper, based on the multiple measured data during 1957 to 2009, the change process of runoff, tide feature, tidal wave, tidal influx and sediment transport are analyzed. Then a mathematical model is used to reveal the influence mechanism on hydrodynamic characteristics and sediment transport of the wading engineering groups such as a tide gate, a breakwater, reservoirs, bridges and wharves, which were built in different periods. The results showed the hydrodynamic characteristics and sediment transport of the Yong River changed obviously due to the wading engineering groups. The tide gate induced deformation of the tidal wave, obvious reduction of the tidal influx and weakness of the tidal dynamic, decrease of the sediment yield of flood and ebb tide and channel deposition. The breakwater blocked estuarine entrances, resulting in the change of the tidal current and the reduction of the tidal influx in the estuarine area. The large-scale reservoirs gradually made the decrease of the Yong River runoff. The bridge and wharf groups took up cross-section areas, the cumulative affection of which caused the increase of tidal level in the tidal river.     

The Regularity of Relative Movement Among Crevices in Lianziya

This paper summarizes and interprets the data observed from relative movement among crevices in Lianziya in the past seventeen years. The regularity of relative movement among crevices is obtained and the development tendency of dangerous rock masses is analyzed, which can be used to estimate the stability of Lianziya.     

焦耳效应标定高温卡尔维微量热计

根据热流式量热计的Tian氏方程,用焦耳效应标定高温卡尔维微量热计。用偏差法得到的灵敏度值与积分法测得的值一致。用回归曲线对灵敏度实验值进行拟合,利用计算机求得灵敏度—温度回归曲线,得到了室温至700℃的全部灵敏度值,从而即可使用微量热计测量此温度范围内的未知样品热效应。     

ON SOME KEY SEDIMENTATION PROBLEMS OF THREE GORGES PROJECT (TGP)

I. INTRODUCTIONThe Three Gorges Project (TGP) being planned is to be located on the Yangtze River at Sandouplug, 44 km upstream of Yichang (Fig. l). A scheme studied in the feasibility stage has the crest ofthe dam placed at 185 m with a maximums height o…     

用β—γ1.46Mev测定含钾样中的铀

在β-γ综合测铀基础上,用大晶体、大道宽,突出~(40)K的11.46MeVγ贡献,使钾的铀当量趋近零值,可以实现含钾样中铀的准确测定。     

北京市区冬季大气气溶胶空气动力学尺度谱分布的研究

本文讨论了北京市区冬季大气气溶胶空气动力学尺度的各种谱分布,发现平均粒子谱为单峰型,而平均表面积谱和平均质量谱则通常为三峰型。但是,表面积谱和质量谱随时间变化明显。 三峰型质量谱与国外给出的城市双峰型质量谱差别显著,揭示了我国目前城市气溶胶污染所具有的一种带普遍性的重要特性。