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The tracking control problem of AUV in six degrees-of-freedom (DOF) is addressed in this paper. In general, the velocities of the vehicles are very difficult to be accurately measured, which causes full state feedback scheme to be not feasible. Hence, an adaptive output feedback controller based on dynamic recurrent fuzzy neural network (DRFNN) is proposed, in which the location information is only needed for controller design. The DRFNN is used to online estimate the dynamic uncertain nonlinear mapping. Compared to the conventional neural network, DRFNN can clearly improve the tracking performance of AUV due to its less inputs and stronger memory features. The restricting condition for the estimation of the external disturbances and network's approximation errors, which is often given in the existing literatures, is broken in this paper. The stability analysis is given by Lyapunov theorem. Simulations illustrate the effectiveness of the proposed control scheme. 相似文献
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We isolated 4 Norwalk-like viruses (NLVs) contaminated oysters from 33 Chinese oysters collected from local commer-cial sources of Shandong Province. After amplification of the RNA-dependent RNA polymerase (RdRp) region of NLVs genomes with RT-PCR, the open reading frame 1 (ORF1) of the RdRp was sequenced and subjected to multiple-sequence alignment. The re-suits showed that NLVs in the four isolates belong to genogroup Ⅱ. The sequence comparison showed that the similarity between four Chinese oyster isolates were higher than 99.0%, which indicated that NLVs prevalent in close areas have high homogeneity in genome sequences. In addition, the most conserved sequences between diverse NLVs were used to design primers and TaqMan probes, then the real-time quantitative PCR assay was performed. According to the standard curve of GII NLVs, the original amounts (copies) of NLVs in positive patient's fecal isolate, positive Japanese oyster isolate, and the Chinese oyster isolate were 8.9×108, 1.25×108 and 4.7×101 respectively. The detecting limit of NLVs was 1×101 copies. This study will be helpful for routine diagnosis of NLVs pathogens in foods and thus for avoiding food poisoning in the future. 相似文献
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本文对采自渤海、黄海和东海3个典型海域的沉积物进行了尿素吸附/解吸的实验室模拟研究,用Freundlich吸附模型和Henry吸附模型分析了不同沉积物对尿素吸附的热力学特性,并研究了温度、沉积物粒径、有机质含量等因素对尿素在沉积物表面吸附的影响。结果表明,沉积物对尿素的吸附/解吸过程总体呈现3个阶段:快速吸附阶段(0~5 h)—慢速吸附阶段(5~12 h)—平衡阶段(12 h之后)。当水体中的尿素浓度较低时,沉积物解吸释放尿素,随着上覆水中尿素浓度逐渐增加,沉积物对上覆水中的尿素产生吸附行为,各海区沉积物对尿素的吸附能力由强至弱依次为渤海、东海、黄海,这可能与沉积物的类型有关。Freundlich方程和Henry方程均可模拟沉积物对尿素的吸附,温度、粒径以及沉积物中有机质含量等因素均对尿素在沉积物上的吸附产生影响,随着温度升高,尿素在沉积物上的吸附量变小,沉积物粒径越小,有机质含量越高,吸附尿素的能力越强,因此,揭示尿素在沉积物表面的环境行为时,必须考虑以上因素的影响。 相似文献
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The distribution of some trace metals (Cu, Zn, Ni, Co,Fe, Mn) and of DOC over a particulate (> 1 m),a colloidal (size < 0.45 m and molecular weight > 10 kD) and an ultrafiltered fraction (< 10 kD)was determined at several sites on the Thur River,Switzerland, at various times of the year. Thecomplexation of Cu by strong ligands in theultrafiltrate and in the conventional filtrate (<0.45 m) was compared using a ligand-exchange/CSV method.The <0.45 m concentrations of Cu (from anaverage of 7 nM to 24 nM), Zn (<5–23 nM), Ni (5–13 nM),Co (1.5–3 nM) and Mn (7–92 nM)increased downstream. The major part of Cu, Zn, Niand Co usually occurred in the ultrafiltratefraction at all sites, whereas Fe and Mn were mostlyin the particulate fraction, under conditions of lowsuspended matter content (< 10 mg L-1) in theriver. The percentage of metal in the colloidalfraction, with respect to the 0.45-m filtrate,decreased in the order: Cu (median 11%) > Zn Ni(median 5–6%) > Mn Co (median < 5%). DOCalso consisted mostly of molecules in the < 10 kDrange.Cu was strongly complexed by natural organic ligandsin all filtrate and ultrafiltrate samples. A largepart of the strong Cu binding ligands consisted ofcompounds in the < 10 kD range, but colloidalligands with similar properties also occurred. Cu wasdistributed among the dissolved and the colloidalligands, roughly in proportion to organic carbon.The colloidal fraction (as defined here) did notincrease in its proportional amount downstream and wasonly of limited significance in transporting traceelements in the Thur River under low discharge conditions. 相似文献
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在10%HCI介质中,采用二苯硫脲(DPTU)-甲基异丁酮(MIBK)泡沫塑料富集,以金试剂液珠萃取比色法测定了化探样品中的Au和Ag。方法的检出限:Au0.5×10 ̄-9;As5×10 ̄-9(10g称样)。利用此方法制备了“野外快速分析箱”,可在野外简陋条件下进行现场测定。 相似文献
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姚桥矿地下水化学特征及在矿井水源判别中的意义 总被引:2,自引:0,他引:2
姚桥矿地下水系统包含四个子系统:新生界孔隙含水层组,煤系砂岩裂隙含水层组,太原群石灰岩溶隙含水层组及奥陶系灰岩岩溶含水层组。通过对这四个子系统水文地球化学特征的系统研究,提出了各子系统所特有的水质模型,并确定出能作为矿井水源判别依据的水溶组分,为矿井防治水提供水化学特征依据。 相似文献