Parallel Neural Network-Based Motion Controller for Autonomous Underwater Vehicles

A parallel neural network-based controller （PNNC） is presented for the motion control of underwater vehicles in this paper. It consists of a real-time part, a self-learning part and a desired-state programmer, and it is different from normal adaptive neural network controller in structure. Owing to the introduction of the self-learning part, on-line learning can be performed without sample data in several sample periods, resulting in high learning speed of the controller and good control performance. The desired-state programmer is utilized to obtain better learning samples of the neural network to keep the stability of the controller. The developed controller is applied to the 4-degree of freedom control of the AUV “IUV- IV” and is successful on the simulation platform. The control performance is also compared with that of neural network controller with different structures such as normal adaptive neural network and different learning methods. Current effects and surge velocity control are also included to demonstrate the controller＇ s performance. It is shown that the PNNC has a great possibility to solve the problems in the control system design of underwater vehicles.     

表层海水温度场的正交综合因子场分解预报方法——东海及其外缘海域月平均表层水温预报

表层海水温度预报的途径目前在我国仍以统计预报为主,数值预报和数值动力统计预报尚在探索中.表层海温统计预报一般又分为单要素时间序列预报和多要素相关预报两类.这些方法各有长处和短处,因此在预报实施中,应根据各种方法的特点,互相补充,综合发布预报.我们在应用经验正交函数分析预报表层海水温度场的基础上,也曾对表层海温场的多因子相关预报方法进行了多种试验.     

利用盐田卤水池塘养殖卤虫的研究

1988年和1989年,作者在山东省盐场利用盐田卤水池进行了卤虫池塘养殖的研究。研究内容包括微藻培养试验、卤虫群体生长能力试验和间捕法养殖卤虫试验。通过试验在6个投饵池塘获得的鲜活卤虫产量为423.5—551.0公斤/亩(平均491.6公斤/亩),在4个不投饵池塘获得的产量为240.5—299.5公斤/亩(平均272.3公斤/亩)。本文报告了以上三个试验的内容和结果,并对卤虫养殖中出现的几个问题进行了讨论。     

养殖牙鲆淋巴囊肿病防治的初步研究

牙鲆淋巴囊肿病发病率高 ,一年四季均可发病 ,目前尚无有效药物防治。实验采用 2种方式对健康鱼进行人工感染致病 ,然后根据不同水温加福尔马林、过氧化氢药浴。结果表明 ,2 2～2 5℃高温水结合过氧化氢药浴可使病鱼体表囊肿消失     

Exchange fluxes of nutrients between sediment and sea water in the Bohai Sea

IrocrIowThere is a linkage in shallow marine systerns between sea-noor biOgaxhemical pmeessesand water column pnductivity (Bereson et al., l998). Benthic fluxes provide a significantsource of nutrients to the overlying water tO supPOrt primary pnduction and play a role in de-.creasing oxygen concentrations (van et al., l999; Cowan and Boynton, l996; Berelson etal., 1998; Friedl et al., l998; Zabel et al., l998). TherefOre, it is imPOrtant to define theediment di8genetic pathways for the …     

南海大鹏湾盐田海域骨条藻数量的多元分析

１９９０年及１９９１年３月３０日－５月３０日，在南海大鹏湾盐田海域设点测定骨条藻数量及各环境要素，以逐步回归，主成分分析及判别分析的方法，分析该海区骨条藻数量与环境因子的关系。１９９０年４、５月与１９９１年４，５月骨条藻数量差异与该期间环境因子值差异显著有关；初步提出用三维主成分分析图及判别分析方程作为盐田海域骨条材料潮预报的方法。     

杭州市滨江区似大地水准面的确定及精度分析

介绍了通过布设足够密度且分布均匀的GPS水准联测点,建立杭州滨江区高精度、高分辨率的似大地水准面数学模型的原理和方法.     

BDA方案对台风背景高温天气预报的改进

广州地Ⅸ的高温天气主要是受副热带高压和台风外围下沉气流的影响所致.文中采用BDA(Bogus Data Assimila-tion)方法,探讨BDA方案对广州地区台风背景条件下高温预报的改进能力.选取2005年7月中旬广州地区出现的高温天气进行研究.这是比较典型的受副热带高压和台风(海棠)共同影响造成高温的天气过程.分析有无采用BDA方案的模式初始场.结果表明:采用BDA方案同化Bogus模型可以调整台风中心位置和强度,使所得到的初始场中心位置与观测更为接近,台风强度(气压梯度力、风速)比末用Bogus的情况强,与观测值更为接近.数值模拟的结果表明,采用了BDA方案的敏感试验可以更好地预撤台风路径和台风中心强度变化,从而更好地预报高温天气,对高温区分布、日平均温度大小等的预报都有改进.文中对引起这种预报差异的原因进行了讨论,并探讨高温预报改进的可能机制.大气下沉运动的增强是高温预报改进的主要原因.敏感试验由于广州中低层大气的水汽减少,大气的下沉增强,致使天空的云量减少,对太阳短波辐射的阻挡减小,从而地面吸收热量增多,温度升高,输送给大气的感热增加,大气气温升高.采用BDA方案可以改进模式在台风"海棠"过程对广州高温的预报.     

Application and Study of Precipitation Schemes in Weather Simulation in Summer and Winter over China

Through simulation of summer and winter precipitation cases in China, the cloud precipitation schemes of model were examined. Results indicate that it is discrepant between convective precipitation simulated by the Kain-Fritsch (KF) scheme and Betts-Miller (BM) scheme in summer, the former scheme is better than the latter in this case. The ambient atmosphere may be varied by different convective schemes. The air is wetter and the updraft is stronger in the KF scheme than in the BM scheme, which can induce the more grid scale precipitation in the KF scheme, i.e., the different cumulus schemes may have the different and important effect on the grid scale precipitation. However, there is almost no convective rain in winter in northern China, so the effect of cumulus precipitation on the grid scale precipitation can be disregarded. Therefore, the gird scale precipitation is primary in the winter of northern China.     

银根-额济纳旗盆地苏红图坳陷早白垩世火山岩对阿尔金断裂研究的科学意义

通过对银根-额济纳旗盆地苏红图坳陷火山岩进行39Ar-40Ar同位素测年得到该套火山岩年龄值为(105.55±4.03)～(112.71土2.06)Ma,为早白垩世喷发物.对苏红图火山岩与位于阿尔金断裂周缘的酒西盆地红柳峡火山岩的年龄及地化特征进行了对比研究,认为红柳峡火山岩及苏红图火山岩均为阿尔金-恩格尔乌苏断裂断裂...