Adaptive output feedback control based on DRFNN for AUV

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.     

一株海洋细菌铁吸收调节蛋白(Fur)基因的克隆和表达

对海洋细菌来说铁是一种必需元素,对铁吸收与利用的调控在细菌生长和防止铁毒性中起重要作用,在革兰氏阴性细菌中,铁的代谢由铁吸收调节蛋白(Fur) 来调控.橙色交替单胞菌是1种具有广泛抑菌谱的有益菌,本研究克隆表达了橙色交替单胞菌的fur基因,并分析了其相关特征.该基因序列中包含447bp的开放阅读框,编码148个氨基酸残基的蛋白,推导的相对分子量为16.637 kD,与GenBank报道的革兰氏阴性菌的相应序列同源性很高,其中氨基酸序列的中段从G47位至D104位,为高度保守区域.在限铁和富铁培养条件下铁载体分泌量的结果分析表明,fur基因可在大肠杆菌中大量表达,为进一步研究Fur蛋白的结构与功能打下基础.     

Sequence analysis and quantitative detection of Norwalk-like viruses in cultured oysters of China

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.     

鱼类脂蛋白脂肪酶的研究进展

中国是世界水产养殖大国,其中鱼类的养殖在水产养殖业中占有举足轻重的地位.在鱼类的养殖过程中,一些鱼类常需摄食体内脂肪含量较高的海洋浮游生物、鲜杂鱼等;另外,在养殖鱼类的配合饵料中,一定比例的脂肪也是必不可少的.     

三维含拓扑地质剖面三角剖分可视化研究

三维剖面是地质对象表达和地质问题分析中最基本和最常用的数据。该文分析三维复杂地质折剖面可视化存在的问题,并提出展开剖分算法。该方法保证了各点之间的水平距离与剖面拓扑关系不变,能够对由"多边形-弧段-结点"矢量结构构成的三维折剖面进行有效剖分。在此基础上实现了三维剖面的可视化,尤其合理解决了纹理映射中的纹理变形与重复接缝等问题。     

不同海域沉积物对尿素吸附的实验模拟研究

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。     

海洋浮游藻色素分析和化学分类研究进展

综述了海洋浮游藻色素分析和化学分类研究的最新进展。指出目前以色谱柱串联技术为基础的高分辨高效液相色谱质谱联用已经成为色素分析方法的主要发展趋势。利用此方法对藻类特征色素进行再分析有助于获得对藻类色素分布的新认识。CHEMTAX是在宏观上对浮游藻进行化学分类的良好工具,采用多次运算的方式可以减少其对初始色素比值的依赖,使结果向"真实值"收敛,提高结果的准确性。指出研究以特征色素比值组合为基础的浮游藻精细化学分类方法,以及将以色素分析为基础的浮游藻化学分类应用于了解浮游藻功能类群在生源要素和生物矿物质等的生物地球化学循环过程中的作用是未来的发展趋势。     

内蒙古区域数值预报对探空和地面观测资料的敏感性试验研究

基于内蒙古睿图预报系统的低分辨率版本和WRFDA-FSO诊断工具,评估2021年7月现有探空和地面观测对内蒙古睿图预报系统预报的影响。该方法计算代价相对低廉,并允许根据观测变量、观测类型、气压层次、地理区域等观测的子集对观测影响进行划分。代价函数为以干总能量为度量的背景场和分析场的预报误差之间的差异。结果表明:观测影响的总体总和为负,观测对预报起正贡献作用。对12 h预报误差减小贡献最大的观测来自探空观测的动力变量(U、V风分量)。而单时次单位数量平均观测影响,探空观测的贡献约为地面观测的1/2。探空观测对12 h预报误差减小从近地面层至模式层顶均保持正贡献作用,并在对流层中低层和对流层高空急流层存在两个极大值区域;地面观测在850 hPa以下低层正贡献占比明显。探空观测在被同化系统同化时均总体具有有利的影响,也反映出探空观测数据稳定、质量较高的特征;地面观测对12 h预报误差减小起正贡献作用次数最多的区域在河套地区尤为显著。同时,探讨了需进一步提高地面观测资料同化率的问题。     

人类活动影响下华北平原地下水环境的演化与发展

本文是研究华北平原第四系地下水系统在自然条件并叠加人为因素影响的地下水动力场和地下水水化学场演化与发展的综合性环境地学课题的成果。主要研究了地下水系统通过包气带与外部环境要素间物质与能量的传输;地下水地球化学环境演化规律;华北平原地下水超量开采区的地下水循环系统及其演变规律和地下水环境演化预测。     

Size Fractionation (Dissolved, Colloidal and Particulate) of Trace Metals in the Thur River, Switzerland

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.