Robust control based on feedback linearization for roll stabilizing of autonomous underwater vehicle under wave disturbances

In the case of Autonomous Underwater Vehicle(AUV) navigating with low speed near water surface,a new method for design of roll motion controller is proposed in order to restrain wave disturbance effectively and improve roll stabilizing performance.Robust control is applied,which is based on uncertain nonlinear horizontal motion model of AUV and the principle of zero speed fin stabilizer.Feedback linearization approach is used to transform the complex nonlinear system into a comparatively simple linear system.For parameter uncertainty of motion model,the controller is designed with mixed-sensitivity method based on H-infinity robust control theory.Simulation results show better robustness improved by this control method for roll stabilizing of AUV navigating near water surface.     

The comprehensive evaluation of China＇s urbanization and effects on resources and environment

This paper constructs a comprehensive evaluation index system for the urbanization level in China in terms of four aspects of urbanization connotation: population, economy, society, and land. A comprehensive measurement is carried out for the Chinese urbanization between 1981 and 2006 based on the Entropy method. The results show that the comprehensive level of urbanization in China has a continuous increase with the major features of economic growth and a rapid evolution of the geographical landscape, followed by population urbanization and then social urbanization of health care standard; the distinguished evolutional characteristics can also be found in each of the subsystems. The integrated evolution of urbanization has a profound effect on the resources, energy and the environment, making the land resources and energy security situation under severe pressure. The environment pressure is also increased further.     

Quantitative Assessment of Impacts of Regional Climate and Human Activities on Saline-alkali Land Changes： A Case Study of Qian＇an County, Jilin Province

Interdecadal and interannual variations of saline-alkali land area in Qian’an County, Jilin Province, China were comprehensively analyzed in this paper by means of satellite remote sensing interpretation, field flux observations and regional climate diagnosis. The results show that on the interannual scale, the impact of climate factors accounts for 71.6% of the total variation of the saline-alkali land area, and that of human activities accounts for 28.4%. Therefore the impact of climate factors is obviously greater than that of human activities. On the interdecadal scale, the impact of climate factors on the increase of the saline-alkali land area accounts for 43.2%, and that of human activities accounts for 56.8%. The impact of human activities on the variation of saline-alkali land area is very clear on the interdecadal scale, and the negative impact of human activities on the environment should not be negligible. Besides, changes in the area of heavy saline-alkali land have some indication for development of saline-alkali land in Qian’an County.     

NECESSITY AND METHOD OF PUBLIC PARTICIPATION IN STRATEGIC ENVIRONMENTAL ASSESSMENT OF CHINA

1INTRODUCTIONFor recent years, many countries have increasingly paidattention to the research on strategic environmental as-sessment (SEA) and taken it as one of key supportingtools for pursing sustainable development (BROWNand THERIVEL, 2000; PRARTIDARIO…     

Strong shock-phenomena at petawatt-picosecond laser side-on ignition fusion of uncompressed hydrogen-boron11

An extreme anomaly of laser-plasma interaction with petawatt-picosecond (PW-ps) pulses of very high contrast ratio for suppression of relativistic self-focusing permitted a come-back of the Bobin-Chu side-on ignition of uncompressed deuterium-tritium (DT) fusion fuel. The plasma blocks for the side-on ignition have to be produced by the well confirmed nonlinear force acceleration which is about 100,000 times higher than thermo-kinetic fluid-dynamic acceleration for comparison with astrophysical cases. It is essential that the dielectric plasma properties within the nonlinear force are used. Using the measured ion beam densities above 10¹¹ A s/cm² the ignition mechanism needed numerical and theoretical studies of extremely strong shock phenomena. When extending these results to the side-on ignition of uncompressed hydrogen-boron11 (HB11), surprisingly, the ignition by this shock mechanism was only about 10 times more difficult than for DT in contrast to ignition by spherical laser driven compression using thermo-kinetic conditions in which case HB11 ignition is 100,000 times more difficult than DT.     

EFFECTS OF WATER TABLE AND NITROGEN ADDITION ON CO2 EMISSION FROM WETLAND SOIL

Soil respiration is a main dynamic process of carbon cycle in wetland. It is important to contribute to global climate changes. Water table and nutritious availability are significant impact factors to influence responses of CO₂ emission from wetland soil to climate changes. Twenty-four wetland soil monoliths at 4 water-table positions and in 3 nitrogen status have been incubated to measure rates of CO₂ emission from wetland soils in this study. Three static water-table controls and a fluctuant water-table control, with 3 nitrogen additions in every water-table control, were carried out. In no nitrogen addition treatment, high CO₂ emissions were found at a static low water table (I) and a fluctuant water table (IV), averaging 306.7mg/(m²·h) and 307.89mg/(m²·h), respectively, which were 51%–57% higher than that at static high water table (II and III). After nitrogen addition, however, highest CO₂ emission was found at II and lowest emission at III. The results suggested that nutritious availability of wetland soil might be important to influence the effect of water table on the CO₂ emission from the wetland soil. Nitrogen addition led to enhancing CO₂ emissions from wetland soil, while the highest emission was found in 1N treatments other than in 2N treatments. In 3 nutritious treatments, low CO₂ emissions at high water tables and high CO₂ emissions at low water tables were also observed when water table fluctuated. Our results suggested that both water table changes and nutritious imports would effect the CO₂ emission from wetland. Foundation item: Under the auspices of the National Natural Science Foundation of China (No. 90211003) and the Knowledge Innovation Program of Chinese Academy of Sciences (No. KACX3-SW-332) Biography: YANG Ji-song (1978-), male, a native of Chengwu of Shandong Province, Ph.D. candidate, specialized in environmental ecology and wetland biogeochemistry. E-mail: yangjisong@neigae.ac.cn     

Analysis of the coupled relationship between grain yields and agricultural labor changes in China

In this paper we establish a model that expresses the coupled relationship between grain yield and agricultural labor changes in China, and present a preliminary discussion of the coupled processes involved in changes in these factors at the county level. Thus, we develop two coefficients on the basis of county-level statistical data for grain yield and agricultural labor for the years 1991, 2000, and 2010, namely, the grain-labor elasticity coefficient (GLEC) and the agricultural labor-transfer effect coefficient (ALTEC). The results of this study show that during the transformation process of agricultural development in China, different kinds of coupled relationships between grain yield and agricultural labor changes co-existed at the same time. For example, between 1991 and 2010, counties characterized by three different coupled modes (i.e., increasing grain yield and decreasing agricultural labor, increasing grain yield and agricultural labor, and decreasing grain yield and agricultural labor) account for 48.85%, 29.11%, and 19.74% of the total across the study area, respectively. Interestingly, a coupled relationship between increasing grain yield and decreasing agricultural labor is mainly concentrated in the traditional farming areas of China, while a coupled relationship between increasing grain yield and agricultural labor is primarily concentrated in pastoral areas and agro-pastoral ecotones in underdeveloped western China. At the same time, a coupled relationship between decreasing grain yield and agricultural labor is concentrated in areas that have experienced a rapid development transition in agriculture, especially the developed southeastern coast of China. The results of this study also show that between 1991 and 2010, 1961 counties experienced a decline in the proportion of agricultural labor; of these, 1452 are also characterized by increasing grain yield, 72.38% of the total. This coupled relationship between grain yield and changes in the proportion of agricultural labor shows a stepped fluctuation and has continually strengthened over time. Data show that mean values for the GLEC and ALTEC increased from–0.25 and–2.93 between 1991 and 2000 to–0.16 and–1.78 between 2000 and 2010, respectively. These changes in GLEC and ALTEC illustrate that the influence of agricultural labor changes on increasing grain yields has gradually diminished. Finally, the results of this study reveal that the ‘Hu Huanyong Line’ is a significant boundary sub-dividing this coupled relationship between grain yield and changes in agricultural labor.     

An investigation of the Eigenvalue Calibration Method (ECM) using GASP for non-imaging and imaging detectors

Polarised light from astronomical targets can yield a wealth of information about their source radiation mechanisms, and about the geometry of the scattered light regions. Optical observations, of both the linear and circular polarisation components, have been impeded due to non-optimised instrumentation. The need for suitable observing conditions and the availability of luminous targets are also limiting factors. The science motivation of any instrument adds constraints to its operation such as high signal-to-noise (SNR) and detector readout speeds. These factors in particular lead to a wide range of sources that have yet to be observed. The Galway Astronomical Stokes Polarimeter (GASP) has been specifically designed to make observations of these sources. GASP uses division of amplitude polarimeter (DOAP) (Compain and Drevillon Appl. Opt. 37, 5938–5944, 1998) to measure the four components of the Stokes vector (I, Q, U and V) simultaneously, which eliminates the constraints placed upon the need for moving parts during observation, and offers a real-time complete measurement of polarisation. Results from the GASP calibration are presented in this work for both a 1D detector system, and a pixel-by-pixel analysis on a 2D detector system. Following Compain et al. (Appl. Opt. 38, 3490–3502 1999) we use the Eigenvalue Calibration Method (ECM) to measure the polarimetric limitations of the instrument for each of the two systems. Consequently, the ECM is able to compensate for systematic errors introduced by the calibration optics, and it also accounts for all optical elements of the polarimeter in the output. Initial laboratory results of the ECM are presented, using APD detectors, where errors of 0.2 % and 0.1° were measured for the degree of linear polarisation (DOLP) and polarisation angle (PA) respectively. Channel-to-channel image registration is an important aspect of 2-D polarimetry. We present our calibration results of the measured Mueller matrix of each sample, used by the ECM, when 2 Andor iXon Ultra 897 detectors were loaned to the project. A set of Zenith flat-field images were recorded during an observing campaign at the Palomar 200 inch telescope in November 2012. From these we show the polarimetric errors from the spatial polarimetry indicating both the stability and absolute accuracy of GASP.     

Detecting red tides in the eastern Seto inland sea with satellite ocean color imagery

A multi-spectral classification scheme is proposed to identify water with red tide(s) using satellite ocean color imagery obtained by the Sea-viewing Wide Field-of-view Sensor (SeaWiFS). The study area was the eastern Seto Inland Sea in Japan, where serious red tides frequently occur. “Background Ocean Colors” (BOCs hereafter), or colors of water around a red tide or those of the water before/after a red tide, are calculated as the monthly climatological average of normalized water-leaving radiances (nLw) with 0.01 degree spatial resolution with SeaWiFS imagery. Criteria for detecting red-tide pixels are established from analyses of characteristics of the nLws (in the 443, 490, 510, and 555 nm bands) anomalies from BOCs and the nLw spectra together with the red-tide records in Osaka Bay. The proposed scheme can efficiently indicate the presence or absence of red tides for independent match-ups with 83% accuracy. Additional validations of specific events indicate that the algorithm performed well in the study area. These results suggest that the scheme is appropriate to detect red tides in the optically complex coastal water of the eastern Seto Inland Sea.     

Analysis of stochastic characteristics of the Benue River flow process

Stochastic characteristics of the Benue River streamflow process are examined under conditions of data austerity. The streamflow process is investigated for trend, non-stationarity and seasonality for a time period of 26 years. Results of trend analyses with Mann-Kendall test show that there is no trend in the annual mean discharges. Monthly flow series examined with seasonal Kendall test indicate the presence of positive change in the trend for some months, especially the months of August, January, and February. For the stationarity test, daily and monthly flow series appear to be stationary whereas at 1%, 5%, and 10% significant levels, the stationarity alternative hypothesis is rejected for the annual flow series. Though monthly flow appears to be stationary going by this test, because of high seasonality, it could be said to exhibit periodic stationarity based on the seasonality analysis. The following conclusions are drawn： （1） There is seasonality in both the mean and variance with unimodal distribution. （2） Days with high mean also have high variance. （3） Skewness coefficients for the months within the dry season period are greater than those of the wet season period, and seasonal autocorrelations for streamflow during dry season are generally larger than those of the wet season. Precisely, they are significantly different for most of the months. （4） The autocorrelation functions estimated ＂over time＂ are greater in the absolute value for data that have not been deseasonalised but were initially normalised by logarithmic transformation only, while autocorrelation functions for i = 1, 2 365 estimated ＂over realisations＂ have their coefficients significantly different from other coefficients.