This paper is concerned with the formation control problem of multiple underactuated surface vessels moving in a leader-follower formation.The formation is achieved by the follower to track a virtual target defined relative to the leader.A robust adaptive target tracking law is proposed by using neural network and backstepping techniques.The advantage of the proposed control scheme is that the uncertain nonlinear dynamics caused by Coriolis/centripetal forces,nonlinear damping,unmodeled hydrodynamics and disturbances from the environment can be compensated by on line learning.Based on Lyapunov analysis,the proposed controller guarantees the tracking errors converge to a small neighborhood of the origin.Simulation results demonstrate the effectiveness of the control strategy. 相似文献
This research investigated eight stations in Clarion-Clipperton Fracture Zone(CCFZ) in the eastern tropical Pacific in 2017 to study the spatial distribution characteristics of nutrients and chlorophyll a(Chl a) concentration,and compared nutrient concentrations and molar ratios with those of other investigations 20 years ago in the same area. The study found that dissolved inorganic nutrient(N, P and Si) concentrations were lowest in the upper layer, and increased from surface to some depths, t... 相似文献
The systematic discrepancies in both tsunami arrival time and leading negative phase (LNP) were identified for the recent transoceanic tsunami on 16 September 2015 in Illapel, Chile by examining the wave characteristics from the tsunami records at 21 Deep-ocean Assessment and Reporting of Tsunami (DART) sites and 29 coastal tide gauge stations. The results revealed systematic travel time delay of as much as 22 min (approximately 1.7% of the total travel time) relative to the simulated long waves from the 2015 Chilean tsunami. The delay discrepancy was found to increase with travel time. It was difficult to identify the LNP from the near-shore observation system due to the strong background noise, but the initial negative phase feature became more obvious as the tsunami propagated away from the source area in the deep ocean. We determined that the LNP for the Chilean tsunami had an average duration of 33 min, which was close to the dominant period of the tsunami source. Most of the amplitude ratios to the first elevation phase were approximately 40%, with the largest equivalent to the first positive phase amplitude. We performed numerical analyses by applying the corrected long wave model, which accounted for the effects of seawater density stratification due to compressibility, self-attraction and loading (SAL) of the earth, and wave dispersion compared with observed tsunami waveforms. We attempted to accurately calculate the arrival time and LNP, and to understand how much of a role the physical mechanism played in the discrepancies for the moderate transoceanic tsunami event. The mainly focus of the study is to quantitatively evaluate the contribution of each secondary physical effect to the systematic discrepancies using the corrected shallow water model. Taking all of these effects into consideration, our results demonstrated good agreement between the observed and simulated waveforms. We can conclude that the corrected shallow water model can reduce the tsunami propagation speed and reproduce the LNP, which is observed for tsunamis that have propagated over long distances frequently. The travel time delay between the observed and corrected simulated waveforms is reduced to <8 min and the amplitude discrepancy between them was also markedly diminished. The incorporated effects amounted to approximately 78% of the travel time delay correction, with seawater density stratification, SAL, and Boussinesq dispersion contributing approximately 39%, 21%, and 18%, respectively. The simulated results showed that the elastic loading and Boussinesq dispersion not only affected travel time but also changed the simulated waveforms for this event. In contrast, the seawater stratification only reduced the tsunami speed, whereas the earth's elasticity loading was responsible for LNP due to the depression of the seafloor surrounding additional tsunami loading at far-field stations. This study revealed that the traditional shallow water model has inherent defects in estimating tsunami arrival, and the leading negative phase of a tsunami is a typical recognizable feature of a moderately strong transoceanic tsunami. These results also support previous theory and can help to explain the observed discrepancies. 相似文献
Quantifying the gross and net production is an essential component of carbon cycling and marine ecosystem studies.Triple oxygen isotope measurements and the O_2/Ar ratio are powerful indices in quantifying the gross primary production and net community production of the mixed layer zone,respectively.Although there is a substantial advantage in refining the gas exchange term and water column vertical mixing calibration,application of mixed layer depth history to the gas exchange term and its contribution to reducing indices error are unclear.Therefore,two cruises were conducted in the slope regions of the northern South China Sea in October 2014(autumn) and June 2015(spring).Discrete water samples at Station L07 in the upper 150 m depth were collected for the determination of δ~(17)0,δ~(18)O,and the O_2/Ar ratio of dissolved gases.Gross oxygen production(GOP) was estimated using the triple oxygen isotopes of the dissolved O_2,and net oxygen production(NOP) was calculated using O_2/Ar ratio and O_2 concentration.The vertical mixing effect in NOP was calibrated via a N_2O based approach.GOP for autumn and spring was(169±23) mmol/(m~2·d)(by O_2) and(189±26) mmol/(m~2·d)(by O_2),respectively.While NOP was 1.5 mmol/(m~2·d)(by O_2) in autumn and 8.2 mmol/(m~2·d)(by O_2) in spring.Application of mixed layer depth history in the gas flux parametrization reduced up to 9.5% error in the GOP and NOP estimations.A comparison with an independent O_2 budget calculation in the diel observation indicated a26% overestimation in the current GOP,likely due to the vertical mixing effect.Both GOP and NOP in June were higher than those in October.Potential explanations for this include the occurrence of an eddy process in June,which may have exerted a submesoscale upwelling at the sampling station,and also the markedly higher terrestrial impact in June. 相似文献
During the self-weight penetration process of the suction foundation on the dense sand seabed, due to the shallow penetration depth, the excess seepage seawater from the outside to the inside of the foundation may cause the negative pressure penetration process failure. Increasing the self-weight penetration depth has become an important problem for the safe construction of the suction foundation. The new suction anchor foundation has been proposed, and the self-weight penetration characteristics of the traditional suction foundation and the new suction anchor foundation are studied and compared through laboratory experiments and analysis. For the above two foundation types, by considering five foundation diameters and two bottom shapes, 20 models are tested with the same penetration energy. The effects of different foundation diameters on the penetration depth, the soil plug characteristics, and the surrounding sand layer are studied. The results show that the penetration depth of the new suction foundation is smaller than that of the traditional suction foundation. With the same penetration energy, the penetration depth of the suction foundation becomes shallower as the diameter increases. The smaller the diameter of the suction foundation, the more likely it is to be fully plugged, and the smaller the height of the soil plug will be. In the stage of self-weight penetration, the impact cavity appears around the foundation, which may affect the stability of the suction foundation.
A dual optical tweezers system, which consists of a doughnut mode optical tweezer (DMOT) with the azimuthally polarised trapping beam and a solid mode optical tweezer (SMOT) with the Gauss trapping beam was constructed to compare the axial trapping effect of DMOT and SMOT. The long-distance axial trapping of ST68 microbubbles (MBs) achieved by DMOT was more stable than that of SMOT. Moreover the axial trapping force measured using the viscous drag method, was depended on the diameter of the particle, the laser power, and the numerical aperture (NA) of the objective lens. The measurement of the axial trapping force and the acquisition of CCD images of trapping effect confirmed that the DMOT showed excellent axial trapping ability than SMOT. A simple and effective method is developed to improve axial trapping effect using the azimuthally polarized beam as trapping beam. This is helpful for the long-distance manipulating of particles especially polarised biological objects in axial direction. 相似文献