Robust adaptive control of underactuated ships on a linear course with comfort

This paper addresses an important problem in ship control application—the robust stabilization of underactuated ships on a linear course with comfort. Specifically, we develop a multivariable controller to stabilize ocean surface ships without a sway actuator on a linear course and to reduce roll and pitch simultaneously. The controller adapts to unknown parameters of the ship and constant environmental disturbances induced by wave, ocean current and wind. It is also robust to time-varying environmental disturbances, time-varying change in ship parameters and other motions of the ship such as surge and heave. The roll and pitch can be made arbitrarily small while the heading angle and sway are kept to be in reasonably small bounds. The controller development is based on Lyapunov’s direct method and backstepping technique. A Lipschitz continuous projection algorithm is used to update the estimate of the unknown parameters to avoid the parameters’ drift due to time-varying environmental disturbances. Simulations on a full-scale catamaran illustrate the effectiveness of our proposed controller.     

分潮波模型多资料数值计算方法研究 Ⅱ.有限差分最小二乘方法

对含多资料的分潮波模型的超定问题进行探讨，建立一种有限差分—最小二乘方法，该方法使得岸边资料直接进入了计算方程，并保证岸界法向流速为零条件。通过对渤海的四大分潮的试算，证实本方法可行。     

Mechanisms controlling the temporal variation of the sea ice edge in the Southern Ocean

This paper examines the mechanism controlling the short time-scale variation of sea ice cover over the Southern Ocean. Sea ice concentration and ice velocity datasets derived from images of the Defense Meteorological Satellite Program (DMSP) Special Sensor Microwave Imager (SSM/I) are employed to reveal this mechanism. The contribution of both dynamic and thermodynamic processes to the change in ice edge location is examined by comparing the meridional velocity of ice edge displacement and sea ice drift. In the winter expansion phase, the thermodynamic process of new ice production off the ice edge plays an important role in daily advances of ice cover, whereas daily retreats are mostly due to southward ice drift. On the other hand, both advance and retreat of ice edges in the spring contraction phase are mostly caused by the dynamic process of the ice drift. Based on the above mechanism and the linear relation between the degree of ice production at the ice edge and northward wind speed, the seasonal advance of ice cover can be roughly reproduced using the meridional velocity of ice drift at the ice edge.     

The Levant Slumps and the Phoenician Structures: collapse features along the continental margin of the southeastern Mediterranean Sea

Two distinct series of slumps deform the upper part of the sedimentary sequence along the continental margin of the Levant. One series is found along the base of the continental slope, where it overlies the disrupted eastern edge of the Messinian evaporites. The second series of slumps transects the continental margin from the shelf break to the Levant Basin. It seemed that the two series were triggered by two unrelated, though contemporaneous, processes. The shore-parallel slumps were initiated by basinwards flow of the Messinian salt, that carried along the overlying Plio-Quaternary sediments. Seawater that percolated along the detachment faults dissolved the underlying salt to form distinctly disrupted structures. The slope-normal slumps are located on top of large canyons that cut into the pre-Messinian sedimentary rocks. A layer of salt is found in the canyons, and the Plio-Quaternary sediments were deposited on that layer. The slumps are bounded by large, NW-trending faults where post-Messinian faulted offset was measured. We presume that the flow of the salt in the canyons also drives the slope-normal slumps. Thus thin-skinned halokynetic processes generated the composite post-Tortonian structural patterns of the Levant margin. The Phoenician Structures are a prime example of the collapse of a distal continental margin due to the dissolution of a massive salt layer.     

Optimal Design for Main Dimensions of a 75000t Floating Production and Storage Vessel

The basis, process and results of the demonstration of the main dimensions of a 75000t floating production and storage vessel are discussed in this paper. A simple but reliable orthogonal design method is applied in the main dimension optimization. The ideas of gradual approximation and feedback from various aspects are put into effect. During the demonstration, in order to make the model tally with the actual situation, the draft design is closely related to the computational analysis, so that the demonstration model can be verified at any time; the handling of the overall system is closely related to the research of each item, which is beneficial not only to the mastery of various regularities, but also to the balance of decisions. Finally, according to the computational results and the regularities obtained from analysis, the main dimensions are determined.     

二(甲基环戊二烯)钐氯化物合成和晶体结构研究

作者以 Sm Cl3 与 (CH3 Cp) Na反应分离得到了三价稀土有机配合物 [(CH3 Cp) 2 Sm Cl·THF]2 的单晶 ,X-射线四圆衍射测定 ,该配合物属正交晶系 ,Pbna空间群 ,晶胞参数 a=9.6 6 2 (2 ) ,b=16 .4 76 (9) ,c=2 0 .582 (9) ;α=β=γ=90°,Z=4。并分析比较 [(CH3 Cp) 2 Sm Cl· THF]2 与其他三价稀土一氯化物的结构特点     

珠江口东南近海海区污损生物研究

为研究珠江口东南近海海区污损生物状况,于1986年5月至1987年6月,在香港东南约114和160km,水深为95和113m处布设了两个生物浮标站,并对距香港约172km,水深为115m处的Marex水文气象浮标上的污损生物群落进行调查.此次调查共采集和鉴定出污损生物78种,其中在浸海只有3个月的试板上,主要有柄蔓足类、水螅和藻类,优势种是细板条茗荷、茗荷和直杯螅.至于浸海时间达6～12个月的浮标(包括沉标)及锚链系统,其上还有相当数量的多种双壳类软体动物、无柄蔓足类和苔藓动物等硬性污损生物附着.在种类垂直分布方面,污损生物群落组成随深度发生明显变化.     

Mixed layer variability in Northern Arabian Sea as detected by an Argo float

Seasonal evolution of surface mixed layer in the Northern Arabian Sea (NAS) between 17° N–20.5° N and 59° E-69° E was observed by using Argo float daily data for about 9 months, from April 2002 through December 2002. Results showed that during April - May mixed layer shoaled due to light winds, clear sky and intense solar insolation. Sea surface temperature (SST) rose by 2.3 °C and ocean gained an average of 99.8 Wm⁻². Mixed layer reached maximum depth of about 71 m during June - September owing to strong winds and cloudy skies. Ocean gained abnormally low ∼18 Wm⁻² and SST dropped by 3.4 °C. During the inter monsoon period, October, mixed layer shoaled and maintained a depth of 20 to 30 m. November - December was accompanied by moderate winds, dropping of SST by 1.5 °C and ocean lost an average of 52.5 Wm⁻². Mixed layer deepened gradually reaching a maximum of 62 m in December. Analysis of surface fluxes and winds suggested that winds and fluxes are the dominating factors causing deepening of mixed layer during summer and winter monsoon periods respectively. Relatively high correlation between MLD, net heat flux and wind speed revealed that short term variability of MLD coincided well with short term variability of surface forcing.     

Spatial and Temporal Variations of Sound Speed at the PN Section

Gridded sound speed data were calculated using Del Grosso's formulation from the temperature and salinity data at the PN section in the East China Sea covering 92 cruises between February 1978 and October 2000. The vertical gradients of sound speed are mainly related to the seasonal variations, and the strong horizontal gradients are mainly related to the Kuroshio and the upwelling. The standard deviations show that great variations of sound speed exist in the upper layer and in the slope zone. Empirical orthogonal function analysis shows that contributions of surface heating and the Kuroshio to sound speed variance are almost equivalent. This revised version was published online in July 2006 with corrections to the Cover Date.