Robust and adaptive path following for underactuated autonomous underwater vehicles

This paper proposes a nonlinear robust adaptive control strategy to force a six degrees of freedom underactuated underwater vehicle with only four actuators to follow a predefined path at a desired speed despite of the presence of environmental disturbances and vehicle’s unknown physical parameters. The proposed controller is designed using Lyapunov’s direct method, the popular backstepping and parameter projection techniques. The closed loop path following errors can be made arbitrarily small. Interestingly, it is shown that our developed control strategy is easily extendible to situations of practical importance such as parking and point-to-point navigation. Numerical simulations are provided to illustrate the effectiveness of the proposed methodology.     

健康型牛蛙饲料养殖牛蛙的试验

本研究采用5种中草药添加剂配方的膨化饲料进行了为期36d的牛蛙养殖对比试验.结果表明，饲料中添加有中草药制剂的日摄食量明显大于对照组，日增重显著比对照组的高.而且大大加快了生长速度，缩短养殖周期，同时减少了染病机率，牛蛙体色鲜艳、光泽度极佳.     

海水中液-固界面的台阶型动力学曲线 Ⅰ.动力学曲线之台阶的消长和变化规律

对海水中Zn(Ⅱ),Ca(Ⅱ),Cd(Ⅱ)与高岭石、伊利石和蒙脱石等粘土矿物;无定形水合氧化铁、α-FeOOH等铁的水合氧化物;δ-MaO_2,γ-MnOOH,水锰矿等锰的水合氧化物等30个左右实验体系的液-固界面台阶型动力学曲线进行了系统的实验测定和全面的条件研究。在实验测定上提出两种方法、互为校核。对动力学曲线之台阶的消长和变化规律作了系统研究,确定主要影响因素是:金属离子初始浓度、固体交换剂量、体系的pH值和温度,以及搅拌速度等。     

全液压多功能登船梯介绍

舟山群岛岙山五万吨级油码头使用的全液压登船梯，具有提升、变幅、回转和调位四大功能，文章还对液压系统，电器系统的特点作了介绍。     

Northward transport of pacific summer water along the Northwind Ridge in the Western Arctic Ocean

The recent sea-ice reduction in the Arctic Ocean is not spatially uniform, but is disproportionally large around the Northwind Ridge and Chukchi Plateau compared to elsewhere in the Canada Basin. In the Northwind Ridge region, Pacific Summer Water (PSW) delivered from the Bering Sea occupies the subsurface layer. The spatial distribution of warm PSW shows a quite similar pattern to the recent ice retreat, suggesting the influence of PSW on the sea-ice reduction. To understand the regionality of the recent ice retreat, we examine the dynamics and timing of the delivery of the PSW into this region. Here, we adopt a two-layer linearized potential vorticity equation to investigate the behavior of Rossby waves in the presence of a topographic discontinuity in the high latitude ocean. The analytical results show a quite different structure from those of mid-latitude basins due to the small value of β. Incident barotropic waves excited by the sea-ice motion with large annual variation can be scattered into both barotropic and baroclinic modes at the discontinuity. Since the scattered baroclinic Rossby wave with annual frequency cannot propagate freely, a strong baroclinic current near the topographic discontinuity is established. The seasonal variation of current near the topographic discontinuity would cause a kind of selective switching system for shelf water transport into the basin. In our simple analytical model, the enhanced northward transport of summer water and reduced northward transport of winter water are well demonstrated. The present study indicates that these basic dynamics imply that a strengthening of the surface forcing during winter in the Canada Basin could cause sea-ice reduction in the Western Arctic through the changes of underlying Pacific Summer Water.     

Change of multifractal thermal characteristics in the western Philippine sea upper layer during internal wave-soliton propagation

The upper layer (above 140 m depth) temperature in the western Philippine Sea near Taiwan was sampled using a coastal monitoring buoy (CMB) with 15 attached thermistors during July 28–August 7, 2005. The data were collected every 10 min at 1, 3, 5, 10, 15, and 20 m using the CMB sensors, and every 15 sec at 15 different depths between 25 m and 140 m. Internal waves and solitons were identified from the time-depth plot of the temperature field. Without the internal waves and solitons, the power spectra, structure functions, and singular measures (representing the intermittency) of temperature field satisfy the power law with multi-scale characteristics at all depths. The internal waves do not change the basic characteristics of the multifractal structure. However, the internal solitons change the power exponent of the power spectra drastically, especially in the low wave number domain; they also break down the power law of the structure function and increase the intermittency parameter. The physical mechanisms causing these different effects need to be explored further.     

Kuroshio extension variability explored through assimilation of TOPEX/POSEIDON altimeter data into a quasi-geostrophic model

Mesoscale features in the eastward extension of the Kuroshio were investigated using assimilation of TOPEX/POSEIDON (T/P) data into a three-layer quasi-geostrophic model. The T/P data exhibited an elongated state of the southern recirculation gyre in 1993–95 and 1997, between whose two periods the gyre had a contracted state in 1995–96. A few stationary eddies were located in the southern gyre during the contracted state. The baroclinic instability, which was indicated by the phase shift from the uppermost-to the lowest-layer anomalies toward the downstream side, was evident near the Kuroshio Extension (KE) path. Since the instability never appeared in the artificial model without bottom topography, the topographic barrier for the eastward flow in the lowest layer was a necessary condition for the instability. The instability synchronized with the transition in the western region of the KE axis from the elongated to the contracted states. This evolution was interpreted as if the baroclinic instability played some part in the KE states and was a trigger for the transition from the elongated to the contracted states.     

温度、光强和盐度对鹧鸽菜幼体生长发育的影响

从野外采集鹤鸪菜Ｃａｌｏｇｌｏｓｓａｌｅｐｒｉｅｕｒｉｉ（Ｍｏｎｔ．）Ｊ．Ａｇ．幼体，在室内控制条件下，以温、盐、光等不同条件进行模拟培养试验。所获得的数据经生物统计检验表明：鹧鸪菜幼体生长最适水温为２３℃；光照强度为４０００ｌｘ；海水盐度为１８。此结果与我们多年来在汕头港内观察鹧鸪菜的生长及其季节变化相似。     

Further evidence for non-reemergence of winter SST anomalies in the North Pacific eastern subtropical mode water area

Following our previous study (Sugimoto and Hanawa, 2005b), we further investigate the reason why reemergence of winter sea surface temperature anomalies does not occur in the North Pacific eastern subtropical mode water (NPESTMW) area, despite its occurrence in the North Pacific subtropical mode water and North Pacific central mode water areas. We use vertical temperature and salinity profiles of the World Ocean Circulation Experiment Hydrographic Program and Argo floats with high vertical and temporal resolution, together with heat flux data through the sea surface. We point out first that one of the causes for non-occurrence of reemergence is that the thickness of NPESTMW is very thin. In addition to this basic cause, two major reasons are found: a vigorous mixing in the lower portion of NPESTMW and less heat input from the atmosphere in the warming season. Since, in the lower portion of NPESTMW and deeper, the stratification is favorable for salt-finger type convection to occur compared with the other mode water areas, vigorous mixing takes place. This is confirmed by both a large Turner Angle there and the existence of staircase structures in vertical temperature and salinity profiles. From the viewpoint of heat input, the NPESTMW area gradually gains heat in the warming season compared with other mode water areas. As a result, NPESTMW cannot be capped so quickly by the shallow summer mixed layer, and water properties of NPESTMW are to be gradually modified, even in the upper portion.     

Geomorphological evidence for upslope canyon-forming processes on the northern KwaZulu-Natal shelf,SW Indian Ocean,South Africa

A geomorphological and statistical analysis of slope canyons from the northern KwaZulu-Natal continental margin is documented and compared with submarine canyons from the Atlantic margin of the USA. The northern KwaZulu-Natal margin is characterized by increasing upslope relief, concave slope-gradient profiles and features related to upslope growth of the canyon forms. Discounting slope-gradient profile, this morphology is strikingly similar to canyon systems of the New Jersey slope. Several phases of canyon incision indicate that downslope erosion is also an important factor in the evolution of the northern KwaZulu-Natal canyon systems. Despite the strong similarities between the northern KwaZulu-Natal and New Jersey slope-canyon systems, key differences are evident: (1) the concavity of the northern KwaZulu-Natal slope, contrasting with the ∼linear New Jersey slope; (2) the relative isolation of the northern KwaZulu-Natal canyons, rather than the dense clustering of the New Jersey canyons; and (3) the absence of strongly shelf-breaching canyons along the northern KwaZulu-Natal margin. In comparison with the New Jersey margin, we surmise a more youthful stage of canyon evolution, a result of either the canyons themselves being younger or the formative processes being less active. Less complicated patterns of erosion resulting from reduced sediment availability have developed in northern KwaZulu-Natal. The reduction in slope concavity on the New Jersey margin may be the result of grading of the upper slope by intensive headward erosion, a process more subdued—or less evident—on the KwaZulu-Natal margin.