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.     

进入渤海的热带气旋路径特点分析

热带气旋是夏季影响渤海的灾害性天气系统之一。其影响路径主要有三类，各类路径在影响时前期中高纬500hPa高空环流形势及夏季西太平洋副热带高压特征指数有显著差异。     

北京晴天紫外波段气溶胶光学厚度反演与分析

利用太阳一大气紫外光谱辐射计(SAUVS)，测量到达北京地表的太阳直接和散射紫外光谱辐射，给出反演大气气溶胶光学厚度的一种方法。结果表明：在紫外波段，大气气溶胶的光学厚度随波长的增加而单调减小，用指数函数可以很好地拟合反演结果。统计得到了3个水平能见度状况下拟合函数的系数值，与全球气溶胶监测网络(AERONET)北京站的资料对比，表明反演结果基本合理。     

基于直射辐射遥感图象的地物双向反射特性研究(英文)

该文讨论了一种在ＧＩＳ支持下利用直射辐射遥感图象研究地物双向反射特性的原理和方法。其主要依据是象元地面的坡度和坡向的不同，同时改变了象元地面与太阳之间、象元地面与卫星传感器之间的相对位置，并且造成了同类象元太阳直射辐射遥感分量的差异。而正是这种差异体现了该类地物双向反射特性。在ＧＩＳ的支持下利用卫星直射辐射遥感数字图象，研究卫片象元同类地物的这种差异的规律以及它们与对应坡面上的太阳位置、卫星位置的关系，便可进行该类地物的双向反射特性研究。     

一种改进的MODIS影像BRDF辐射校正方法

针时二向性造成的辐射失真，在核驱动模型的基础上提出了一种改进的二向性反射分布模型，并通过时MODIS影像的试验，得到了减弱辐射差异的较好效果，并对试验结果进行了分析和评价。     

Closed-loop randomized kinodynamic path planning for an autonomous underwater vehicle

A randomized kinodynamic path planning algorithm based on the incremental sampling-based method is proposed here as the state-of-the-art in this field applicable in an autonomous underwater vehicle. Designing a feasible path for this vehicle from an initial position and velocity to a target position and velocity in three-dimensional spaces by considering the kinematic constraints such as obstacles avoidance and dynamic constraints such as hard bounds and non-holonomic characteristic of AUV are the main motivation of this research. For this purpose, a closed-loop rapidly-exploring random tree (CL-RRT) algorithm is presented. This CL-RRT consists of three tightly coupled components: a RRT algorithm, three fuzzy proportional-derivative controllers for heading and diving control and a six degree-of-freedom nonlinear AUV model. The branches of CL-RRT are expanded in the configuration space by considering the kinodynamic constraints of AUV. The feasibility of each branch and random offspring vertex in the CL-RRT is checked against the mentioned constraints of AUV. Next, if the planned branch is feasible by the AUV, then the control signals and related vertex are recorded through the path planner to design the final path. This proposed algorithm is implemented on a single board computer (SBC) through the xPC Target and then four test-cases are designed in 3D space. The results of the processor-in-the-loop tests are compared by the conventional RRT and indicate that the proposed CL-RRT not only in a rapid manner plans an initial path, but also the planned path is feasible by the AUV.     

辽宁省海洋服务新业态培育与法律保障研究

海洋服务业已成为海洋经济发展的重要引擎,"十三五"时期是辽宁省海洋经济加快转型升级的关键期,要求培育新动能、发展新模式。因此,培育海洋服务新业态对辽宁省海洋经济发展具有重要意义。文章针对辽宁海洋服务业发展滞后,规模偏小、区域发展不平衡,同质化严重、科技含量低,层次相对低下、与其他产业融合不足,资源整合较差等问题,提出培育海洋服务新业态重要路径为:积极发展四大产业,提高经济规模总量;优化产业区域布局,形成错位发展;提高科技含量,提升海洋服务业层次;促进海洋服务业与其他行业融合协调,提升资源整合度。法律保障措施为:完善法规体系、严格项目审批、提高执法水平、健全应急管理。     

热红外波段大气透过率和程辐射的估算方法

文中对M ONTRAN模型内嵌6种大气模式的主要特性差异进行分析,并以中纬度夏季大气模式为例,分析了主要参数(如水汽、臭氧以及气温等)对估算热红外波段大气透过率和程辐射的影响。论文最后对利用探空数据构造完整大气模式进行了研究。     

湛江经济跨越式发展路径探讨

湛江具有独特的区位、自然资源和政策优势,但湛江经济发展与广东省其他城市及同批沿海开放城市相比却日趋落后。在剖析湛江经济发展中存在问题的基础上,提出了湛江各级政府应准确定位,彻底转变职能;做大做强支柱产业,积极培育战略产业;加大扶持农业龙头企业力度,提升湛江名牌、特色产品国际竞争力等实现湛江经济跨越式发展的路径。     

云顶以下臭氧对TOMS反演臭氧总量的影响及反演方法的理论研究

目前紫外后向散射反演臭氧总量的所有算法,都将云考虑成不透明的Lambertian反射体,并假定云顶有效反照率不随波长的变化而变化.然而本文通过模拟计算发现,由于云散射、瑞利散射、臭氧吸收三种作用的综合结果,云顶的有效反照率是与波长相关的,即使光学厚度比较大的云,辐射也可由云顶继续向下传输,因而会受到云顶以下臭氧吸收的影响.用V7方法进行反演,模拟计算结果表明：云的出现使得云顶以下,特别是云内光程增强,导致紫外波段的臭氧吸收衰减增大,所以反演出的臭氧总量值比真实值偏大,本文称这种现象为“云吸收效应”,并讨论了该效应的影响因子.最后,在辐射传输模拟的基础上建立一套反演算法,大大减弱了“云吸收效应”的影响.