Planar trajectory planning and tracking control design for underactuated AUVs

This paper addresses the combined problem of trajectory planning and tracking control for underactuated autonomous underwater vehicles (AUVs) on the horizontal plane. Given a smooth, inertial, 2D reference trajectory, the planning algorithm uses vehicle dynamics to compute the reference orientation and body-fixed velocities. Using these, the error dynamics are obtained. These are stabilized using backstepping techniques, forcing the tracking error to an arbitrarily small neighborhood of zero. Simulation results for a constant velocity trajectory, i.e. a circle, and a time-varying velocity one, i.e. a sinusoidal path, are presented. The parametric robustness is considered and it is shown that tracking remains satisfactory.     

海洋功能区划与海洋生态红线关系探讨

海洋生态红线制度是我国"五位一体"文明建设的具体要求。为进一步在自然科学与人文科学的联结点上探求深入开展生态红线工作的可能性,文章对比了实施多年的海洋功能区划与历史新阶段提出的海洋生态保护红线的概念和内涵,剖析了两者之间的区别与联系,指出海洋功能区划与海洋生态红线区划在法律地位和管控制度等方面具有一致性,在划分目标、空间管理及划分方法上具有差异性,海洋功能区划以"使用"为主,海洋生态红线以"保护"引领。在此基础上,建议未来海洋生态红线工作的开展可从海洋功能区划借鉴经验,建立完善的管控评估制度,确立生态保护红线的优先地位,处理好海洋功能区划与海洋生态红线区划的关系。同时,海洋生态红线区划应以维持海洋生态系统结构稳定和提高海洋生态系统服务功能为目标,将区域资源环境承载力评估作为一项参考指标,限制低承载区的开发利用,保证海洋生态环境健康可持续发展。     

青岛海岸线规划利用与城市发展

青岛城市形成发展仅有百余年时间,城市空间布局沿海岸线展开,外贸港口、海洋科研、风景旅游等特色产业为城市发展的主要动力,海岸线规划利用对城市发展有着极其重要的意义。通过对青岛城市空间沿海岸线拓展的研览,深入分析了影响青岛城市发展的主要因素,论证了未来青岛海岸线的规划构思,阐明了在未来城市海岸线规划的指导下城市的发展方向．     

滨海社区空间演变分形研究——以厦门市高浦社区为例

滨海城市社区的空间形态及其海岸线表现出一定程度的复杂性,发展量化描述方法对于其可发展研究有重要的理论与应用价值。本研究基于分形理论,以滨海城市厦门的高浦社区为研究对象,利用计盒法对该滨海社区空间形态和边界进行复杂性分析和分形维计算,研究社区空间形态复杂性演变规律。结果表明:作为典型海湾渔村的高浦社区空间形态具有分数维,呈现分形结构特性。自1989年至今,该社区空间形态的分形维数呈现增长态势;社区边界的分形维数呈现下降态势。社区空间形态的分形维数与社区建筑占地面积、建筑总面积、建筑密度、容积率都表现出相关性。这表明滨海社区在快速城市化进程中,社区规模急剧扩张可能会导致空间形态和边界复杂性的显著变化。     

标准农田规划空间决策支持模型的研究与实现

在中国工业化与城市化进程加速的背景下,部分地区耕地的质与量难以得到保障,因此迫切需要在平衡粮食安全与经济社会增长的基础上对其做出科学规划,而空间决策支持模型的建立有助于该规划的编制。基于对标准农田规划过程的分析,将模型的概念框架分解为以下三个步骤:①构建标准农田资源评价模型:利用群体层次分析法和土地适应性评价模型评估标准农田资源;②构建标准农田规划备选方案生成模型:采用0￣1整数规划模型生成若干标准农田规划备选方案;③构建标准农田最优规划方案决策模型,采用非确定型决策模型辅助评价选取最优规划方案。文章对概念模型的规范化过程进行详细探讨,最后以浙江省桐庐县石阜镇为实验区,对模型进行实现和初步验证。     

内蒙古生态承载力评价及生态安全格局优化

生态安全水平对区域发展的约束作用不断增强,构建科学合理的生态安全格局可以有效缓解经济发展与环境保护之间的矛盾.以内蒙古自治区为研究区,2000年、2005年、2010年、2015年为间断点,建立区域生态承载力评价指标体系,探讨生态承载力时空演变特征;甄别生态优势斑块,结合自然保护区等重要生态斑块组建生态源地,建立生态源...     

Census survey approach to quantifying īnanga spawning habitat for conservation and management

Here, we describe a methodology for quantifying the spawning habitat of īnanga (Galaxias maculatus), a protected native fish species. Our approach is demonstrated with a survey of the Heathcote/ōpāwaho following the Canterbury earthquakes that produced unexpected findings. Spawning habitat was detected over a 2.5?km reach and the area occupied by spawning sites (75m²) was much larger than in previous records (ca.?21m²). Sites dominated by the invasive Phalaris arundinaceae were found to support high egg numbers. Spawning has not previously been recorded on this species and it is identified in the literature as a threat to spawning habitat. Considerable spatio-temporal variation was also detected in the location of spawning sites and pattern of egg production. Together, these aspects illustrate the need for a comprehensive survey methodology to reliably quantify spawning habitat. The Heathcote/ōpāwaho example shows the utility of our census approach for achieving this, and supporting habitat conservation objectives.     

基于分布式控制力矩陀螺的水下航行器轨迹跟踪控制

基于控制力矩陀螺群(CMGs)的水下航行器具有低速或零速机动的能力。采用基于分布式CMGs的水下航行器方案,并研究其水平面的轨迹跟踪控制问题。通过全局微分同胚变换将非完全对称的动力学模型解耦成标准欠驱动控制模型,并根据简化的模型构建其轨迹跟踪的误差动力学模型,将轨迹跟踪控制问题转化为误差模型镇定问题。基于一种分流神经元模型和反步法设计了系统的轨迹跟踪控制律,该控制器不需要对任何虚拟控制输入进行求导计算,且能确保跟踪误差的最终一致有界性。仿真结果表明该控制器能够实现在不依赖动力学参数先验知识的情况下对光滑轨迹的有效跟踪。     

Guiding ecological principles for marine spatial planning

The declining health of marine ecosystems around the world is evidence that current piecemeal governance is inadequate to successfully support healthy coastal and ocean ecosystems and sustain human uses of the ocean. One proposed solution to this problem is ecosystem-based marine spatial planning (MSP), which is a process that informs the spatial distribution of activities in the ocean so that existing and emerging uses can be maintained, use conflicts reduced, and ecosystem health and services protected and sustained for future generations. Because a key goal of ecosystem-based MSP is to maintain the delivery of ecosystem services that humans want and need, it must be based on ecological principles that articulate the scientifically recognized attributes of healthy, functioning ecosystems. These principles should be incorporated into a decision-making framework with clearly defined targets for these ecological attributes. This paper identifies ecological principles for MSP based on a synthesis of previously suggested and/or operationalized principles, along with recommendations generated by a group of twenty ecologists and marine scientists with diverse backgrounds and perspectives on MSP. The proposed four main ecological principles to guide MSP—maintaining or restoring: native species diversity, habitat diversity and heterogeneity, key species, and connectivity—and two additional guidelines, the need to account for context and uncertainty, must be explicitly taken into account in the planning process. When applied in concert with social, economic, and governance principles, these ecological principles can inform the designation and siting of ocean uses and the management of activities in the ocean to maintain or restore healthy ecosystems, allow delivery of marine ecosystem services, and ensure sustainable economic and social benefits.     

乡镇规划制图的探讨

本文对地图制图如何为城乡规划与建设服务进行了初步探讨。重点放在乡镇规划图的选题上,应从点和面两个不同方面进行考虑。