Adaptive optimal control of an autonomous underwater vehicle in the dive plane using dorsal fins

In this paper, adaptive control of low speed bio-robotic autonomous underwater vehicles (BAUVs) in the dive plane using dorsal fins is considered. It is assumed that the model parameters are completely unknown and only the depth of the vehicle is measured for feedback. Two dorsal fins are mounted in the horizontal plane on either side of the BAUV. The normal force produced by the fins, when cambered, is used for the maneuvering. The BAUV model considered here is non-minimum phase. An indirect adaptive control system is designed for the depth control using the dorsal fins. The control system consists of a gradient based identifier for online parameter estimation, an observer for state estimation, and an optimal controller. Simulation results are presented which show that the adaptive control system accomplishes precise depth control of the BAUV using dorsal fins in spite of large uncertainties in the system parameters.     

受扰线性系统的前馈-反馈最优控制

针对具有外部持续扰动的线性系统，研究前馈-反馈最优控制律的设计问题。给出了最优控制律的存在唯一性条件。并提出了最优控制律的设计算法。利用滤波器解决了前馈控制的物理不可实现问题。仿真结果表明，此算法易于实现，与传统的反馈最优控制相比对抑制外部扰动具有较强的鲁棒性。     

南四湖湖内浅槽工程施工对水环境的影响及控制措施

南四湖湖内工程是沂沭泗河洪水东调南下续建工程的单项工程,工程区位于山东省省级自然保护区内;挖泥船施工将对湖内水环境产生一定影响。本文从排泥场回水污染物、生产废水和生活污水三个方面阐述了工程施工对水环境的影响程度,并且提出了相应的控制措施。     

赤潮的监测和防治简介

近海水域有机物污染,引起海水富营养化,是形成赤潮的主要原因。赤潮不仅给渔业生产、海水养殖业带来重大损失,而且破坏了海洋环境,危及人民的健康。近年来,我国沿海赤潮时有发生,应加强对有发生赤潮潜在危险海区的经常性观测和监测;切实控制沿海工业和生活污水的任意排放;科学、合理地开发利用海洋资源;推广科学养殖技术,防止海水养殖自身污染;大力开展有关赤潮科学的研究,特别是赤潮的防治方法和技术研究,避免或减少赤潮造成的危害     

Natural expansion and experimental manipulation of seagrass (Zostera spp.) abundance and the response of infaunal invertebrates

A study of an expanding seagrass bed on the south-west coast of British Columbia, Canada involved documentation and explanation of the pattern of expansion of the vegetation as well as documentation and experimental investigation of the accompanying changes in the distribution of infaunal invertebrates. Expansion followed a major environmental change, improved water clarity initiated in 1969 when a causeway blocked access to the site for silty Fraser River water. The original eelgrass (Zostera marina) bed expanded landward over 30 m year⁻¹, probably causing more and more water to be retained in the bed at low tide and thus improving its own habitat. More rapid expansion occurred from 1979–1983 after Z.japonica colonized at the landward edge of the eelgrass bed and in a separate intertidal area. Expansion ceased around 1983 coincident with, but probably independent of, further construction.Burrowing shrimp (Callianassa californiensis) decreased in abundance between 1977 and 1984 in areas where the two seagrasses colonized. Short-term experiment over one summer and fall showed that removal of all shoots allowed adult shrimp and tube worms to colonize the sediment while addition of shoots of Z. japonica by transplanting caused temporary decreases in shrimp abundance. After a few weeks an established shrimp population destroyed the transplants. Among reasonable alternate hypotheses for the decline in Callianassa, the effect of sediment texture can be eliminated, but either direct negative effects of seagrass, i.e. inhibition of the burrowing of adult shrimp or of settlement of juveniles, or indirect effects, i.e. the harboring of more predators of shrimp in seagrass beds, deserve further study.     

软土海岸地区测量控制点标志的设立

分析了软土、湿地、滩涂地区特殊地理环境对测量控制点的影响;主要探讨了此类地区控制点标志的设计、施工。借助于建筑桩基技术和道桥施工方法,首次成功实现了某三角洲湿地滩涂地区统一布网。几年来,结合滩涂湿地测量、海岸防护和滩涂开发工程对部分控制点进行了初步检测,给出了部分检测数据。应用和检测均表明:桩基标石可较好地解决软土、湿地、滩涂地区控制点布设难题,显著提高软土海岸地区测量控制点标志的稳固性,从而延长控制网的可使用期。     

动力定位系统发展状况及研究方法

动力定位系统（Dynamic Positioning System)是一种闭环的控制系统，其采用推力器来提供抵抗风、浪、流等作用在船上的环境力，从而使船尽可能地保持在海平面上要求的位置上，其定位成本不会随着水深增加而增加，并且操作也比较方便。本文对动力定位系统发展及各组成部分进行了介绍，以期对动力定位系统有个比较完整的认识。     

中国沿岸现代海平面变化及未来趋势分析

本文用线性回归分析方法，分１９８５年以前和１９９２年以前两个时段，对我国沿岸２５个验潮站近百年来的海平面资料进行了系统分析，计算了两个时段相对海平面变化的年速率和平均海面高度，论述了海平面变化的主要控制因素，并对未来海平面变化趋势进行了预测。计算结果表明，近百年来我国沿岸相对海平面在总体上不但持续上升，而且近年来上升速率普遍加快；根据海平面变化的主要控制因素变化趋向，预计到下世纪中叶前后，全球性海平面大幅度上升的可能性不大，我国沿岸区域性海乎面平均上升幅度不超过１５ｃｍ，不同岸段因地壳升降差异性大而有较大差别。     

郯庐断裂带的断裂活动对渤海东部中、新生代裂谷盆地发育的控制作用

郯庐断裂带自南而北穿越渤海东部,自中生代中期至新生代中期表现裂谷发育特征。裂谷发育经历两个旋回,各旋回的裂谷发育演化、盆地分布格局,沉积相带,沉积补偿速度等均受断裂带的断裂活动的强烈控制。     

城市房地产开发建设项目环境管理探讨--以青岛市崂山区为例

以可持续发展战略为主线,总结和探讨了城市房地产开发建设项目的环境管理问题,指出：环境管理尤其是前置审批把关的重点应当是：（1）突出协调发展的重要性;（2）坚持以人为本,内外兼顾原则;（3）注重资源的合理有效利用;（4）提高技术含量,讲求效益统一;（5）建设期与营运期环境保护并重;（6）突出生态保护的重要性;（7）加强公众参与工作。