Experimental Study of a Command Governor Adaptive Depth Controller for an Unmanned Underwater Vehicle

Unmanned Underwater Vehicles (UUVs) are increasingly being used in advanced applications that require them to operate in tandem with human divers and around underwater infrastructure and other vehicles. These applications require precise control of the UUVs which is challenging due to the non-linear and time varying nature of the hydrodynamic forces, presence of external disturbances, uncertainties and unexpected changes that can occur within the UUV’s operating environment. Adaptive control has been identified as a promising solution to achieve desired control within such dynamic environments. Nevertheless, adaptive control in its basic form, such as Model Reference Adaptive Control (MRAC) has a trade-off between the adaptation rate and transient performance. Even though, higher adaptation rates produce better performance they can lead to instabilities and actuator fatigue due to high frequency oscillations in the control signal. Command Governor Adaptive Control (CGAC) is a possible solution to achieve better transient performance at low adaptation rates. In this study CGAC has been experimentally validated for depth control of a UUV, which is a unique challenge due to the unavailability of full state measurement and a greater thrust requirement. These in turn leads to additional noise from state estimation, time-delays from input noise filters, higher energy expenditure and susceptibility to saturation. Experimental results show that CGAC is more robust against noise and time-delays and has lower energy expenditure and thruster saturation. In addition, CGAC offers better tracking, disturbance rejection and tolerance to partial thruster failure compared to the MRAC.     

Isolation, distribution and evaluation of cytotoxic and antioxidant activity of cultivable actinobacteria from the Oman Sea sediments

Screening bioactive natural products from bacteria is a determinative step in the drug discovery programs. The present study aim to isolate actinobacteria from the Oman Sea sediments for determining the effects of different culture media and treatments on the yield of the isolation process, and measure the DPPH radical scavenging and Artemia cytotoxic activity of culture extracts of the actinobacterial isolates. A total of 290 actinobacterial isolates were collected from 14 sediment samples. Heat treatment(40.68%) and M_4 medium(29.31%) exhibited the maximum isolation rates of actinobacteria. Streptomyces isolates were dominantly distributed in all of the investigated stations according to 16 S rRNA gene sequencing. The distribution pattern of Streptomyces followed a depth-dependent frequency trend, whereas the members of rare genera including Micromonospora, Nocardia Actinoplanes, Nocardiopsis, Saccharopolyspora and Crossiella were distributed in deeper stations. Approximately,25% of the examined isolates could scavenge 90% of 10~(–4) mol/L DPPH solutions at 1 250 μg/mL final concentration of their ethyl acetate culture extracts. Furthermore, the most potent extracts could scavenge DPPH radicals with IC50 ranges from 356.8 to 566.4 μg/mL. Brine shrimp cytotoxicity tests showed that 38.88% of the examined culture extracts exhibited LC_(50) lower than 1 000 μg/mL against the Artemia cells. Moreover, the most potent culture extracts exhibited LC_(50) range from 335.4 to 534.4 μg/mL. Phylogenetic analysis by 16 S rRNA gene sequence revealed that the OS 005, OS 263 and OS 157 closely related to Streptomyces djakartensis, Streptomyces olivaceus and Nocardiopsis dassonvillei respectively. These results suggested the widespread distribution of the antioxidant and cytotoxic producing actinobacteria in the Oman Sea sediments, which could be considered as promising candidates for the discovery of microbial bioactive compounds.     

钙质土中重力串锚水平承载力特性有限元研究

目前没有规范给出串锚的水平承载力计算公式,为了利用有限元法研究串锚水平承载力特性,采用相关理论计算以及室内试验的方法来验证有限元法模拟计算的可靠性。实践证明,有限元法具有较高的计算精度。利用有限元分析软件ABAQUS建立了串锚-土体模型,模拟串锚在水平荷载作用下破坏过程,研究了串锚在水平荷载作用下破坏机理,从而得到了串锚水平承载力特性。在相同的工况条件下,串锚的水平承载力与其锚链长度有关,在一定范围内,增加锚链的长度可以提高串锚的水平承载力;串锚的水平承载力不是相应的单个锚的水平承载力相加,其水平承载力小于相应的单个锚水平承载力之和,在进行串锚水平承载力设计计算时应给与相应的考虑。     

流沙湾的底栖大型海藻调查

2008年3月～2009年1月调查了流沙湾潮间带及湾内(109°55'～109°59'E,20?22'～20°28'N)底栖大型海藻资源,定性、定量分析该海湾底栖大型海藻种类、生态分布、区系性质、群落结构及生物量的季节变化规律。共采集底栖大型海藻3门10目17科19属32种,其中红藻门4目9科9属15种,绿藻门4目6科7属14种,褐藻门2目2科3属3种,以亚热带藻种占绝对优势,达59.4%,温带成分21.9%,热带成分18.7%。采样海藻具印度-西太平洋海洋植物区系中国-日本亚热带海洋植物亚区特点。调查区域内底栖大型海藻群落组成的季节变化明显。     

Taxonomic Studies on a New Marine Ciliate, Apocoleps magnus gen. nov., spec. nov. （Ciliophora, Colepidae）, Isolated from Qingdao, China

The morphology and infraciliature of a new marine colepid ciliate, Apocoleps magnus gen. nov., spec. nov., are described based on living observations and silver impregnations. The new genus Apocoleps is characterized by having 8 (vs. 6 in most other related genera) armour tiers, spines at both ends of the cell, 3 adoral organelles and plates with 4 reniform uni-windows. Apocoleps magnus spec. nov. is defined by the following features: body elongated and slightly curved, about 100–120μm× 35–45 μm in vivo; an...     

上海洋山建港后港域夏季水文泥沙状况分析

对2007年9月17-26日在上海洋山港海域固定观测点(平均水深13 m)观测得到的水文泥沙要素,以及悬沙和底质样品分析.分析结果为:1)港域有效波高0.21-1.37 m(风速0.6～14.0 m/s),平均0.61 m(平均风速5.5 m/s).平静天气(平均风速小于5.0 m/s)下,波高随水深变化,两者的相关系数为0.899;而在强风天气下,波高受风况控制.2)最大表层流速超过2.00 m/s.大潮涨潮流占优势,小潮时落潮流占优势;与北岛链汉道封堵前相比,大潮涨、落潮平均流速分别减小15%和30%,小潮涨、落潮平均流速均减小30%～40%.各层余流均为西北方向,与涨潮流方向一致;垂向平均余流速0.11 cm/s,表层达0.25 m/s.3)离底高程1.35 m层和0.35m层最大悬沙浓度均大于3 kg/m3,两层平均悬沙浓度分别为0.89和0.95 kg/m3.无论大潮还是小潮涨潮悬沙浓度均大于落潮,这种现象在大潮时更为显著,潮周期中最大悬沙浓度出现在涨急.与工程前相比悬沙浓度明显降低,大、小潮降低均达20%.4)港区底质平均粒径9.0μm,工程后有变细的趋势.     

基于参数空间分布的海洋生态系统模拟

在模拟大尺度海洋生态系统时,由于子区域的生态系统有着各自的特征,导致参数值在空间上存在差异,因此参数在整个研究区域取常数的做法必须改进.基于此,使用气候模式FOAM的气侯态背景场驱动一个简单的三维海洋生态系统模型,并引入参数的空间分布,在全球尺度上通过伴随方法同化SeaWiFS叶绿素资料.引入参数空间分布后,同化结果得到很大改进:浮游植物表层生物量(氮)的平均差从0.155 3减小至0.060 6 mmol·m-3,下降了60.9%,有效地降低了模拟值与观测值在空间上的差异;浮游植物表层生物量平均值也从0.103 1上升至0.125 2 mmol·m-3,更接近SeaWiFS观测.实验结果表明通过引入参数的空间分布来改进海洋生态系统的模拟是可行的.     

海洋磁力测量中多站地磁日变改正基值归算

海洋磁力测量多站日变改正时,为了减小磁场水平差异的影响,需要进行地磁日变基值归算。分析了地磁日变化时空分布特点,研究了地磁日变基值对多站地磁日变改正时磁测的影响,提出了多站地磁日变基值归算方法。经地磁日变同步观测数据验证表明：一定空间范围内,各站地磁日变数据日平均值基本上呈同步变化,利用此方法归算得到的分站地磁日变基值稳定。     

海洋鱼类分子系统地理学研究进展

简要叙述了分子系统地理学的发展简史、研究内容,重点介绍了Avise的5种物种分布模式及中性溯祖理论。并回顾了近年来分子系统地理学的研究进展及其在海洋鱼类研究中的应用,最后对海洋鱼类分子系统地理学研究进行了展望。     

在海洋环境中的酵母菌分布与多样性

最近几年作者对不同海洋环境中的酵母资源、分布和多样性进行的大量研究,从中发现了22属63种1051株。并且发现这些广泛分布在海水、海泥、高盐海水、深海、各种大型海藻表面、各种海鱼体表和体内和红树林生态系统中。不同种的酵母可以产生蛋白酶、脂酶、植酸酶、菊糖酶、纤维素酶、β-1,3-葡聚酶、嗜杀因子、核黄素、铁载体等活性产物,所以这些酵母菌具有广泛的实际用途。