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。     

Design of a 3D Chirp Sub-bottom Imaging System

Chirp sub-bottom profilers are marine acoustic devices that use a known and repeatable source signature (1–24 kHz) to produce decimetre vertical resolution cross-sections of the sub-seabed. Here the design and development of the first true 3D Chirp system is described. When developing the design, critical factors that had to be considered included spatial aliasing, and precise positioning of sources and receivers. Full 3D numerical modelling of the combined source and receiver directivity was completed to determine optimal source and receiver geometries. The design incorporates four source transducers (1.5–13 kHz) that can be arranged into different configurations, including Maltese Cross, a square and two separated pairs. The receive array comprises 240 hydrophones in 60 groups whose group-centres are separated by 25 cm in both horizontal directions, with each hydrophone group containing four individual elements and a pre-amplifier. After careful consideration, it was concluded that the only way to determine with sufficient accuracy the source–receiver geometry, was to fix the sources and receivers within a rigid array. Positional information for the array is given by a Real Time Kinematic GPS and attitude system incorporating four antennas to give position, heading, pitch and roll. It is shown that this system offers vertical positioning accuracy with a root-mean-square (rms) error less than 2.6 cm, while the horizontal positioning rms error was less than 2.0 cm. The system is configured so that the Chirp source signature can be chosen by software aboard the acquisition vessel. The complete system is described and initial navigational and seismic data results are presented. These data demonstrate that the approach of using fixed source-receiver geometry combined with RTK navigation can provide complete 3D imaging of the sub-surface.     

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。     

添加纳米TiO2的氯醚树脂的XPS分析

在紫外线老化前后,利用光电子能谱(XPS)研究了分别添加金红石型和锐钛型纳米TiO2的氯醚树脂。研究发现,氯醚树脂中氯、氧元素具有表面富积现象——趋肤效应,而钛和碳元素在内层聚集;添加颜料粒子越小,在表面含量越大;金红石型纳米二氧化钛紫外屏蔽性好,减缓树脂老化;而锐钛型纳米二氧化钛具有显著的光催化活性,加速树脂老化。因此,金红石型纳米二氧化钛将是一种有前途的紫外线吸收剂。     

计算域的选取对风暴潮数值模拟的影响

作者以 72 0 3号台风过程中引起的黄海沿岸水文测站的风暴潮过程为例 ,选取不同计算域 ,模拟计算的同一测站的风暴潮增水值有很大差异。只有选取整个黄渤海海域 ,才能得到较精确的风暴潮增水结果。从而揭示在封闭或半封闭海域中由风暴过程激发的区域自由振荡 ,是风暴潮增水中不容忽视的量。说明该海域中的风暴潮过程是海域整体效应的响应 ,因此认为数值模拟中计算域应选取整个封闭或半封闭海域     

氨基酸在粘土高岭石上吸附等温线的研究

研究了4种氨基酸（甘氨酸，赖氨酸，天冬氨酸，谷氨酸）在粘土高岭石上的吸附等温线以及金属铜离子对其等温线的影响。研究表明，氨基酸在高岭石上的吸附等温线以及金属铜离子存在时的吸附等温线均属Langmuir型等温线；铜离子浓度增加时，其等温线斜率也增加，并认为体系可形成Ⅰ型三元表面络合物，铜离子对氨基酸在高岭石上等温线影响的规律和在相同体系中它对氨基酸在高岭石上交换吸附百分率E（%）-pH曲线的影响规律相一致。     

LAPP对中国对虾(Penaeus chinensis)生长、缺氧耐受力及免疫抵抗力的影响

实验研究维生素C多聚磷酸酯（LAPP）添加在对虾饲料中，对中国对虾的生长、缺氧耐受力及免疫抵抗力的影响；实验进一步证明了中国对虾饲料中LAPP的最适添加量为400mg／100g饲料;本文还提出饲料中的LAPP能够提高中国对虾的缺氧耐受力，在溶氧超过3．1mg／kg海水的情况下，效果显著，在降低到2．3mg／kg海水时，作用减弱；用副溶血弧菌（Vibroparahaemolyticus）注射入虾体内，12小时内记录发现，饲料中不含LAPP的一组中国对虾，死亡率高于其它组，并且，LAPP含量最高的一组，死亡率明显低，死亡时间也出现较晚，这证明LAPP能够提高中国对虾的免疫抵抗力；本实验用注射金黄色葡萄球菌后细胞的吞噬百分率作指标，研究对虾细胞的吞噬作用，发现饲料中不含LAPP的对虾的吞噬百分率较低，随着饲料中LAPP浓度的提高，对虾血细胞的吞噬百分率逐渐升高，说明中国对虾细胞的吞噬作用逐步增强。     

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