水下智能潜器的神经网络运动控制

本文介绍一种基于神经网络的水下智能潜器的运动控制方法，该方法通过在线学习，融控制与滤波为一体。计算机仿真与水池实验验证表明，该方法的控制与滤波性能良好，对环境的学习与适应能力强。该方法事实上可用于一般动力系统的控制。     

Depth Zonation, Micro habitat, and Morphology of Three Species of Acanthemblemaria (Pisces: Blennioidea) in the Guif of California, Mexico

Abstract. The utilization of the spatial resources of refuge type, size and depth placement is investigated in the three sympatric species of Acanthemblemaria at the cape region of Baja California, Mexico. A. balanorum occupies barnacle testes (Balanus tintinnabulum), A. macrospilus occupies barnacles and mollusk tubes (vermetid gastropods and pholadids), and A. crockeri occupies only mollusk tubes (pholadids). Refuge diameter overlap is higher than overlap in depth. A. crockeri consistently occupies depths below 5m. Competition experiments for barnacle refuges among the three species indicate that A. balanorum is a superior competitor for such refuges. Prior residency of a less superior species changes the outcome of refuge competition in its favor. The morphological specialization of A. balanorum and A. macrospilus is evident in a high correlation between head size and standard length. A. balanorum selects refuges with entrance diameters highly correlated to standard length.     

基于规则波波形的超声波非接触测量有关问题探讨

波浪波形的非接触测量近年来获得广泛的应用。本文以规则波为讨论对象，针对介质为空气的超声波测量方式进行波形测量误差分析，并结合实验室和实船试验进行对比分析。理论分析表明：在规则波取为坦谷波和ＳＴＯＫＥＳ波的前提下，超声波技术几乎产生相同的最大误差。定量分析表明，在对测量精度限制的条件下，对文中提及的各项参数应作有效的控制     

DGPS RTK技术在无验潮水下地形测量中的应用初探

本文简要介绍了DGPS RTK技术的基本原理和作业流程，阐明了该技术在无验潮水下地形测量中的适用性，并以除六泾水文大断面的测量为例介绍了利用该技术进行工程实测的过程，通过对实测数据成果的分析，得出一些有益的结论。     

耗氧速率(OUR)测量方法的实验研究

目前多采用分批实验法和呼吸测量仪测量耗氧速率,而耗氧速率的测量对于研究活性污泥数学模型中的动力学参数及废水特性鉴定具有重要意义。本文根据OUR测量方法的基本原理设计了1种简易的OUR测量装置,为检验测量装置的有效性,设计了相关实验进行验证。在内源呼吸实验中,测定了所用活性污泥的内源呼吸速率是5.1mgO2/L·h,污泥的衰减系数是0.0137h-1,比文献值略高。基质降解实验对人工配水(葡萄糖和淀粉)的耗氧速率进行了测定,实验结果显示有3个显著不同的耗氧速率,分别为35mg/L·h,13mg/L·h,6mg/L·h,它们各代表葡萄糖降解、淀粉降解和内源呼吸的速率。内源呼吸速率高于前1个实验是由于基质降解过程中污泥量增加所致。并计算出异养菌产率系数Kd为0.63mgVSS/mgCOD,Kd略低于文献值。实验结果证明,该装置能很好的实现测量目的。     

Gravity Anomaly and Tectonics in the Northern Part of the North Fiji Basin - Preliminary Result of the 1994 NOFI Cruise under the NEW STARMER Programme

A surface ship gravity survey was carried out in the northern part of the North Fiji Basin during the NOFI cruise by the R/V l'Atalante in August-September, 1994. The two ridges inside the study area, the South Pandora Ridge and the Tripartite Ridge, present different structures and states of isostatic equilibrium in terms of gravity anomaly and its tectonic implications. The former is supported by a restoring force of an imaginary elastic plate in the crust and the latter by the Airy type isostasy. These characteristics can be derived from the difference in magmatic activity, as influenced by the difference in lithospheric structure. The latter is characterised by greater active magmatism and hydrothermalism underneath the ridge than the former. Such a difference in the magmatic activity and the horizontal scale of the shallow subsurface structure is derived from the difference in the stiffness or viscosity of the lithosphere beneath the two ridges.     

潜水员水下用电安全技术规范的编制与认识

本文介绍了国家标准《潜水员水下用电安全技术规范》的研究、编制过程，以及编者对该标准性质、适用范围、总体结构、电气安全数值取舍等的基本认识，并就该标准制定实施后的经济、社会效益进行了初步预测。     

水下滑翔器的运动建模与分析

介绍了水下滑翔器的工作机理，对其沉浮阶段的滑翔过程进行了动力学分析，推导了滑翔器在垂直剖面上的动力学方程。论文深入分析了水下滑翔器稳态时的运动规律，以水下滑翔器试验模型为例，推导了其稳态运动参数，通过线性化与适当的简化，得到模型在垂直剖面上的运动状态方程，讨论了系统的可控性与可观测性，为水下滑翔器系统的开发设计和控制提供了理论依据，具有重要的指导意义。     

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.     

Field measurements and monitoring of wastewater discharge in sea water

This paper reports a study of the field measurements and monitoring of wastewater discharge in sea water at Bari East (Italy). A wastewater sea outfall system is an integral and fundamental part of each wastewater treatment with ultimate sink in the sea water. The design of a water treatment plant and wastewater outfall must take into account the use of the environmental water, the values of physicochemical parameters to be respected in order to safeguard the use itself and the quality of the environmental water where wastewater is issued. In the present study measurements of sea current velocity components were carried out with a VM-ADP (Vessel-Mounted Acoustic Doppler Profiler). Salinity, wind directions and velocities were assessed with, for one survey, the total faecal coliforms and other biochemical parameters. It was emphasized that the measurements necessary for monitoring cannot be concentrated in the wastewater outfall pipe zone only, but should be extended to a neighbouring area of the outfall pipe, with an extension depending on the wastewater discharge, the polluting charge and the magnitude of the sea currents and the winds typical of the zone of interest. The analyses presented in this paper confirm that the sea zones close to the wastewater outfall pipe are particularly sensitive and vulnerable. Such results must be considered in the planning of a wastewater outfall pipe.