自行式海底作业车的研究

理论分析和试验研究是本文写作基础，它详细地总结了大洋多金属结核资源开发而研究自行式海底作业车取得中期成果，它对我国大洋采矿和其它海底工程车辆的发展有着重要的文献价值和指导意义。     

A hierarchical real-time control architecture for a semi-autonomous underwater vehicle

This paper describes a real-time control architecture for Dual Use Semi-Autonomous Underwater Vehicle (DUSAUV), which has been developed at Korea Research Institute of Ships and Ocean Engineering (KRISO) for being a test-bed of development of underwater navigation and manipulator technologies. DUSAUV has three built-in computers, seven thrusters for six DOF motion control, one 4-function electric manipulator, one ballasting motor, built-in power source, and various sensors. A supervisor control system with GUI and a multi-purpose joystick is mounted on the surface vessel and communicates with vehicle through a fiber optic link. Furthermore, QNX, one of real-time operating system, is ported on the built-in control and navigation computers for real-time control purpose, while Microsoft OS product is ported in the supervisor computer for GUI programming convenience. A hierarchical control architecture, which consists of application layer, real-time layer and physical layer, has been developed for efficient control system of above complex underwater robotic system. The experimental results with implementation of the layered control architecture for various motion control of DUSAUV in an ocean engineering basin of KRISO is also presented.     

A Study on the Dynamic Analysis of A Tracked Vehicle for Ocean Mining on the Deep Seabed

1 .IntroductionOnthedeepseabed ,30 0 0～ 50 0 0mbelowthePacificOcean ,manganesenodulesaresolidifiedandspread ,andmanycountriesintheworldarestudyinghowtominethem .AccordingtoYamazakietal.( 1 998)andAmannetal.( 1 991 ) ,theenvironmentofthedeepseabedisdifferentfromthedrylandinmanyways .Inparticular,thesurfaceoftheseabedisverysoft.Inordertoensuretheperformanceofrunningofamanganesenodulemineronsuchasoftsurface ,thetrackedvehiclemaybeapplied .Ac cordingtoHongandChoi ( 2 0 0 1 ) ,astudyisbeingdone…     

一类非线性二阶常微分方程解的多重性

考虑一类二阶非线性常微分方程的边值问题（p（t）u′）′＋h（t）f（u）=0，0＜t＜1和u（0）=u（1）=0。通过引入f（s）／s在∞与0处的极限值，并运用打靶法和相应的Sturm比较定理得到解的多重性定理，推广有关文献中的许多重要结果。     

地图误差对地图匹配质量的影响

高精度的数字地图是正确匹配车辆位置的基础。详细分析了地图数据的地理误差和拓扑误差的误差形式,路网数据模型的常见误差因素和改进策略,最后介绍了不同地图匹配算法对地图质量的敏感性和可行性。根据可能出现的误差对现有数字地图和匹配算法加以改进,弥补了原有数字地图带来的不精确缺陷。跑车实验证明,考虑了数字地图误差影响的匹配算法可以明显提高定位精度,减小车辆定位误差。     

局部区域GPS网坐标转换的改进模型

GPS的应用经常涉及到坐标变换.用局部小区域的GPS网数据求解三维坐标转换模型(如布尔萨模型)的转换参数时,平移参数精度不高,病态问题较严重.提出了用坐标转换的改进模型,能有效提高平移参数的精度,在一定程度上解决了病态问题,在工程测量中有一定的实用价值.     

随机Dirichlet问题解的调和展开

针对重力学随机Dirichlet问题,通过适当地对边界检验函数的分解,并在随机边界样本空间中提取确定性部分的对偶基,本文将随机Dirichlet问题的一般解展开为一随机系数的调和级数形式。     

动态最小二乘支持向量机学习算法

针对大样本集的训练问题和动态训练样本的模型更新问题,提出了动态最小二乘支持向量机学习算法.该算法充分利用已建好的模型,逐渐加入新样本,并可删除位于任何位置的非支持向量,避免了矩阵求逆运算,保证了算法的高效率.大坝变形及电离层延迟两个时间序列的预报实例表明,该算法具有计算时间短、预报精度高的特点.     

上海市长江口及邻近海域地质调查现状及展望

海洋区域地质调查近年来逐渐得到重视,海洋地质调查技术的发展也为开展海洋区域地质调查奠定了基础。上海地区社会经济发展对地质工作的需求,为摸清上海市长江口及邻近海域的地质现状提出了必然要求。本文在系统整理长江口及邻近海域地质资料的基础上,重点分析了区内存在的重点地质问题和研究存在的问题,根据海洋地质调查的技术发展,结合国内相关地区的调查经验,对长江口及邻近海域内区域地质调查进行了展望,提出了采用综合物探技术、地质取样和测试分析进行综合地质环境调查的建议,并对具体采用的调查技术和调查内容进行了论述。     

Dynamical evolution of comets and the problem of cometary fading

Possibilities to explain the observed 1/a-distribution are discussed in the light of improved understanding of the dynamical evolution of long-period comets. It appears that the fading problem applies both to single-injection and continuous-injection models. Although uncertainties due to nongravitational effects do not allow detailed results to be drawn from the observed 1/a-distribution at small perihelion distance q, that for q 1.5 AU shows that a constant fading probability cannot explain all the features of the observed distribution. Assuming that comets can reappear following a period of fading, values for the assumed constant fading and renewal probabilities, and the total cometary flux have been estimated for q > 1.5 AU.