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.     

Parameter identification of a compliant nonlinear SDOF system in random ocean waves by reverse MISO method

The determination of the drag and inertia coefficients, which enter into the wave force model given by Morison's equation, is particularly uncertain and difficult when a linear spectral model is used for ocean waves, and the structure is compliant and has nonlinear dynamic response. In this paper, a nonlinear System Identification method, called Reverse Multiple Inputs–Single Output (R–MISO) is applied to identify the hydrodynamic coefficients as well as the nonlinear stiffness parameter for a compliant single-degree-of-freedom system. Four different types of problems have been identified for use in various situations and the R–MISO has been applied to all of them. One of the problems requires iterative solution strategy to identify the parameters. The method has been found to be efficient in predicting the parameters with reasonable accuracy and has the potential for use in the laboratory experiments on compliant nonlinear offshore systems.     

千里岩的气温变化特征及其与西北太平洋副热带高压的关系

本文根据１９６０～１９９４年千里岩和青岛月平均气温资料，分析了千里岩与青岛３５年来气温的年、季变化特征及差别，发现３５年来，千里岩和青岛的年、季平均气温均呈变暖趋势，但千里岩增温幅度较青岛小。从分析中发现，与气温变暖趋势相对应，西北太平洋副热带高压（以下简称副高）面积、强度指数的年、季变化也呈明显的增强、增大趋势。且年平均气温与冬季副高面积指数相关最显著。最后依此关系建立回归方程，并预测了１９９６年千里岩年平均气温的变化趋势。     

Drag force on a circular cylinder in unseparated laminar high Reynolds number nonlinear random oscillatory flow

The stochastic properties of the drag force maxima on a circular cylinder subjected to nonlinear random waves are investigated. Unseparated laminar high Reynolds number flow is considered. A simplified approach based on second order Stokes waves is presented, including the sum-frequency effect only. It is demonstrated how a drag force formula valid for regular linear waves can be used to find the cumulative distribution function of individual drag force maxima for nonlinear irregular waves. Here the [Wang, 1968] drag force coefficient is used.     

Effects of high-order nonlinear interactions on unidirectional wave trains

Numerical simulations of gravity waves with high-order nonlinearities in two-dimensional domain are performed by using the pseudo spectral method. High-order nonlinearities more than third order excite apparently chaotic evolutions of the Fourier energy in deep water random waves. The high-order nonlinearities increase kurtosis, wave height distribution and H_max/H_1/3 in deep water and decrease these wave statistics in shallow water. Moreover, they can generate a single extreme high wave with an outstanding crest height in deep water. High-order nonlinearities (more than third order) can be regarded as one cause of freak waves in deep water.     

青岛—石臼所沿岸潮流特征分析

本文对青岛—石臼所沿岸潮流特征进行了分析。实际观测资料表明,这一带潮流具有典型的往复流性质,并有较明显的不对称性和较大的垂直变化。文中指出涨落潮流不对称性是由于余流和分潮流影响的结果。讨论了不对称性随余流和分潮流的变化和潮流垂直梯度的特征。不对称和垂直梯度对泥沙运动和污染扩散的影响在文中也作了阐述。     

Meadow fragmentation and reproductive output of the SE Asian seagrass Enhalus acoroides

Flower and fruit production of the abundant, tall, long-lived, dioecious, surface-pollinating seagrass species Enhalus acoroides (L.) Royle were estimated at seven sites in the reef flats off Bolinao (NW Luzon, The Philippines) featuring different fragmentation of the seagrass meadows. Fragmentation of the seagrass meadow was quantified as cover of E. acoroides and all seagrass species present in 20×20 m plots. E. acoroides and overall seagrass cover were correlated positively. The proportion of female flowers of E. acoroides that developed a fruit increased sharply as overall seagrass cover was around 50%. Apparent sex ratio bore no relationship with overall seagrass cover. This threshold-type of relationship suggests that fragmentation of seagrass meadows can have a major effect on the reproductive output of this species. A possible mechanism underlying these results would be a non-linear increase of the efficiency of trapping the surface-dispersed pollen with increasing seagrass canopy density. This provides the first evidence based on real data that fragmentation can affect the population dynamics of seagrass species.     

台湾海峡中、北部及邻近海域夏季浮游动物总生物量的分布特点

台湾海峡中、北部夏季浮游动物（非胶质）总生物量较丰富，1983年夏季的总生物量高于其他季节，1987年7、8月和1988年7月则高于1983年同期的生物量，这3a的高生物量分布区，一般都连片出现在上升流锋面区，显然和上升流的出现有密切关系。构成高生物量的优势种以外海广高盐种为主，生物量和高生物量区的分布态势都存在年际变化，这可能和不同性质水系的消长，相互推移及被囊动物的摄食竞争有关。     

层结流体中的非线性惯性重力内波

根据地球流体力学基本方程组,在密度垂直层结的情况下,引进行波坐标,研究非线性定形波在相平面上的几何拓扑结构。严格论证了不存在定形孤立波,并通过Ｈａｍｉｌｔｏｎ函数及其角作用变把行波系统化成最简形式,由此而得到非线性惯性重力内波的解析解。