极坐标系下移动机器人的点镇定

研究由动力学模型描述的轮式移动机器人的点镇定问题。首先建立极坐标系下系统方程,进而给出运动学控制器设计方法,再结合系统的动力学特性,利用Lyapunov方法和反步法将运动学控制器拓展到动力学,最终设计出光滑的控制律并保证系统变量渐近收敛到零。仿真结果表明该方法的可行性和有效性。     

Managing climate change scenarios for societal impact studies

Dealing with the potential consequences of climate change on society requires scenarios that accurately project future climate. Uncertainties about future greenhouse gas emissions, climate sensitivity to radiative forcing, and limits to simulating a complex system constrain this objective. This paper reviews literature outlining the inherent challenges of creating future climate scenarios from general circulation models; it examines methods used to improve their interpretation and use; and it explores approaches taken to recognize and address uncertainty when investigating interactions between climate and society.     

Short-term measures for the control of ozone peaks: expertise from CTM simulations

In Europe, in case of the observation or the forecast of a photochemical event, punctual and local reductions in anthropogenic emissions can be triggered at the regional scale. Although the necessity for the establishment of such measures appears to be justified by bad air quality records over large European cities, individual short-term action plans (STAPs) have been blindly elaborated by regional authorities. Moreover, as they impose industrial and road traffic emission restrictions, these measures have an elevated economical cost. It is consequently crucial to determine their efficiency and potential for ozone peak reduction. The study presented in this paper aims to draw up an expertise on standard European STAPs, through the example of a French Mediterranean city. The objective is to determine and investigate the impact of current STAPs on ozone peak formation and to test ways to optimise their efficiency. In this frame, a set of emission scenarios has been elaborated and tested with the chemistry-transport model CHIMERE on the Berre–Marseille area. Simulations have shown that the tested action plans are not sufficient to eradicate severe ozone peaks and that more drastic restrictions on emissions are required to significantly affect ozone plumes. However, results also showed that the potential for ozone reduction remains small, with a maximum impact of only 5 ppbv for feasible STAPs. Finally, a temporal analysis of the ozone-emission relationship was engaged in order to optimise their application.     

中国21世纪气候变化的情景模拟分析

利用HadCM2和ECHAM4气候模式比较分析了温室气体排放综合效果相当于CO2浓度逐年递增1％情景下中国区域21世纪地面气温和降水量的变化趋势。结果表明：在温室气体渐进递增情景下，至21世纪末期，相对于1961-1990年的气候基准值，全国地面平均气温增幅可达5—6℃。与地面气温的变化相比，降水量的波动幅度较大，但全国范围内降水量变化的总趋势也是增加的。中国区域地面气温和降水量变化的地理分布显示：降水量的增加主要集中在南方区域，HadCM2预测21世纪末期降水增加可达0．9mm／d，ECHAM4预测可达0．6mm／d；ECHAM4模式模拟的气温增幅比HadCM2高，尤其是在冬季及中国北方和青藏高原地区，而HadCM2模式模拟的降水量的增加较大，但两个气候模式模拟的地面气温和降水量变化的总趋势大体一致。     

Distribution of ephemeral plants and their significance in dune stabilization in Gurbantunggut Desert

Based on systematically monitoring plants on dune ridges in the southern part of the Gurbantunggut Desert in 2002, this paper, from the angle of dune stabilization by vegetation, describes the temporal and spatial distribution patterns of ephemeral plants on isolated sand dunes, analyses the natural invasion processes of ephemeral plants on human-disturbed sand surface and expounds the importance of ephemeral plants in stabilizing sand dune surface. A total of 45 plant species were identified in the study area, 29 of which are ephemeral plants. Ephemeral plants sprouted in early April and completed their life-circle within about two months. Just as aeolian sand activities came to the strongest stage from April to June in desert regions of northern Xinjiang, the total coverage of trees, shrubs and herbs of long vegetational period on most dune ridges was less than 10%, while the mean coverage of ephemeral plants reached 13.9% in April, 40.2% in May and 14.1% in June. Therefore ephemeral plants acted as the major contributor to dune surface stabilization in the Gurbantunggut Desert. Investigations of vegetation restoration on engineering-disturbed dune surface show that ephemeral plants first recolonized the disturbed dune surface.     

A novel general methodology for studying and remedying finite precision error with application in Kalman filtering

 Least squares (LS) techniques, like Kalman filtering, are widely used in environmental science and engineering. In this paper, a new general approach is introduced for the study of the generation, propagation and accumulation of the quantization error in any algorithm. This methodology employs a number of fundamental propositions demonstrating the way the four operations addition, multiplication, division and subtraction, influence quantization error generation and transmission. Using these, one can obtain knowledge of the exact number of erroneous digits with which all quantities of any algorithm are computed at each step of it. This methodology offers understanding of the actual cause of the generation and propagation of finite precision error in any computational scheme. Application of this approach to all Kalman type LS algorithms shows that not all their formulas are equivalent concerning the quantization error effects. More specifically, few generate the greater amount of quantization error. Finally, a stabilization procedure, applicable to all Kalman type algorithms, is introduced that renders all these algorithms very robust.     

Stabilization of fuel oil contaminated soil—A case study

Fuel oil contamination brings adverse effect on basic geotechnical properties of foundation soil. The present study pertains to one such case, from the petrochemical complex near Vadodara City in Gujarat State, India. Here, the fuel oil contaminated soil samples exhibit drastic changes in their geotechnical parameters. Noteworthy among such deleterious changes are: decrease in maximum dry density (–4%), cohesion (–66%), angle of internal friction (–23%) and unconfined compressive strength (UCS) (–35%) and increase in liquid limit (+11%). An attempt has been made to stabilize the contaminated soil using various additives viz., lime, fly ash and cement independently as well as an admixture of different combinations. It is apparent from the test results that the stabilization agents improved the geo-technical properties of the soil by way of cation exchange, agglomeration, and pozzuolanic actions. The best results were observed when a combination of 10% lime, 5% fly ash and 5% cement was added to the contaminated soil. The improvement in unconfined compressive strength (UCS), cohesion and angle of internal friction can be attributed to neo-formations such as Calcium Silicate Hydrates (CSH, CSH-1) that coats and binds the soil particles. Formation of stable complex between oil and metallic cations, results in reduction of leachableoil.     

Effects of Release Conditions Uncertainty on Avalanche Hazard Mapping

Dynamical models for calculating snow avalanche motion have gained growingimportance in recent years for avalanche hazard assessment. Nevertheless, inherentuncertainties in their input-data specification, although well acknowledged, areusually not explicitly incorporated into the analysis and considered in the mappingresults. In particular, the estimate of avalanche release conditions is affected bystrong uncertainties when associated to a return period. These sources of error arenormally addressed through sensitivity analysis or conservative parameters estimate.However, each of these approaches has limitations in assessing the statistical implications of uncertainties.In the present paper the problem of release scenarios randomness is looked at following a Monte Carlo procedure. This statistical sampling-analysis method allows the evaluation of the probability distributions of relevant variables for avalanche hazard assessment – such as runout distance and impact pressure – once the release variables – essentially releasedepth and release length – are expressed in terms of probability distributions, accounting explicitly for inherent uncertainties in their definition. Both the theoretical framework of this procedure and its application to a real study case are presented. As initial step of this research in the present work the attention is mainly focused on flowing avalanches descending on open slopes. Therefore, the one-dimensional version of VARA dynamic models is usedfor avalanche simulations.     

关联时滞大系统分散镇定的算法

利用提出的关联结构分解方法，对具有关联时滞的大型线性定常连续时间系统的稳定与分散镇定问题进行了探讨；给出了相应的理论结果和计算机算法。所做的数值实验验证了算法的有效性和结论的正确性。     

“A Mirror and a Lamp”: The Role of Power in the Rural Landscape Trajectory of the Ovens Region of Australia

Power relationships structure discourse and its influence on policy and rural land use planning, but little research has examined how this might be observed in the dynamics of rural landscape transition. In a qualitative case study of the Ovens catchment, Victoria, Australia, discursive power is observed through sites of tension between informant interpretations of past, present, and future landscapes and contemporary local decision making. Three main tensions and an observation emerged that suggest discourse and power can be observed through the transfer and support of social memory narratives. We conclude that the identification of tensions between stakeholder perceptions of the past, present, and future of their landscape; awareness of the influence of those interpretations on current decision making; and attention to social memory narratives can provide invaluable insights for those seeking to understand local relationships of power.