Formation control of multiple underwater vehicles subject to communication faults and uncertainties

This paper proposes a novel approach to analyze and design the formation keeping control protocols for multiple underwater vehicles in the presence of communication faults and possible uncertainties. First, we formulate the considered vehicle model as the Port-controlled Hamiltonian form, and introduce the spring-damping system based formation control. Next, the dynamics of multiple underwater vehicles under uncertain relative information is reformulated as a network of Lur’e systems. Moreover, the agents under unknown disturbances generated by an external system are considered, where the internal model is applied to tackle the uncertainties, which still can be regulated as the Lur’e systems. In each case, the formation control is derived from solving LMI problems. Finally, a numerical example is introduced to illustrate the effectiveness of the proposed theoretical approach.     

A multi-scale 3-D crust velocity model in the Hefei-Chao Lake area around the southern segment of Tanlu Fault Zone

Regional high-precision velocity models of the crust are an important foundation for examining seismic activity, seismogenic environments, and disaster distribution characteristics. The Hefei-Chao Lake area contains the main geological units of Hefei Basin, with thick sediments and the Chao Lake depression. Several major concealed faults of the southern NNE-trending Tanlu Fault Zone cross this area. To further explore the underground distribution characteristics of the faults and their tectonic evolutionary relationship with adjacent tectonic units, this study used ambient noise data recorded by a seismic array deployed in Hefei City and Chao Lake, constructing a 3-D velocity model at the depth of 1–8 km. Then a multi-scale high-resolution 3-D velocity model of this area was constructed by this new upper crustal velocity model with the previous middle and lower crustal model. The new model reveals that a high-velocity belt is highly consistent with the strike of the Tanlu Fault Zone, and a low-velocity sedimentary characteristic is consistent with the Hefei Basin and Chao Lake depression. The distribution morphology of high and low velocity bodies shows that the sedimentary pattern of Hefei-Chao Lake area is closely related to the tectonic evolution of the Tanlu Fault Zone since the Mesozoic. This study also identifies multiple low-velocity anomalies in the southeastern Hefei City. We speculate that strong ground motion during the 2009 Feidong earthquake (magnitude of 3.5) was related to amplification by the thick sediments in the Hefei Basin. We also discuss further applications of multi-scale high-resolution models of the shallow layer to strong ground motion simulations in cities and for earthquake disaster assessments.     

阿拉善地块南缘的左旋走滑断裂与阿尔金断裂带的东延

阿拉善地块南缘发育了由5条走向近EW、向西收敛、向东撒开的断裂组成的断裂束,每条断裂长度一般>100km,控制第四纪盆地呈EW向长条状展布,卫片上线性影像清晰,晚第四纪以来表现出左旋走滑活动的特点。断裂束西段的金塔南山断裂与阿尔金断裂带东段的宽滩山段趋于交会,并与文殊山构造隆起之间构成构造转换关系。分析认为金塔南山断裂以及整个阿拉善南缘断裂束是阿尔金断裂左旋运动的东延部分,断裂束在平面上“帚状”的、向东撒开的构造样式有利于走滑运动量的分解、消减和吸收,符合走滑断裂末端的构造特点。阿拉善南缘断裂束的左旋走滑活动有可能是阿尔金断裂带进一步向东扩展的结果,其时代可能发生于早更新世末—中更新世初     

柯坪塔格断裂西段古地震初步研究

柯坪塔格断裂位于西南天山柯坪塔格推覆构造的最前缘,以皮羌断裂为界分成东西两段。在柯坪塔格断裂西段开挖了6个规模较大的探槽,6个探槽都揭露出断层,但其中3个探槽的古地震事件不清晰,另外3个探槽有古地震遗迹。通过分析研究,共确定了全新世以来的4次古地震事件:第1次古地震事件发生于距今约12ka,第2次事件发生于距今约8·6ka,第3次事件大致发生于距今约5ka,第4次事件发生于距今(1·73±0.15)ka以来,很可能是1961年西克尔6·8级地震。这4次古地震事件具有约3~5ka的准周期重复特征。天山南麓有5~6排推覆体,每排推覆体的前缘都发育活动逆断裂,它们向下收敛于寒武系底部的滑脱面,因此,天山南麓的地震破裂非常复杂,这4次古地震事件的震级、发震构造等问题都有待于今后的深入研究     

The Longmyndian Rocks of the Old Radnor Inlier,Welsh Borderland

Two formations are named in the presumed Precambrian sedimentary rocks of the Old Radnor Inlier. The Strinds Formation comprises fine- to medium-grained sandstones and pebbly sandstones. Grain-size, texture, clast types, and lithological invariance support correlation with the homogeneous and cross-bedded sandstone facies of the Bayston-Oakswood Formation of the Longmyndian, assigned to a braided alluvial plain environment. The Yat Wood Formation comprises fine-grained sandstones, siltstones, and laminated mudstones. It may be equivalent to some part of the Burway, Synalds, or Lightspout Formation. The Strinds and Yat Wood Formations are petrographically similar to each other and to the type Lonmyndian, and were sourced either directly or indirectly from a magmatic arc. The Strinds and Yat Wood Formations are seen only in faulted contact, and the inlier itself is partly or wholly bounded by strands of the Church Stretton fault zone. Similar faulted relationships are seen further northeast along the system at Pedwardine and in the Church Stretton area. A fault explanation for the juxtaposition of contrasting facies is favoured over that of an original unconformity of Strinds on Yat Wood Formation.     

张家口-蓬莱断裂带渤海段晚第四纪活动特征

张家口-蓬莱断裂带是华北地区一条显著的地震带.利用最新获得的高分辨率浅层地震资料研究了渤海海域内该断裂带晚第四纪以来的活动特征.研究表明:在渤海,张家口-蓬莱断裂带主要由沙西断裂、埕北断裂、沙南断裂、沙东北断裂、柏各庄断裂、石臼坨3号断裂、渤中2号断裂和BZ29断裂等一系列NW走向断裂组成,走向在290°～310°之间;在浅层沉积物中各断裂由多条次级小断裂组成;晚第四纪以来主要表现出强烈的垂向运动特征,具有正断性质;海域各断裂的最新活动时代为晚更新世(Q3)末期-全新世(Q4)初期,并具有相同的活动趋势,在20 ka B.P.和60 ka B.P.左右活动强烈,统计计算显示平均垂向活动速率分别为0.15 mm/a和0.1 mm/a,近20 000 a以来的垂向活动速率超过0.06 mm/a.     

Improved understanding of petroleum migration history in the Hongche fault zone,northwestern Junggar Basin (northwest China): Constrained by vein-calcite fluid inclusions and trace elements

Calcite veins and cements occur widely in Carboniferous and Permian reservoirs of the Hongche fault zone, northwestern Junggar Basin in northwest China. The calcites were investigated by fluid inclusion and trace-element analyses, providing an improved understanding of the petroleum migration history. It is indicated that the Hongche fault behaved as a migration pathway before the Early Cretaceous, allowing two oil charges to migrate into the hanging-wall, fault-core and footwall reservoirs across the fault. Since the Late Cretaceous, the Hongche fault has been sealed. As a consequence, meteoric water flowed down only into the hanging-wall and fault-core reservoirs. The meteoric-water incursion is likely an important cause for degradation of reservoir oils. In contrast, the footwall reservoirs received gas charge (the third hydrocarbon event) following the Late Cretaceous. This helps explain the distribution of petroleum across the fault. This study provides an example of how a fault may evolve as pathway and seal over time, and how reservoir diagenetic minerals can provide clues to complex petroleum migration histories.     

南海东北部新构造运动及其动力学机制

南海东北部地处欧亚板块与菲律宾海板块的交汇区,新构造运动活跃。根据地震活动性、震源机制解和GPS资料对该区的新构造活动特征进行分析,在此基础上讨论该区新构造运动的动力学机制。分析发现,菲律宾海板块NW向俯冲对该区的影响最为显著,导致了该区较强的地震活动性以及与俯冲方向一致的构造应力场。而印藏碰撞产生的侧向应力传递也影响到该区,控制华南地块向SE方向运动,并与菲律宾海板块的NW向俯冲共同作用,使华南地块在SE向运动的同时伴有逆时针旋转。印藏碰撞的SE向应力传递对俯冲产生的NW向水平挤压的抵消作用,使得地震活动性自东向西减弱以及构造应力场P轴方位角顺时针旋转。在这一背景下,区内滨海断裂带的活动控制了该区的地震、海岸带构造升降等新构造运动。     

Controlling factors on the morphology and spatial distribution of methane-related tubular concretions – Case study of an Early Eocene seep system

Up to 10 m in length and >1 m in diameter tubular, calcite-cemented sandstone concretions are hosted by the faulted Dikilitash unconsolidated sands and sandstones. These structures document shallow subsurface pathways of Early Eocene methane seepage in the Balkan Mountains foreland (NE Bulgaria). Their exceptional exposure allowed a unique study of the factors governing the morphology and spatial distribution of such fossilized fluid conduits. The large dimensions and subvertical, cylindrical shape of the most common tube type primarily reflects the buoyancy-driven, vertical path of an ascending gas-bearing fluid through permeable, mainly unconsolidated sandy host sediments. Tube morphology was also influenced by local stratigraphic anisotropies and might as well document differences in former seepage conditions. Mapping of >800 tubular concretions showed the NNW–NNE elongation and alignment of tube clusters and massive cemented sandstone structures. This suggests that Paleogene fault systems played a major role in directing the movement of fluids. However, within a single tube cluster, tubes are preferentially aligned, over distances up to 50 m along directions at an angle between 10° and 36° with respect to the inferred NNW–NNE, cluster parallel fault traces. In addition, cylindrical tubes of analogue dimensions are aligned over distances >100 m along N15° to N25°-oriented directions. It is hypothesized that this spatial geometry of tubular concretions reflects the complex geometry of deformations structures in fault damage zones along which fluids were preferentially channelled.     

松南十屋断陷深层油气成藏条件与模式研究

十屋断陷是断坳叠置的复合盆地,充填了巨厚的断陷地层。其深部地层包括登娄库组、营城组、沙河子组以及火石岭组。在十屋断陷深部沉积了沙河子组-营城组和登娄库组两套烃源岩和良好的储盖层组合;由于断陷构造运动,形成大量的断裂构造和不整合面,构成了油气运移的有效通道,同时还形成有效断裂、断鼻构造圈闭以及不整合圈闭。综合分析认为,十屋断陷深部具有有利油气成藏生储盖组合。主要有下生上储式、自生自储式和上生下储式三种成藏模式。