Robust control for an autonomous underwater vehicle that suppresses pitch and yaw coupling

Attitude control systems for autonomous underwater vehicles are often implemented with separate controllers for pitch motion in the vertical plane and yaw motion in the horizontal plane. We propose a novel time-varying model for a streamlined autonomous underwater vehicle that explicitly displays the coupling between yaw and pitch motion due to nonzero roll angle and/or roll rate. The model facilitates the use of a multi-input multi-output H_∞ control design that is robust to yaw-pitch coupling. The efficacy of our approach is demonstrated with field trials.     

Modelling the physical impact of trawl components on the seabed and comparison with sea trials

Quantitative measurement of the response of benthic habitats to impact from towed fishing gears is of great importance to the ecosystem and the long-term management of sustainable fisheries. To date, most studies on the effects of trawling on the benthos have focussed on before/after, control/impact comparative studies. This research has proved important in terms of describing general trends and has identified taxa that suffer high levels of mortality, and habitat types where impact is the greatest. A limitation, however, to this comparative work is the lack of prediction-based methodology and it would be very beneficial to develop a more mechanistic approach that would allow trawling impact on the benthos to be estimated for a wider range of species and habitats. This paper is a first step in this approach and focuses on modelling the physical interaction between gear components and the seabed. In particular the penetration and disturbance to the seabed caused by (i) the roller clump of a twin trawl and (ii) a trawl door, are examined.A finite element (FE) model of the interaction of these components and the seabed is developed using the different soil models and features available within the Abaqus finite element software package. The resulting models are able to predict the penetration depth and sediment displacement associated with each gear component and the predictions are compared with the results obtained during sea trials. The sea trials were undertaken on two sediment types at depths accessible to scientific divers using SCUBA diving techniques who measured and profiled the physical alteration to the seabed following the passage of a roller clump and a trawl door. In addition, drag forces obtained from the sea trials are compared with numerical predictions of the drag related to the soil and the estimated fluid drag. Good agreement between the experimental trials and numerical simulations is found and hence this study provides the basis for investigation of the interaction of other components and sediment types.     

NOAA的GNOME溢油模型在湄洲湾的应用

在湄洲湾试用GNOME溢油模型模拟溢油扩散．先用EFDC建立潮流场,并选用主导风形成常风场,一并输入GNOME建立起溢油模型,模拟涨、落潮过程叠加不同风况下敏感海域的溢油扩散．模拟结果：初始溢油量为100t,扩散到第6小时,8种不同条件下挥发油量都为7．7t,附岸和漂浮油量和为92．3t,其中漂浮油量为6．4～92．0t,相应附岸油量为85．9～0．3t;溢油扩散最大范围为1．3～30．0km。,90％置信区间为2．0～56．0km。,最大距离为1．2～14．6km;与前人模拟溢油扩散结果相比基本一致．经分析,溢油扩散主要受3个方面影响：（1）岸线走向：当岸线靠近油膜漂移的路线时,大量油膜附着在岸上,扩散范围较小;（2）风况与流场关系：如果两者方向一致,油膜会扩散较远;（3）风区长度：风区越长,油膜扩散范围越大．总之,建立GNOME溢油模型较好地模拟了溢油扩散趋势,对溢油应急响应具有参考作用．     

新疆地区对流层中下层及地面温湿变化特征

针对新疆地区1969-2009年近40年对流层中下层以及地面温湿变化特征,利用经过质量控制的中国新疆地区14个探空站1969-2009年比湿和温度资料,采用线性回归、滑动t检验等方法对新疆地区温度、湿度变化趋势和突变年进行分析,并用同一时期12个地面站的降水资料对比分析新疆地区降水量的变化特征。结果表明：南疆和北疆500hPa和850hPa高空比湿在1980年中后期均有增加的趋势,2005年后均又发生了由升转降的变化;地面比湿和降水总体均呈显著增加趋势,南疆地区降水在2005年后为持续负距平,与高空比湿变化特征一致;41年期间两个区域的温度变化在对流层中下层和地面都呈显著增加趋势,且地面增温最显著,增温速率随高度增加而降低。北疆和南疆地区500hPa比湿分别在1989年、1985年,南疆850hPa在1986年均发生由降转升的显著性突变,且均在2005年发生由升转降的显著性突变;北疆地区850hPa和两个区域地面比湿均在1986年发生突变,之后显著变湿;北疆和南疆500hPa温度分别在1985年、1986年发生由降转升的显著突变,两个区域850hPa和地面温度均在1996年发生相同突变,显著水平都达到0．01。     

四川盆地强暴雨过程诊断及中尺度分析

为了探索四川盆地暴雨天气发生发展的机制,利用云图和美国环境预报中心的全球再分析资料,针对2010年8月18—19日出现的暴雨过程进行环流形势、物理量场及中尺度特征分析,结果表明：暴雨过程中不断有低压槽东移,西太平洋副高西伸至盆地东部,暖湿气流通过低层绕流等方式进入盆地;在低层辐合高层辐散和热力不稳定的条件下,随着干冷空气入侵,对流运动异常强烈,促使强降水发生,湿位涡等值线密集带对暴雨落区预报有较好的指示意义。中尺度对流系统各阶段特征明显,与中尺度气旋演变有很好的相关性。     

《地球科学与环境学报》2004—2010年载文信息及被引频次统计分析

运用文献计量学方法,对《地球科学与环境学报》(以下简称《学报》)2004—2010年载文的第一作者学历、职称和服务单位、论文资助项目来源、研究领域、出版时滞、被引频次、下载次数、影响因子等论文信息指标进行了统计分析。结果表明《学报》呈现以下特征:高学历作者比例稳步提升;副高职称和中级职称作者是《学报》作者的骨干力量;作者来源呈多元化发展,主办单位论文呈下降趋势;大多数论文有各类基金项目资助;基础地质及矿产地质是《学报》载文的主要内容;出版时滞需要进一步优化;被引频次计量指标反映《学报》呈现良好的发展态势。     

中国人文——经济地理学科进展及展望

过去5年,是中国人文一经济地理学发展进程中的一个重要时期,以面向中国健康城市化和区域可持续发展的社会需求为导向,在国家重大地域规划研制和战略咨询中发挥了重要的支撑作用,一系列重大研究成果得到中央政府采纳,产生了良好的社会影响;学科的理论方法建设迈上新台阶,人文一经济地理学者在承担国家科技支撑计划项目、国家基金重点项目等方面有所突破,科技论文和学术专著数量与质量有所提升,省部级重点实验室和重点学科建设以及科学奖励有所进展。近年中国人文一经济地理学的发展呈现以下特征：交叉科学的定位和应用基础研究的价值进一步明确、“人文地理＋经济地理”的人文一经济地理学科架构已经成型、基于人地系统研究的应用领域不断拓展、面向社会和文化发展的新兴领域和方向有所加强、GIS技术方法的应用越来越受到重视。与国外相比,中国的人文一经济地理学人文化倾向并不十分突出、面向政府决策层的服务能力走在前列,但国际交流强度不足、特别是前沿的学术思想研究与系统的理论创新还有待加强。未来中国的人文一经济地理学的发展,必须在交叉学科的综合性研究手段、基础理论建设和学科结构优化、完善数据采集和空间模拟分析方法等方面有所突破和创新。     

市场化、社会化、网络化的河北省科技中介服务体系构建研究

科技中介服务机构作为国家科技创新服务体系的重要组成部分,在实现科技向生产力转化、促进经济和科技有效结合方面起着重要作用。河北省科技中介服务机构的发展还面临规模较小、内容单一、从业人员素质较低、政策法规体系不完善、投(融)资服务需求难以满足等问题。该文从管理体制与运行机制、人力资本管理、法律法规体系、信息平台建设等方面探讨了构建市场化、社会化、网络化的河北省科技中介服务体系的对策。     

中国防沙治沙实践与沙漠科学发展的70年——Ⅰ.初创篇

防沙治沙工作自新中国成立之初就是国家层面上的重要任务.随着国家大规模社会经济活动的展开,干旱半干旱区的绿洲、农田、牧场、公路、铁路、渠道、乡镇村落和一些重要基础设施都面临着风沙危害,需要积极应对,开展防沙治沙工作.而面对沙漠科学基本空白的科研工作者们,则需要在形成防沙治沙关键科技支撑的同时,发展中国沙漠科学,这就是20...     

http://www.sciencedirect.com/science/article/pii/S1674987113000868

Current palaeoclimatic reconstructions for the R＆#237;o de la Plata region during the latest Pleistocene （30,000 e10,000 yr BP） propose dry conditions, with rainfall at the Last Glacial Maximum amounting to one-third of today＇s precipitation. Despite the consequential low primary productivity inferred, an impressive megafauna existed in the area at that time. Here we explore the influence of the flooding from a huge extinct system of water bodies in the Andean Altiplano as a likely source for wet regimes that might have increased the primary productivity and, hence, the vast number of megaherbivores. The system was reconstructed using specifically combined software resources, including Insola, Global Mapper v13, Surfer and Matlab. Changes in water volume and area covered were related to climatic change, assessed through a model of astronomical forcing that describes the changes in insolation at the top of the at-mosphere in the last 50,000 yr BP. The model was validated by comparing its results with several proxies （CH4, CO2, D, 18O） from dated cores taken from the ice covering Antarctic lakes Vostok and EPICA Dome C. It is concluded that the Altiplano Lake system drained towards the southeast in the rainy seasons and that it must have been a major source of water for the Paran＆#225;-Plata Basin, consequently enhancing primary productivity within it.