水下智能潜器的神经网络运动控制

本文介绍一种基于神经网络的水下智能潜器的运动控制方法，该方法通过在线学习，融控制与滤波为一体。计算机仿真与水池实验验证表明，该方法的控制与滤波性能良好，对环境的学习与适应能力强。该方法事实上可用于一般动力系统的控制。     

A social scientist's perspective on the Census of Marine Life

Over 300 natural scientists in 53 nations are taking part in the Census of Marine Life (CoML) to investigate what lived, what lives, and what will live in the oceans. The CoML is a scientific experiment that is exploring the limits of ocean science. The paper discusses the potential applications of CoML research and the mechanisms by which the potential benefits can be measured and preserved. I recommend developing and integrating policy advisory committees with the natural science activities to both maximize the benefits of the research and to avoid unintended consequences.     

自主式水下机械手系统研究

本文从水下机械手的总体设计，关节直流电机的驱动和调速，手臂上声纳的水下搜索与跟踪，机械手系统的智能控制和电源等几个方面，介绍了有关自主式水下机械手系统的研究，可为研制自主式水下作业系统提供参考     

National ocean policy—new opportunities for Malaysian ocean development

Being a littoral state, Malaysian maritime sectors provide the basis for the growth and development of marine-related activities. As the country enters the new millennium along with the ‘2020 Vision’ which serves as the basic template against which the economic performance of these sectors should be judged, it poses a new challenge for Malaysia in developing these sectors. This paper attempts to address three basic issues: Firstly, is there any national ocean policy in place? Secondly, are the maritime sectors adequately organized to play an important role in achieving the objectives? Thirdly, what are the opportunities available in developing the ocean?It can be seen that existing policies to develop comprehensive ocean governance have not received the full attention they deserve. Organizational structures governing the ocean for implementing national policies are well in place but in a fragmented and uncoordinated fashion. As a result, sectoral and intersectoral management problems were created such as multiple-use conflicts, overlapping of jurisdiction and duplication of efforts. Environmental problems have also not been properly addressed. A few sectors have been identified as offering opportunities to further develop the Malaysian maritime areas. Among these are marine education and human resources development, marine tourism and the seafood industry.     

Expanded adaptive fuzzy sliding mode controller using expert knowledge and fuzzy basis function expansion for UFV depth control

Generally, the underwater flight vehicle (UFV) depth control system operates with the following problems: it is a multi-input multi-output (MIMO) system, it requires robustness, a continuous control input, and further, it has the speed dependency of controller parameters. To solve these problems, an expanded adaptive fuzzy sliding mode controller (EAFSMC), which is based on the decomposition method designed by using an expert knowledge and the decoupled sub-controllers and composition method designed by using the fuzzy basis function expansions (FBFEs), is proposed. To verify the performance of the EAFSMC, the depth control of UFV in various operating conditions is performed. Simulation results show that the EAFSMC solves all problems experienced in the UFV depth control system online.     

诊断台风异常路径的三层权重控制点方案

本方案采用850、700、500hPa三个层次的环境平均流场作控制点法。综合考虑这些层次上的引导气流在不同时、空域中的相对重要性。试验结果表明,其效果比单一取某层作引导为佳。且对用来预测台风的未来24小时路径是否异常具有一定的参考价值。     

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.     

维护体系良性运行 适应新版质量标准

本文介绍了海洋技术研究所质量管理处在维护质量体系运行方面的主要作法和经验体会，结合2000版ISO9201标准的新内容，提出适应新版标准的想法。     

Incorporating Māori values into land management decision tools

ABSTRACT

Environmental sustainability and the long-term wellbeing of Māori (the indigenous people of New Zealand) are interdependent and degradation of landscapes risks the progressive degradation of Māori wellbeing. The present study developed an analysis framework based on Ki Uta Ki Tai (holistic-mountains to the sea- management philosophy advocated by Ngāi Tahu) for exploring relationships between landcover and Māori values to enable predictions of cultural values through space and time. We used this framework to predict how two Māori values (Overall Health and Cultural Land Use) have been altered as a result of landcover change between 2001–2012 in three Canterbury catchments. The area of native vegetation declined while exotic pasture increased between 2001–2012, and there were corresponding declines in both cultural health scores. These results suggest that the change in landcover has reduced the ability of the landscape to support Māori values. This framework for assessing changes in Māori values with respect to changing environmental conditions may identify opportunities for Māori to better engage in land use management decisions.     

具有匹配不确定的奇异摄动系统的鲁棒控制

对于同时具有结构匹配不确定和系统不确定量的奇异摄动系统，利用Lyapunov稳定性理论进行了鲁棒性研究。给出了1个理想奇异摄动系统的稳定鲁棒控制也是不确定奇异摄动系统稳定控制的稳定条件和鲁棒界，讨论了鲁棒界及其随参数变化的变化范围。本文是王宪杰，高存臣已有结果的推广。