Planar trajectory planning and tracking control design for underactuated AUVs

This paper addresses the combined problem of trajectory planning and tracking control for underactuated autonomous underwater vehicles (AUVs) on the horizontal plane. Given a smooth, inertial, 2D reference trajectory, the planning algorithm uses vehicle dynamics to compute the reference orientation and body-fixed velocities. Using these, the error dynamics are obtained. These are stabilized using backstepping techniques, forcing the tracking error to an arbitrarily small neighborhood of zero. Simulation results for a constant velocity trajectory, i.e. a circle, and a time-varying velocity one, i.e. a sinusoidal path, are presented. The parametric robustness is considered and it is shown that tracking remains satisfactory.     

基于ArcObjects的海南省防洪应急指挥系统设计与实现

针对海南省台风、洪水灾害频繁的特点,论述了海南省防洪应急指挥系统的总体设计、系统结构设计和主要功能模块设计等内容。该系统已在实际中得到了应用。     

Pipe laying simulation with an active reel drive

Dynamic and quasi-static models for analysis of a pipe lay spread are presented in the paper. Depending on the type of a pipe, spooling it on a big drum (reel) may cause plastic deformations. When the pipe is reeled out at sea, again it undergoes plastic deformations. In order to model such a nonlinear behaviour, a model, which includes both elasto-plastic material characteristics and large deformations, is required. Discretisation of the pipe is performed by means of the Rigid Finite Element Method (RFEM), which allows us to study static and dynamic problems, taking into account required properties of the model. Different sea conditions are simulated and analysed. It is shown how operational conditions can limit the ability of laying operation by a dedicated vessel, due to an unstable system response. The second part of the paper presents an upgrade of a passive reel drive by application of an active drive. In the model used for control applications, the pipe is modelled by a neural network. This allows us to perform a real-time calculations. In this fast-response calculation model, nonlinear aspects of the system are taken into account. The improvements in a pipe laying vessel performance are presented by some results of numerical simulations. The conclusions are also formulated.     

GNSS控制网方案优化与数据处理分析

GNSS布设平面控制网已在工程项目中得到广泛应用.获得满意的平差结果的前提条件为:①高质量的基线数据;②约束GNSS控制网的已知点精度足够高,使得GNSS控制网的整体精度不受已知点约束而有明显改变;③优化的平差方案;④科学严密的平差模型.通过对某项目GNSS控制网的布设进行优化设计,并利用不同软件对观测数据进行处理分析...     

基于神经网络的滑移隔震结构智能半主动控制

考虑上部结构的刚度和阻尼,使用神经网络控制算法计算基底摩擦力的大小,研究了滑移隔震结构的半主动控制。对计算实例的分析表明,通过半主动控制的滑移隔震结构不但具有较好的隔震效果,且能有效地减小基底的最大滑移量及残余位移。为对比各种控制方法的控制效果,文中还利用Bang-Bang控制和瞬时最优控制算法对滑移隔震结构进行了半主动控制。对比分析表明,基于神经网络控制算法的控制效果优于其它控制算法,具有反馈量少,稳健性强等特点。     

1958-2017年太湖蒸发量年际变化趋势及主控因子

湖泊蒸发对气候变化非常敏感,是水文循环响应气候变化的指示因子,因此研究湖泊蒸发的控制因素,对于理解区域水文循环有重要意义.本文利用太湖中尺度涡度通量网避风港站观测数据校正JRA-55再分析资料,驱动CLM4.0-LISSS模型,并利用2012-2017年涡度相关通量数据和湖表面温度数据检验模型模拟蒸发结果,验证了该模型在太湖的适用性;估算了1958-2017年间太湖的湖面蒸发量,并利用Manner-Kendall趋势检验分析了湖面蒸发的变化趋势,寻找太湖实际蒸发的年际变化的主控因子.结果如下:校正后的JRA-55再分析资料模拟的太湖蒸发与观测值之间存在季节偏差,但是季节偏差在年尺度上相互抵消,再分析资料可用于年际尺度太湖蒸发变化的模拟;1958-2017年间太湖蒸发量以1977年为界,先下降(-3.6 mm/a),后增加(2.3 mm/a);多元逐步回归结果表明,向下的短波辐射是太湖1958-2017年间太湖蒸发变化的主控因子,向下的长波辐射、气温、比湿也对湖泊蒸发年际变化有一定影响,但是风速对蒸发量的年际变化影响不大.     

The Effect of Geologic Structures on the Control of Floods in the Middle Yangtze River Valley

This paper discusses the role of geologic structures in the occurrence of floods and how to prevent flood in the middle reaches of the Yangtze River, and gives the author's suggestion that the Luoshan Qiakou be expanded and the land reclaimed from Dongting Lake be returned to the lake in compliance with the law of geology. .     

Risk Assessment,Emergency Preparedness and Response to Hazards: The Case of the 1997 Red River Valley Flood,Canada

The prevention and/or mitigation offlood disasters requires continual research, numerouscapital investment decisions, and high-qualitymaintenance and modifications of flood-controlstructures. In addition, institutional and privatepreparedness is needed. The experience offlood-control in North America has shown mixedoutcomes: while flood frequency has declined duringthe last few decades, the economic losses havecontinued to rise. Recent catastrophic floods havealso been linked to major structural interventions inthe region. The flood diversions may cause harmfuleffects upon the floodplain inhabitants by influencingflood levels in areas which are not normallyflood-prone. The increasing vulnerability of thefloodplain inhabitants poses new challenges and raisesquestions concerning the existing risk assessmentmethods, institutional preparedness and responses todisaster-related public emergencies, and local-levelpublic involvement in flood mitigation efforts.In the context of the catastrophic 1997 floods of theRed River Valley, Manitoba, Canada, this researchfocuses on two aspects of flood-related emergencygovernance and management: (i) the functions andeffectiveness of control structures, and (ii) theroles, responsibilities and effectiveness oflegislative and other operational measures. The studyconcludes that the flood-loss mitigation measures,both in terms of effects of control structures andinstitutional interventions for emergency evacuation,were not fully effective for ensuring the well-beingand satisfaction of floodplain inhabitants. Althoughorganizational preparedness and mobilization to copewith the 1997 flood emergency was considerable, theirsuccess during the onset of the flood event waslimited. Lack of communication and understandingbetween institutions, a reluctance to implementup-to-date regulations, and minimal publicparticipation in the emergency decision-making processall contributed to the difficulties experienced byfloodplain inhabitants.     

长江上游国土资源,生态环境与灾害防治

长江上游干流流经青、藏、川、滇、鄂、渝6省市,支流涉及甘肃、陕西、贵州3省,流域面积为105.4×10⁴km²,人口1.55亿,占全国国土面积的11.1%。
长江上游地区经济发展相对落后,人均国民收入低,少数民族众多,与中下游经济发达地区差距很大。但上游地区蕴藏着巨大的经济开发潜能,丰富的水力和矿产等自然资源,以及农、林、牧等物产,对中下游地区经济发展有着巨大的支援作用。同时,由于自然地理上的相关性,又使上游地区的开发治理,对中下游地区的生态环境和可持续发展有着至关重要的作用。
目前,长江上游森林植被大量减少,水源涵养能力下降,水土流失加剧:泥石流、滑坡、崩塌等地质灾害严重,旱、洪灾害频发;沿江大量排放废气、废水、污水,使大气和水体严重污染。随着上游地区生态环境的日益恶化,给中下游地区带来严重危害,河道、湖泊、水库淤积加速,洪涝灾害频繁发生,造成中下游地区经济建设和人民生命财产的重大损失。因此,必须尽快对长江上游地区进行全面综合治理,尽快开展新一轮国土资源大调查,制定各种自然资源的合理开发利用和保护方案;控制沿江污染源的排放,建立大气和水体污染监测系统;运用高新技术,建立上游重点地带地壳形变的动态监测和预警系统,防治地质灾害;充分利用上游地区丰富的水力资源,兴建多级水利设施,对地表水实施人工的时空控制,消除旱、洪灾害。     

利用GPS水准控制山区高程——以陕西丁家林金矿区为例

应用GPS水准控制山区高程的基本原理是当GPS点布设成一定区域时，可以用数学曲面拟合法求待定点的正常高，根据测区中已知点的平面坐标或大地坐标和高程异常值，用数字拟合法求出该区似大地水准面，得出等求点的正常高。在陕西丁家林金矿区实验结果表明，该方法与传统的三角高程控制法相比，无论在平原或在山区都能获得较好精度。因此，用GPS水准可替代几何水准。