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.     

Late quaternary seismic stratigraphy and active faults of the Gulf of İzmit (NE Marmara Sea)

The Upper Quaternary seismic stratigraphy and active faults of the Gulf of İzmit were investigated by means of high-resolution shallow seismic profiling data in the source region of 1999 İzmit earthquake. High-resolution seismic reflection data correlated with borehole data indicate that the stratigraphy of İzmit Bay consists of three distinct depositional sequences formed in response to middle Pleistocene-Holocene sea-level changes. Reflector R, separating the pre-Holocene sequences (1 and 2) from the Holocene sequence (3), represents an erosional unconformity produced by the subaerial fluvial erosion of the continental shelves at the time of the last glacial maximum. Occasional, anomalous reflections (acoustic turbidity) observed within the Holocene sequence are interpreted as gas accumulations. The maximum thickness of the Holocene sediments is found to be about 25 m. The isopach map of Holocene sediment implies that the thickness of the Holocene decreases from the east towards the central and western basins of İzmit Bay. Two distinct fault systems are interpreted in İzmit Bay. The main fault system extending roughly in an E-W direction along the Gulf of İzmit is an active right lateral strike slip fault with a normal component. The secondary faults are normal faults striking in different directions and these are identified as being both active and inactive. In addition, prominent compressive features are identified in the seismic cross-sections of some profiles acquired to the east of Hersek Peninsula where the focal mechanisms of the aftershocks of the 1999 İzmit earthquake also reveal predominantly reverse faulting mechanisms, as identified by a local dense seismic network.     

海上高温低渗油田酸化技术应用研究

针对渤中34油田油藏孔隙度渗透率比较低、温度比较高（大于120℃）的特点,结合储层伤害原因分析,根据室内试验结果,采用多氢酸体系对渤中34油田的油井进行酸化增产作业。通过对渤中34油田5口井（均为新井,完井后基本不出液）的酸化施工,酸化成功率达到100％,酸化后各井均达到甚至超过配产要求,这表明多氢酸体系对于高温低渗砂岩地层,能够有效地解除钻完井过程中造成的污染。与常规酸液体系相比,多氢酸体系具有明显的优势且效果明显,对于类似海上油田酸化有较强的借鉴意义。     

东营凹陷低渗透油藏分布规律及储层改造效果

东营凹陷2001年之前探明的低渗透油藏主要分布在洼陷带、中央背斜带及北部陡坡带,以沙三段深水浊积扇及沙四段滨浅湖相砂岩滩坝、扇三角洲前缘等沉积体系为主。油藏类型主要是岩性油藏,其次为构造—岩性复合型油藏。低渗透油藏以中深层、常压-超高压、低产、中产为特征,多为特小型、小型油藏,储量丰度为低丰度~特低丰度。低渗透油藏的探井试油过程中,经历了从酸化逐步到压裂的技术发展过程。统计探井的试油效果表明,沙四段碳酸盐含量较高的砂岩低渗透油藏,酸化效果较好;黏土含量较高的沙三段低渗透油藏,压裂效果较好。     

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.     

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。     

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。     

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.     

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.     

不同应力状态下地层渗透系数的变化及其对流体运移影响的数值模拟研究

本文选择地层渗透系数受应力影响而变化作为研究流体运移的基础。压实固结和构造作用所产生应力对渗透系数影响的有限元数学模拟研究表明,平均有效应力与介质渗透性能呈负相关的变化趋势,应力驱动流体由应力高值区向应力低值区运移。