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.     

海底玄武岩中次生组分HCl溶解实验研究

次生组分沉淀是海底岩石中普遍存在的现象,次生组分去除是减少次生组分干扰、获取海底岩石高质量数据的关键。选择西太平洋麦哲伦海山区MK海山相对新鲜的玄武岩作为研究对象,经研磨、均一化后将粉末样品分为49份,其中48份分别以0.25,0.50,1.00,1.50,2.00,2.50 mol/L六种浓度的足量HCl溶解0.5,1,2,4,8,16,32和64 h后,选取溶解残渣测定主要氧化物和特征微量元素质量分数,确定HCl溶解法在去除次生组分的同时不会对海底新鲜玄武岩中原生组分造成影响的HCl浓度-时间组合。结果表明,在HCl浓度为1.00～2.50 mol/L,溶解时间为0.5～2 h的12种HCl浓度-时间组合均可保证海底玄武岩中原生组分的安全,并可有效去除次生组分。综合海底蚀变玄武岩次生组分去除实验研究,推荐使用1.00～2.00 mol/L HCl,溶解时间在0.5～1 h的实验方案。     

中国西南典型地质背景区土壤重金属分布及生态风险特征

中国西南有22.3％的耕地重金属含量超标,区内广泛分布的峨眉山玄武岩和碳酸盐岩被认为是土壤中重金属的主要母质来源.目前,中国西南地区,尤其是峨眉山玄武岩分布区土壤重金属生态风险的研究程度仍有待提升,不同地质背景区(成土母岩)土壤中重金属含量、空间分布与生态风险缺乏对比.本文选择四川省典型地质背景区采集土壤样品,采用原子...     

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.     

北部湾盆地海中凹陷油气成藏条件分析

海中凹陷位于北部湾盆地西南部,其勘探程度低,对油气成藏条件欠缺系统的认识和深入的研究。以含油气系统理论为指导,在简要介绍地层与构造特征的基础上,重点论述了烃源岩、储集层、圈闭及输导介质等油气系统的基本要素,认为海中凹陷发育多套烃源岩、多套储集层、多种类型圈闭和复合的输导介质,具备油气系统形成的基本条件,具有较为广阔的油气勘探前景。     

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。     

Petroleum composition in the Cuu Long Basin (Mekong Basin) offshore southern Vietnam

The Cuu Long Basin (Mekong Basin) is a rift basin off southern Vietnam, and the most important petroleum producing basin in the country. However, information on petroleum type and characteristics has hitherto been largely unavailable to the public. This paper presents petroleum geochemical data on nine oil samples from four different producing fields in the Cuu Long Basin: the Dragon (Rong), Black Lion (Sutu-Den), Sunrise (Rang ?ong) and White Tiger (Bach Ho) Fields. The oils are highly paraffinic with bimodal normal alkane distributions and show moderate pristane to phytane ratios and a conspicuous hyperbolic decrease in abundance with increasing carbon number of hopane homologues from C₃₀ to C₃₅. The TPP-index of Holba et al. (Holba, A.G., Dzou, L.I., Wood, G.D., Ellis, L., Adam, P., Schaeffer, P., Albrecht, P., Greene, T., Hughes, W.B., 2003. Application of tetracyclic polyprenoids as indicators of input from fresh–brackish water environments. Organic Geochemistry 34, 441–469) is equal to 1 in all samples which in combination with tricyclic triperpane T26/T25 ratios >1 and the n-alkane and hopane distributions mentioned above provide a strong indication of an origin from lacustrine source rocks. This is supported by the absence of marine C₃₀ desmethyl steranes (i.e. 24-n-propylcholestanes) and marine diatom-derived norcholestanes. Based on the overall biological marker distributions, the lakes probably belonged to the overfilled or balanced-fill types defined by Bohacs et al. (Bohacs, K.M., Carroll, A.R., Neal, J.E., Mankiewicz, P.J., 2000. Lake-basin type, source potential, and hydrocarbon character. An integrated sequence-stratigraphic–geochemical framework. AAPG Studies in Geology 46, 3–34). The oils were generated from source rocks at early- to mid-oil-window maturity, presumably Oligocene lacustrine shales that are present in the syn-rift succession. Oils from individual fields may, however, be distinguished by a combination of biological marker parameters, such as the oleanane index, the gammacerane index, the relative abundance of tricyclic terpanes, the proportions of diasteranes and 28-norspergulane, complemented by other parameters. The oils of the Cuu Long Basin show an overall similarity to the B-10 oil from the Song Hong Basin off northern Vietnam, but are markedly different from the seepage oils known from Dam Thi Nai on the coast of central Vietnam.     

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.