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.     

Examining fault architecture and strain distribution using geospatial and geomechanical modelling: An example from the Qaidam basin,NE Tibet

The investigation of complex geological setting is still dominated by traditional geo-data collection and analytical techniques, e.g., stratigraphic logging, dip data measurements, structural ground mapping, seismic interpretation, balance section restoration, forward modelling, etc. Despite the advantages of improving our understanding in structural geometry and fault architecture, the geospatial modelling, applying computer-aided three-dimensional geometric design, visualization and interpretation, has rarely been applied to such complex geological setting. This study used the Lenghu fold-and-thrust belt (in Qaidam basin, NE Tibetan Plateau) to demonstrate that the application of geospatial and geomechanical modelling could improve our understanding and provide an effective technique for investigating the fault architecture and strain distribution. The three-dimensional configuration of the Lenghu fold-and-thrust belt was initially derived from traditional analysis techniques, such as regional stratigraphic logging, cross section construction, meso-scale ground mapping and landsat image interpretation. The high-resolution field data and landsat image were integrated to construct the geospatial model, which was subsequently used to quantitatively investigate the fault throw changes along the Lenghu thrust fault zone and to understand its control on the lateral structural variation. The geospatial model was then restored in three dimensions to reveal the kinematic evolution of the Lenghu fold-and-thrust belt. Geomechanical modelling, using a Mass-Spring algorithm, provided an effective three-dimensional tool for structural strain analysis, which was used to predict the strain distribution throughout the overall structure, e.g., normal faults with throws ranging from meters to tens of meters in the hanging-wall. The strain distribution predicted by geomechanical modelling was then validated by the natural normal faults in the hanging-wall. The high accordance between the strain prediction and statistics of natural normal faults demonstrates good applicability of geospatial and geomechanical modelling in the complex geological setting of the Lenghu fold-and-thrust belt. The geospatial models and geomechanical models, therefore, can provide a robust technique for analyzing and interpreting multi-source data within a three-dimensional environment. We anticipate that the application of three-dimensional geospatial modelling and geomechanical modelling, integrating both multi-source geologic data and three-dimensional analytical techniques, can provide an effective workflow for investigating the fault architecture and strain distribution at different scales (e.g., ranging from regional-to meso-scale).     

New insights into the carbonate karstic fault system and reservoir formation in the Southern Tahe area of the Tarim Basin

As worldwide hydrocarbon exploration has extended from shallowly to deeply buried strata, reservoir quality has attracted substantial and persistent interest in petroleum geology. In particular, deeply buried strata (>5500 m) in the Tarim Basin have attracted considerable attention because carbonate reservoirs that have experienced fracture or dissolution have also been shown to demonstrate considerable hydrocarbon potential. Therefore, it is necessary to determine how these reservoirs are developed and distributed in detail from both scientific and practical standpoints.In this paper, we address this issue using a case study in the southern Tahe area, which is contained within the largest Palaeozoic marine oilfield in China. In the northern Tahe area, mega-paleokarst systems developed in the Ordovician strata; however, the reservoir quality in the southern part of the Tahe area is relatively poor because it is covered by insoluble formations during karstification. Observations of cores and analyses of images of well logging demonstrate that these reservoirs are dominated by caves, vugs and fractures that have developed near faults. We speculate that the faults penetrating insoluble formations represent the main dissolution passages that originally developed these karstic fault systems. Additionally, we analyse a series of outcrops, seismic data, and structures to characterize the spatial geometry of these major faults and their surrounding fractures in detail. Most of these are strike-slip faults, and their subsequent reservoirs can be divided into three categories based on their development, including dendritic, sandwich and slab reservoirs. Recent studies demonstrate that karstic fault reservoirs are most common traps in the study area. Although various types of carbonate karstic fault reservoirs are represented in this region, the dendritic karstic fault reservoir is the most hydrocarbon-rich.Guided by these initial results, 108 wells were drilled from 2013 to 2014, producing 485 thousand tons of oil and yielding success ratios greater than 89%. The average production of dendritic reservoirs is 37.4 tons per day (t/d), while those of sandwich and slab types are 20.2 t/d and 14.0 t/d, respectively. These results represent significant references for future hydrocarbon exploration and the development of similar deeply buried karstic fault reservoirs in the Tarim Basin and elsewhere.     

尺度理论视角下的“一带一路”战略解读

目前,“一带一路”已成为中国的核心发展战略之一。借鉴尺度重构和尺度政治理论,分析“一带一路”战略的内涵、影响和风险。研究发现“一带一路”战略重构了现有的国家角色和地域形式,催生了以跨国基础设施为基础、以资本和经贸合作为支撑的新尺度。该尺度一方面被国际和国内的资本和权力关系不断重构,另一方面也在重构着现有的权力关系和资本积累过程。还从尺度政治视角出发探讨了“一带一路”战略中的风险因素。在国际层面,中国既面临着基于多边国际关系和地方抵抗的尺度上推力量,也面临着基于旧有边界和尺度化表达的尺度下推因素。在国内,“一带一路”战略既面临着地方政府基于政策争夺和地方保护主义产生的重复建设问题,也存在疆独势力等通过国际联系复杂化地方趋势的风险。为了更好地推行“一带一路”战略,中国必须积极应对这些尺度政治的挑战,深入研究尺度政治的机制和破解之道,努力化解海外投资、国际合作和地方治理中的风险。     

Evolution and character of supra-salt faults in the Easternmost Hammerfest Basin,SW Barents Sea

This study investigates the evolution of supra-salt faults in the Eastern Hammerfest Basin using high–quality seismic reflection data. Traditional techniques of displacement analysis, including the variation of fault displacement (throw) against distance (x), depth (z), expansion and growth indices were adopted. Fault reactivation was assessed using bivariate plots of a) cumulative throw vs. age and b) throw (t) vs. depth of nine (9) representative faults.The interpreted faults are supra-salt crestal and synclinal faults striking NE, E and SE. These faults have complicated t-x and t-z plots and are characterized by considerable stratigraphic thickening in their downthrown section. Faults in the study area have developed over the salt structure since latest Paleozoic times; some of them were reactivated by Early to Middle Triassic through dip linkage of initially isolated fault sets. Along strike, the fault exhibit complex segmentation through coalescence of several subunits linked by local throw/displacement minima. Expansion and growth indices show that the faults of the study area developed during the deposition of Paleozoic to Early Cretaceous sediments by polycyclic growth involving both blind and syn-sedimentary activity.An important piece of information from this study is that fault propagation is controlled by lithological heterogeneity and that both lateral and vertical segmentation of faults are important for hydrocarbon migration within the Triassic to Late Cretaceous interval.     

南北地震带近期地壳水平运动变化分析

对2009、2011及2013年3期陆态网络流动GPS观测资料进行了处理,获得了2009~2011及2011~2013年两个时间段南北地震带地壳水平运动速度图像。参考1999~2007年网络工程流动GPS速度场结果,分析了南北地震带近期地壳水平运动场与应变场变化特征,认为近期地壳运动变化受汶川地震震后影响较大。2013年芦山7.0级地震和岷县漳县6.6级地震是2008年汶川8.0级地震震后应力场调整触发的结果。     

安丘台定点形变监测与地震活动性的相关性分析

应用安丘台跨断层定点形变的水准观测资料进行一般多项式曲线分段拟合,结合周边的地震活动背景．研究断层活动与地震活动之间的关系。结果表明,断层活动和周边的地震活动在频度上存在对应关系。可利用断层活动与地震活动的对应关系,为台站周边地区的地震预报提供参考指标。     

Dextral‐Slip Thrust Faulting and Seismic Events of the Ms 8.0 Wenchuan Earthquake,Longmenshan Mountains,Eastern Margin of the Tibetan Plateau

Abstract: Dextral-slip thrust movement of the Songpan-Garzê terrain over the Sichuan block caused the Ms 8.0 Wenchuan earthquake of May 12, 2008 and offset the Central Longmenshan Fault (CLF) along a distance of ~250 km. Displacement along the CLF changes from Yingxiu to Qingchuan. The total oblique slip of up to 7.6 m in Yingxiu near the epicenter of the earthquake, decreases northeastward to 5.3 m, 6.6 m, 4.4 m, 2.5 m and 1.1 m in Hongkou, Beichuan, Pingtong, Nanba and Qingchuan, respectively. This offset apparently occurred during a sequence of four reported seismic events, EQ1–EQ4, which were identified by seismic inversion of the source mechanism. These events occurred in rapid succession as the fault break propagated northeastward during the earthquake. Variations in the plunge of slickensides along the CLF appear to match these events. The Mw 7.5 EQ1 event occurred during the first 0–10 s along the Yingxiu-Hongkou section of the CLF and is characterized by 1.7 m vertical slip and vertical slickensides. The Mw 8.0 EQ2 event, which occurred during the next 10–42 s along the Yingxiu-Yanziyan section of the CLF, is marked by major dextral-slip with minor thrust and slickensides plunging 25°–35° southwestward. The Mw 7.5 EQ3 event occurred during the following 42–60 s and resulted in dextral-slip and slickensides plunging 10° southwestward in Beichuan and plunging 73° southwestward in Hongkou. The Mw 7.7 EQ4 event, which occurred during the final 60–95 s along the Beichuan-Qingchuan section of the CLF, is characterized by nearly equal values of dextral and vertical slips with slickensides plunging 45°–50° southwestward. These seismic events match and evidently controlled the concentrations of landslide dams caused by the Wenchuan earthquake in Longmenshan Mountains.     

Potassium‐argon dates from the Arltunga Nappe complex,northern territory

Twenty‐four mineral separates from the Arunta Complex, four from the metamorphosed Heavitree Quartzite (White Range Quartzite), and one whole rock sample of metamorphosed Bitter Springs Formation, all from the western part of the White Range Nappe of the Arltunga Nappe Complex, and two samples from the autochthonous basement west of the nappe have been dated by the K‐Ar method. The samples from the basement rocks form two groups. Those in the southern or frontal part of the nappe are of Middle Proterozoic (Carpentarian) age (1660–1368 m.y.), determined on hornblende, biotite, and muscovite. In the northern or rear part of the nappe, all but one of the muscovite samples and two biotites are of Middle Silurian to Early Carboniferous age (431–345 m.y.); the remainder of the biotite dates range from 1775 to 548 m.y. (including the two samples from the autochthon), and two hornblendes gave dates of 1639 and 2132 m.y. respectively. All the muscovite samples from the Heavitree Quartzite, and the whole rock sample from the Bitter Springs Formation gave Early to Middle Carboniferous dates (358–322 m.y.). The findings support the identification of the White Range Quartzite as the metamorphosed part of the Heavitree Quartzite, which in turn supports the interpretation of the structure of the area as a large, basement‐cored fold nappe. In addition, they date the time of the Alice Springs Orogeny as pre‐Late Carboniferous, which agrees with fossil evidence from elsewhere in the area. The Alice Springs Orogeny was accompanied by widespread greenschist facies meta‐morphism that progressively metamorphosed the Heavitree Quartzite and Bitter Springs Formation, and retrogressively metamorphosed the Arunta Complex. However, the basement rocks in the southern part of the nappe escaped this metamorphism and retain a Middle Proterozoic age, thus dating the time of the Arunta Orogeny in this region as Carpentarian or older.     

答“评‘紫坪铺水库造成孔隙弹性耦合变化及其对2008年汶川地震触发作用’二维模拟的局限性”

程惠红等(2015)在"评‘紫坪铺水库造成孔隙弹性耦合变化及其对2008年汶川地震触发作用’二维模拟的局限性"一文中提出,陶玮等(2014)采用二维模型模拟紫坪铺水库造成孔隙弹性耦合变化是一个不足,夸大了汶川地震震源处库仑应力增长值.我们认为采用二维模型模拟水库造成汶川地震震源处库仑应力变化确实可能存在一定偏差,但不会如程惠红等认为的"与三维模型相比夸大三倍".这是因为在程惠红等引用的论证中,二维模型计算中选取了接近水库最大剖面宽度而不是水库平均剖面宽度作为加载量参数,造成计算得到震源处库仑应力明显夸大.此外,陶玮等(2014)提出论断的主要依据不是"震源处"库仑应力值的大小,而是紫坪铺水库蓄水"由浅入深影响到整条断层,尤其对浅层范围的加载作用明显,达上百千帕,为整个断层面的失稳提供了基础".初始破裂的发生既可能是由水库蓄水引起,也可能是并非水库蓄水造成的一次普通构造小震,但其发生引发断层面上部已被水库蓄水弱化部分的连锁失稳而发生大震.即汶川地震既可能为直接触发也可能为间接触发,而我们的研究结果认为地震的发生完全可能由间接触发产生.若仅纠结于"震源处"的库仑应力变化,则忽视了水库蓄水影响的主体.水库蓄水对地震触发作用是一个复杂问题,相对这一问题所涉及的一系列不确定性因素来说,二维模拟的局限性所造成的影响并不很大也不是最大的,也不妨碍我们据此得出紫坪铺水库蓄水促进汶川地震发生的结论.