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.     

Reflections on the current state of global climate response

What is the significance of the 2007 United Nations Climate Change Conference in Bali? The formal outcomes, especially the ‘Bali Action Plan’, are described and commented on, along with the challenges for negotiating a post-2012 agreement in Copenhagen during 2008 and 2009. The article concludes that the outcome of the Bali meeting is insufficient when compared to the nature of the challenge posed by climate change. However, it can nevertheless be considered a success in terms of ‘Realpolitik’ in paving the way for the negotiations ahead, because some real changes have been discerned in the political landscape. The challenges for the road towards Copenhagen are manifold: the sheer volume and complexity of the issues and the far-reaching nature of decisions such as differentiation between non- Annex I countries pose significant challenges in themselves, while the dependency on the electoral process in the USA introduces a high element of risk into the whole process. The emergence of social justice as an issue turns climate policy into an endeavour to improve the world at large—thereby adding to the complexity. And, finally, the biggest challenge is the recognition that the climate problem requires a global solution, that Annex I and non-Annex I countries are mutually dependent on each other and that only cooperation regarding technology in combination with significant financial support will provide the chance to successfully tackle climate change.     

受扰线性系统的前馈-反馈最优控制

针对具有外部持续扰动的线性系统，研究前馈-反馈最优控制律的设计问题。给出了最优控制律的存在唯一性条件。并提出了最优控制律的设计算法。利用滤波器解决了前馈控制的物理不可实现问题。仿真结果表明，此算法易于实现，与传统的反馈最优控制相比对抑制外部扰动具有较强的鲁棒性。     

则木河断裂的现今活动方式及其地形变鉴别标志探讨

根据地壳形变测量资料，探讨了则木河断裂的现今活动方式及其定性的地形变鉴别标志问题。结果表明：则木河断裂的现今活动具有明显的分段性特征，即以大箐为界分为南北两段，北段以粘滑活动为主，南段以蠕滑活动为主；沿则木河断裂带垂直位移速率空间分布特征的显著差异，可以作为鉴别断裂现今活动方式的标志之一，其位移速率的相对大小，可作为鉴别断裂现今活动方式的一种参考标志     

中国城市异速增长分析

在对国内外城市异速增长方程的讨论进行回顾的基础上,采用1990年、2000年和2005年中国城市建成区和人口普查的城镇人口数据,分析了中国城市用地与城镇人口之间的异速增长关系.在对标度因子的标准值进行充分讨论后.认为1990年中国城市增长是负异速增长,2000年和2005年呈现正异速增长的状态,中国东、西部城市样本也表现出这种规律,而中部城市在1990年,2000年保持了原有的建设用地与人口增长的比例,但在中部崛起的政策下,2005年表现为正异速增长,该结论与中国在流动人口的变化、住房体制改革和开发区快速拓展有密切关系.     

探讨利用SCIAMACHY数据反演温室气体二氧化碳

自工业革命以来CO2已经成为引起全球气候变暖的一种最主要的人为温室气体,由此引起的全球气候变化是当今社会经济可持续发展面临的最严峻挑战之一.为了更好的研究二氧化碳在时间与空间尺度上的格局及变化,综合分析CO2与太阳辐射、地面反照率、气溶胶等要素之间的关系,本文回顾了以往利用新型卫星传感器获取多源遥感数据的特点,分析了多种反演计算方法的优缺点,并结合地面实测数据进行对比分析的方法与理论,全面阐述国际上有关CO2柱浓度反演的思想.作者认为目前在地面观测站较少的情况下,针对先进的SCIAMACHY传感器数据利用DOAS相关算法及BESD算法进行CO2柱体浓度反演的数据连续,技术成熟,并由此提出了下一步工作中应解决的3个问题.     

冻融循环对盐渍土黏聚力影响的试验研究

通过室内试验,测试了冻融循环对不同含盐量和不同含盐类别盐渍土黏聚力的影响规律。从结晶体位置变化、微观结构、盐类性质及未冻结水含量三个方面分析了冻融循环对盐渍土黏聚力的作用机理。研究结果表明,在含水率一定的情况下,无论是向土中加入Na2SO4,或者是CaCl2,经冻融循环后黏聚力都随冻融次数的增加而减小,且第1次和第2次循环为主要减小阶段;加入CaCl2后黏聚力的减小程度比加入等量Na2SO4后小;冻融循环过程中结晶体析出时位置的变化是土体黏聚力和干密度减小的主要原因;经SEM图片分析,大孔隙占总孔隙面积的比例随冻融次数的增加而减小;盐渍土中CaCl2溶液的含量对冻融循环中黏聚力的变化有重要影响。     

近50年河北省干旱时空分布特征

干旱是影响我国的主要气象灾害之一,本文采用标准化降水指数SPI作为干旱评价因子对近50年来河北省干旱的时空变化特征进行了研究,得出以下主要结论:(1)春季干旱最为严重,干旱率呈逐渐降低的趋势,夏季干旱率呈逐渐增加、秋季和冬季干旱率略有降低的趋势;(2)春季干旱在20世纪70年代最为严重,夏季、秋季和冬季的年代际干旱分别以2000年以来、20世纪60年代和90年代最为严重;(3)春季干旱发生概率均大于20%,发生概率大于30%的旱情多发地区在各市均有分布;全省大部分地区夏季、秋季和冬季干旱发生概率为20%~30%,夏季干旱多发地区主要集中在河北省北部和西南部,秋季干旱多发地区主要集中在河北省西部和南部,冬季干旱多发地区主要集中在河北省北部。     

P.S测井技术的工程应用

P．S测井技术是地震勘探方法之一，也是一种简便、快速、准确的原位测试技术。通过P．S测井可测定岩土体的弹性波速（Vp、Vs)，为工程设计提供所需的动弹性力学参数、划分建筑物场地类别、评价地震效应、进行场地地震反应分析和地震破坏潜势分析等。文中简述了P．S测井技术的工作原理、现场实测技术以及数据处理和资料分析过程。最后结合两个实例说明了P．S测井技术在岩土工程勘察过程中的应用及其效果。     

Communicating research on the economic valuation of coastal and marine ecosystem services

Quantifying the monetary value of ecosystem services (ES) provided by coastal and marine resources can help policy makers assess the trade-offs and synergies inherent in ecosystem-based management of marine and coastal environments, thus increasing the social efficiency of decision-making processes. As shown by the valuation literature, the number of coastal and marine management settings where valuation researchers have attempted to make a contribution is rising fast. However, this rise in research activity has not been matched by the increase in the use of economic valuation (EV) in the actual management of coastal and marine resources. This raises an interesting question: is EV responding to the needs of policy makers? This paper provides a comprehensive overview of the knowledge base regarding the economic values for coastal and marine ecosystems. It then discusses how to improve the uptake of ES valuation research by focussing on two core issues which are thought to be essential for more effective communication with the policy community.