Robust and adaptive path following for underactuated autonomous underwater vehicles

This paper proposes a nonlinear robust adaptive control strategy to force a six degrees of freedom underactuated underwater vehicle with only four actuators to follow a predefined path at a desired speed despite of the presence of environmental disturbances and vehicle’s unknown physical parameters. The proposed controller is designed using Lyapunov’s direct method, the popular backstepping and parameter projection techniques. The closed loop path following errors can be made arbitrarily small. Interestingly, it is shown that our developed control strategy is easily extendible to situations of practical importance such as parking and point-to-point navigation. Numerical simulations are provided to illustrate the effectiveness of the proposed methodology.     

维护体系良性运行 适应新版质量标准

本文介绍了海洋技术研究所质量管理处在维护质量体系运行方面的主要作法和经验体会，结合2000版ISO9201标准的新内容，提出适应新版标准的想法。     

Analytic Solution of Interaction Between Surface Waves and Floating Elastic Plates with Elastic End-Restraints

Based on the dynamic theories of water waves and Mindlin plates,the analytic solution of interaction between surface waves and two-dimensional floating elastic plates with edge-restraint is constructed by use of the Wiener-Hopf technique.Firstly,without regard for elastic edge restraint,the wave-induced responses of elastic floating plate analyzed by the present method are in good agreement with the results from literature and experimental results.Therefore,it can be shown that the present method is valid.Secondly,three end-restraint cases(i.e.,the left-end elastic restraints,the both-end elastic restraints,and the right-end elastic restraints)are proposed to reduce the vibration of floating plates,in which the spring is used to connect the sea bottom and the floating plate's left(or right)edge.The relations between the spring stiffness and the parameters of wave-induced responses of floating plates are discussed.Moreover,the effective method to reduce the vibration of floating elastic plates can be obtained through comparison.     

具有匹配不确定的奇异摄动系统的鲁棒控制

对于同时具有结构匹配不确定和系统不确定量的奇异摄动系统，利用Lyapunov稳定性理论进行了鲁棒性研究。给出了1个理想奇异摄动系统的稳定鲁棒控制也是不确定奇异摄动系统稳定控制的稳定条件和鲁棒界，讨论了鲁棒界及其随参数变化的变化范围。本文是王宪杰，高存臣已有结果的推广。     

海洋环境预报电视节目制作与回顾

作为海洋环境预报公益服务的窗口自开播至今,经历了20年的风风雨雨,海洋电视节目的内容从单一性的项目到海浪、海温、海冰、风暴潮、海水浴场综合性预报,电视视频信号从复合、分量信号到数字信号,通过光缆采用基带的方式传送视频信号到中央电视台.     

Problems with biogenic silica measurement in marginal seas

Surface sediment samples from the Bohai, Yellow Sea, and the Pacific were used to assess biogenic silica (BSi) content and to study uncertainties in BSi measurements. The contents of BSi in the Bohai and Yellow Sea are all less than 1%. The dissolution of BSi in sediments from the Bohai and Yellow Sea is very important to maintain high levels of silicate in the water column. The non-biogenic silica from clay minerals has an obvious effect on BSi of sediment samples in the Bohai and Yellow Sea with low BSi and high clay minerals. The solid to solution ratio was found to have a great influence on BSi measurement, which can induce uncertainties up to 75%. The effect of loss by sorption and centrifugation is negligible. Interlaboratory comparison of techniques for BSi measurement by the wet alkaline extraction technique of Mortlock and Froelich [Deep-Sea Res. 36 (1989) 1415-1426] with clay correction was suggested to give no significant differences. However, differences in sediment compositions and reagent to sample ratio may limit the application of the wet alkaline extraction method.     

Limitations of the Korean conventional fisheries management regime and expanding Korean TAC system toward output control systems

In this paper, we focus on the status and trends of the current Korean fisheries management regime. Specifically, this paper briefly introduces the Korean conventional fisheries management regime (KCFMR) and discusses its problems and limitations. In describing policy evolution, this paper finds reasons why the Korean government has chosen a TAC system, an output control approach, besides input control approaches in force for almost a century. This paper also describes the evolution of the Korean TAC system, which is carrying out a pivotal role in Korean fisheries development, and analyzes problems of the Korean TAC system. Finally, this paper gives a perspective on expanding the Korean TAC system toward Output Control Systems (OCSs) such as Individual Quotas (IQs), Individual Vessel Quotas (IVQs), Individual Transferable Traps (ITTs), Community Quotas (CQs), and Individual Transferable Quotas (ITQs).     

Stability of waterfront retaining wall subjected to pseudo-static earthquake forces

Waterfront retaining walls supporting dry backfill are subjected to hydrostatic pressure on upstream face and earth pressure on the downstream face. Under seismic conditions, if such a wall retains a submerged backfill, additional hydrodynamic pressures are generated. This paper pertains to a study in which the effect of earthquakes along with the hydrodynamic pressure including inertial forces on such a retaining wall is observed. The hydrodynamic pressure is calculated using Westergaard's approach, while the earth pressure is calculated using Mononobe-Okabe's pseudo-static analysis. It is observed that when the horizontal seismic acceleration coefficient is increased from 0 to 0.2, there is a 57% decrease in the factor of safety of the retaining wall in sliding mode. For investigating the effect of different parameters, a parametric study is also done. It is observed that if φ is increased from 30° to 35°, there is an increase in the factor of safety in the sliding mode by 20.4%. Similar observations were made for other parameters as well. Comparison of results obtained from the present approach with [Ebeling, R.M., Morrison Jr, E.E., 1992. The seismic design of waterfront retaining structures. US Army Technical Report ITL-92-11. Washington DC] reveal that the factor of safety for static condition (k_h=0), calculated by both the approaches, is 1.60 while for an earthquake with k_h=0.2, they differ by 22.5% due to the consideration of wall inertia in the present study.     

水产饲料膨化机设计刍论

据开发应用水产饲料膨化机实践，初步论述了膨化机生产能力与动力匹配，螺杆设计参数长径比，物料在腔内滞留时间，膨化腔设计及其温度调控，并提出改进设计的见解.