自主式水下机械手系统研究

本文从水下机械手的总体设计，关节直流电机的驱动和调速，手臂上声纳的水下搜索与跟踪，机械手系统的智能控制和电源等几个方面，介绍了有关自主式水下机械手系统的研究，可为研制自主式水下作业系统提供参考     

Expanded adaptive fuzzy sliding mode controller using expert knowledge and fuzzy basis function expansion for UFV depth control

Generally, the underwater flight vehicle (UFV) depth control system operates with the following problems: it is a multi-input multi-output (MIMO) system, it requires robustness, a continuous control input, and further, it has the speed dependency of controller parameters. To solve these problems, an expanded adaptive fuzzy sliding mode controller (EAFSMC), which is based on the decomposition method designed by using an expert knowledge and the decoupled sub-controllers and composition method designed by using the fuzzy basis function expansions (FBFEs), is proposed. To verify the performance of the EAFSMC, the depth control of UFV in various operating conditions is performed. Simulation results show that the EAFSMC solves all problems experienced in the UFV depth control system online.     

诊断台风异常路径的三层权重控制点方案

本方案采用850、700、500hPa三个层次的环境平均流场作控制点法。综合考虑这些层次上的引导气流在不同时、空域中的相对重要性。试验结果表明,其效果比单一取某层作引导为佳。且对用来预测台风的未来24小时路径是否异常具有一定的参考价值。     

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。     

东白令海的刺黄盖鲽渔场海洋学与渔业生物学特征

本文概述了东白令海形成刺黄盖鲽渔场的海洋学特征,并结合现场调查的标样侧重分析了刺黄盖鲽的渔业生物学特征,本文还概略地讨论了该鱼与渔业资源的关系。     

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。     

动态基准实时测量系统的开发与应用

介绍了动态基准实时测量系统的硬件组成、站点上全站仪棱镜组合安装与检测方法、系统软件的开发及特点，最后对系统在广州地铁某地铁站结构变形自动监测中的应用情况进行了阐述。通过实际应用表明该系统能应用在自动化、高精度的变形监测领域。     

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).