水下智能潜器的神经网络运动控制

本文介绍一种基于神经网络的水下智能潜器的运动控制方法，该方法通过在线学习，融控制与滤波为一体。计算机仿真与水池实验验证表明，该方法的控制与滤波性能良好，对环境的学习与适应能力强。该方法事实上可用于一般动力系统的控制。     

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     

前苏联七十年海冰研究回顾

本文简要介绍了前苏联近七十年来海冰研究的主要成果及其采用的一些预报方法。     

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。     

热带西太平洋海-气热量交换特征分析

本文采用1985年12月12日至1986年2月8日“向阳红14”号调查船在太平洋调查所获海洋水文气象资料,计算了四种热交换量。结果表明:海-气热输送与天气系统和海洋水文条件关系密切。冬季,在各种天气系统条件下西太平洋及中太平洋的大气主要是从海洋得到热量,其中以黑潮流经的海域最为明显,而热交换的方式主要是海洋以潜热的形式把热量输送给大气。     

潮汐对瞬态气候响应模拟的影响研究

In this study, the impact of oceanic processes on the sensitivity of transient climate change is investigated using two sets of coupled experiments with and without tidal forcing, which are termed Exp_Tide and Exp_Control,respectively. After introducing tidal forcing, the transient climate response(TCR) decreases from 2.32 K to 1.90 K,and the surface air temperature warming at high latitudes decreases by 29%. Large ocean heat uptake efficiency and heat storage can explain the low TCR in Exp_Tide. Approximately 21% more heat is stored in the ocean in Exp_Tide(1.10×10~(24) J) than in Exp_Control(0.91×10~(24) J). Most of the large ocean warming occurs in the upper 1 000 m between 60°S and 60°N, primarily in the Atlantic and Southern Oceans. This ocean warming is closely related to the Atlantic Meridional Overturning Circulation(AMOC). The initial transport at mid-and high latitudes and the decline in the AMOC observed in Exp_Tide are both larger than those observed in Exp_Control. The spatial structures of AMOC are also different with and without tidal forcing in present experiments. The AMOC in Exp_Tide has a large northward extension. We also investigated the relationship between AMOC and TCR suggested by previous studies using the present experiments.     

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。