Robust leader-follower formation tracking control of multiple underactuated surface vessels

This paper is concerned with the formation control problem of multiple underactuated surface vessels moving in a leader-follower formation.The formation is achieved by the follower to track a virtual target defined relative to the leader.A robust adaptive target tracking law is proposed by using neural network and backstepping techniques.The advantage of the proposed control scheme is that the uncertain nonlinear dynamics caused by Coriolis/centripetal forces,nonlinear damping,unmodeled hydrodynamics and disturbances from the environment can be compensated by on line learning.Based on Lyapunov analysis,the proposed controller guarantees the tracking errors converge to a small neighborhood of the origin.Simulation results demonstrate the effectiveness of the control strategy.     

Spatial pattern formation of a ratio-dependent predator—prey model

This paper presents a theoretical analysis of evolutionary process that involves organisms distribution and their interaction of spatially distributed population with diffusion in a Holling-III ratio-dependent predator--prey model, the sufficient conditions for diffusion-driven instability with Neumann boundary conditions are obtained. Furthermore, it presents novel numerical evidence of time evolution of patterns controlled by diffusion in the model, and finds that the model dynamics exhibits complex pattern replication, and the pattern formation depends on the choice of the initial conditions. The ideas in this paper may provide a better understanding of the pattern formation in ecosystems.     

Formation and stability of mixed Mg/Ca/phytate species in synthetic seawater media: Consequences on ligand speciation

The results of a potentiometric investigation (by ISE-H⁺, glass electrode) on the speciation of phytate ion (Phy¹²⁻) in an ionic medium simulating the major components (Na⁺, K⁺, Ca²⁺, Mg²⁺, Cl⁻ and SO₄²⁻) of natural seawater, at different salinities and t = 25 °C, are reported. The work was particularly aimed at determining the possible formation of mixed Ca²⁺–Mg²⁺–phytate ion pairs, and to establish how including the formation of these mixed species would affect the speciation modeling in seawater media. After testing various speciation models, that considering the formation of the MgCaH₃Phy⁵⁻, MgCaH₄Phy⁴⁻, Mg₂CaH₃Phy³⁻ and Mg₂CaH₄Phy²⁻ species was accepted, and corresponding stability constants were determined at two salinities (S = 5, 10). A discussion is reported both on the choice of the experimental conditions and on the possibility to extend these results to those typical of real seawater. A detailed procedure is also described to demonstrate that the stability of these species is higher than that statistically predicted. As reported in literature, a parameter, namely log X, has been determined in order to quantify this extra stability for the formation of each mixed species at various salinities. For example, at S = 10, log X₁₁₃ = 2.67 and log X₁₁₄ = 1.37 for MgCaH₃Phy⁵⁻ and MgCaH₄Phy⁴⁻ (statistical value is log X_stat = 0.60), and log X₂₁₃ = 6.11 and log X₂₁₄ = 2.15 for Mg₂CaH₃Phy³⁻ and Mg₂CaH₄Phy²⁻ (log X_stat = 1.43), respectively. Results obtained also showed that the formation of these species may occur even in conditions of low salinity (i.e. low concentration of alkaline earth cations) and low pH (i.e., more protonated ligand).     

Rare earth element characteristics of the carboniferous Huanglong Formation dolomites in eastern Sichuan Basin,southwest China: Implications for origins of dolomitizing and diagenetic fluids

Marine dolostones of Carboniferous Huanglong Formation constitute major gas reservoir rocks in eastern Sichuan Basin. However, the investigation with respect to sources of dolomitizing and diagenetic fluids is relatively underexplored. The current study attempts to investigate the REE characteristics of dolomites using seawater normalization standard, and therefore discusses the origins of dolomitizing and diagenetic fluids, on the basis of continuous 47.33-m-long core samples from the second member of Huanglong Formation (C₂h₂) in eastern Sichuan Basin. Low Th, Sc, and Hf concentrations (0.791 × 10⁻⁶, 4.751 × 10⁻⁶, and 0.214 × 10⁻⁶, respectively), random correlation between total REE concentration (ΣREE) and Fe or Mn abundance, and seawater-like Y/Ho ratios (mean value of 45.612) indicate that the carbonate samples are valid for REE analysis. Based on petrographic characteristics, four dolomite types are identified, including micritic-sized dolomite (type Dol-1), fine-to medium-sized dolomite (type Dol-2), medium-to coarse-sized dolomite (type Dol-3), and coarse-to giant-sized saddle dolomite (type Dol-4). Dol-1 dolomites, characterized by positive Ce anomaly (mean value of 6.398), light REE (LREE) enrichment, and heavy REE (HREE) depletion with mean LREE/HREE ratio of 12.657, show micritic calcite-like REE patterns, indicating seawater origin of their dolomitizing fluids. Dol-1 dolomites were formed in sabkha environment whereas the dolomitizing fluids originated from evaporative brine water due to their micritic crystal sizes and tight lithology. Dol-2 dolomites, particularly subtype Dol-2a barely developing vuggy porosity, also show micritic calcite-like REE patterns, suggesting their dolomitizing fluids were seawater or seawater-derived fluids. This inference is confirmed by low Fe and Mn concentrations, which range from 651 μg/g to 1018 μg/g (mean value of 863 μg/g) and 65 μg/g to 167 μg/g (mean value of 105 μg/g), respectively, whereas homogenization temperatures (T_h, mean value of 103 °C) indicate that Dol-2 dolomites were formed under burial environment. Dol-3 dolomites, in form of cements of Dol-2 dolomites, show similar REE patterns to their host minerals (i.e., Dol-2 dolomites), indicating their parent source was possibly derived from Dol-2 dolomites. Dol-3 dolomites have high Fe and Mn concentrations with mean values of 3346 μg/g (ranging from 2897 μg/g to 3856 μg/g) and 236 μg/g (ranging from 178 μg/g to 287 μg/g), respectively, indicating the involvement of meteoric water. Meanwhile, it confirms that the dissolution in Dol-2 dolomites was caused by meteoric water leaching. Positive Eu anomalies (mean value of 1.406) in Dol-4 dolomites, coupled with high homogenization temperatures (mean value of 314 °C), suggest that Dol-4 dolomites precipitated from hydrothermal fluids. High Fe and Mn concentrations (mean values of 2521 μg/g and 193 μg/g, respectively) in Dol-4 dolomites likely results from interactions of hydrothermal fluids with deep burial clastic rocks.     

武汉市2018年4—9月臭氧及其前体物非线性关系研究

近年来武汉市臭氧污染日益严峻,成为影响空气质量达标的瓶颈,弄清臭氧及其前体物非线性关系是臭氧防控的关键和基础.本研究基于武汉中心城区2018年4—9月臭氧及其前体物在线观测数据,分析出武汉市臭氧浓度受前体物和气象条件等因素的共同影响,呈较为明显的季节变化和日变化特征.观测期间武汉市大气挥发性有机物（VOCs）平均体积分数为32.5×10^-9,烷烃是武汉市VOCs的主要组分,其次是含氧VOCs （OVOCs）和卤代烃.利用基于观测的模型定量分析臭氧与前体物之间的关系,发现削减VOCs会引起臭氧生成潜势的显著下降,而削减氮氧化物则会使臭氧生成潜势升高,说明武汉市臭氧生成处于VOCs控制区.在人为源VOCs中,间/对二甲苯和邻二甲苯的相对增量反应活性（RIR）最高,是影响臭氧生成的关键组分.     

三维/三维构造下大地电磁相位张量数值模拟

当地表存在三维非均匀电导率分布时,区域大地电磁响应发生畸变. 以往对这种畸变研究多假设近地表为三维,区域构造为一维或二维. 对于更一般的三维/三维构造,为了分析并消除这种畸变影响,真实反映地下三维区域构造信息,本文实现了三维大地电磁相位张量积分方程数值算法,并研究在不同地质模型下相位张量响应. 结果表明,相位张量不仅可以反映一般三维构造信息,亦可有效反映复杂近地表构造下三维区域构造信息,而无须假设区域构造为一维或二维,证明相位张量具有较强抗近地表局部非均匀构造干扰能力,能够保持更为一般的三维区域构造信息. 为了加快正演计算,同时保持一定精度,算法采用了积分方程多网格法.     

河北保定岩溶地热结垢过程模拟及防垢对策

我国的地热发电以及部分供暖工程出现了比较严重的结垢现象,阻碍了地热能的大规模开发利用,目前地热市场急需成熟的防垢理论和工艺。地热工程的结垢现象尤以碳酸钙结垢最为普遍,为解决碳酸钙结垢问题,本文以华北保定岩溶地热井结垢为研究对象,通过理论和实验相结合的手段研究分析了垢质成分,成垢机理,结垢位置和过程以及防垢措施。研究结果表明:(1)系统降压造成的闪蒸是碳酸钙结垢的主因,液相二氧化碳逸出到气相是碳酸钙结垢的主要驱动力;(2)根据井口参数,结合质量、动量和能量守恒以及两相流压降理论,可以模拟结垢过程,确定结垢位置以及不同深度处的压力、温度、干度和二氧化碳分压等参数;(3)闪蒸造成的碳酸钙结垢,确定了闪蒸位置和闪蒸压力后,可以通过加压和加注阻垢剂的方式进行阻垢。通过模拟计算,确定了加压防垢系统所需的最低压力,通过控制系统压力可防止闪蒸,抑制二氧化碳逸出造成的结垢。设计了阻垢工艺,研制了阻垢剂加注设备,开展了井下化学阻垢实验并评价了阻垢效果,通过加注阻垢剂可有效阻止90%以上的垢生成,论证了通过加注化学阻垢剂可以有效解决碳酸钙结垢。通过上述研究,积累了从结垢原因分析,结垢位置确定,结垢过程模拟,防垢工艺和设备研发,防垢实践到阻垢效果现场评价一整套经验,可为其他地热井碳酸钙结垢问题的解决提供参考依据。     

渤海古近系东营组三角洲相油田地质特征研究

渤海古近系东营组三角洲相油田是渤海油田的主力含油层系.从构造、储层与沉积、流体和油藏等方面对渤海海域东营组三角洲相油田地质特征进行了研究,按河流三角洲和辫状河三角洲相砂岩油藏两种沉积相类型分别对储层分布特征进行了描述.在此基础上探讨了此类油田的流体分布特点和油藏模式,并认为渤海东营组三角洲相油田以中到大型为主,储层岩性大都属于高孔高渗的疏松砂岩,储层具有分布较稳定、油层厚和物性好等特点,原油以普通稠油为主,其次是中、低黏油.     

Studies of ultracompact H ii regions — II. High-resolution radio continuum and methanol maser survey

High spatial resolution radio continuum and 6.67-GHz methanol spectral line data are presented for methanol masers previously detected by Walsh et al. (1997). Methanol maser and/or radio continuum emission is found in 364 cases towards IRAS -selected regions. For those sources with methanol maser emission, relative positions have been obtained to an accuracy of typically 0.05 arcsec, with absolute positions accurate to around 1 arcsec. Maps of selected sources are provided. The intensity of the maser emission does not seem to depend on the presence of a continuum source. The coincidence of water and methanol maser positions in some regions suggests there is overlap in the requirements for methanol and water maser emission to be observable. However, there is a striking difference between the general proximity of methanol and water masers to both cometary and irregularly shaped ultracompact (UC) H  ii regions, indicating that, in other cases, there must be differing environments conducive to stimulating their emission. We show that the methanol maser is most likely present before an observable UC H  ii region is formed around a massive star and is quickly destroyed as the UC H  ii region evolves. There are 36 out of 97 maser sites that are linearly extended. The hypothesis that the maser emission is found in a circumstellar disc is not inconsistent with these 36 maser sites, but is unlikely. It cannot, however, account for all other maser sites. An alternative model which uses shocks to create the masing spots can more readily reproduce the maser spot distributions.     

Lattice dynamical system modelling of molecular clouds

Because a comprehensive microscopic treatment of interstellar molecular clouds is out of reach, an alternative approach is proposed in which most of the crucial ingredients of the problem are considered, but at some 'minimal' level of modelling. This leads to the elaboration of a lattice dynamical system , i.e. a time-dependent, spatially extended, deterministic system of macroscopic cells coupled through radiative transfer. Each cell is characterized by a small set of variables and supports a caricatural chemistry possessing the essential dynamical features of more realistic reaction schemes.   This approach naturally precludes quantitative results, but allows heretofore unavailable insights into some of the basic mechanisms at play. We focus on the response of the transfer process and the chemistry to a frozen 'turbulent' velocity field. It is shown that the system settles generically into a state where the effective coupling between cells is neither local nor global, and for which no single length-scale exists.   The spectral lines reconstructed from the spatiotemporal evolution of our model may, depending on the velocity field, exhibit profiles ranging from Gaussian to bimodal with strong realization effects. In the bimodal case, the model intrinsically displays an energy cascade transport mechanism to the cells that cool most efficiently: the feedback of chemistry on radiative transfer cannot be neglected.   Finally, extensions of this work are discussed and future developments are outlined.