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101.
102.
Unmanned Underwater Vehicles (UUVs) are increasingly being used in advanced applications that require them to operate in tandem with human divers and around underwater infrastructure and other vehicles. These applications require precise control of the UUVs which is challenging due to the non-linear and time varying nature of the hydrodynamic forces, presence of external disturbances, uncertainties and unexpected changes that can occur within the UUV’s operating environment. Adaptive control has been identified as a promising solution to achieve desired control within such dynamic environments. Nevertheless, adaptive control in its basic form, such as Model Reference Adaptive Control (MRAC) has a trade-off between the adaptation rate and transient performance. Even though, higher adaptation rates produce better performance they can lead to instabilities and actuator fatigue due to high frequency oscillations in the control signal. Command Governor Adaptive Control (CGAC) is a possible solution to achieve better transient performance at low adaptation rates. In this study CGAC has been experimentally validated for depth control of a UUV, which is a unique challenge due to the unavailability of full state measurement and a greater thrust requirement. These in turn leads to additional noise from state estimation, time-delays from input noise filters, higher energy expenditure and susceptibility to saturation. Experimental results show that CGAC is more robust against noise and time-delays and has lower energy expenditure and thruster saturation. In addition, CGAC offers better tracking, disturbance rejection and tolerance to partial thruster failure compared to the MRAC. 相似文献
103.
本文利用电子探针对南海西沙群岛琛航岛珊瑚礁底部火山碎屑岩中的单斜辉石矿物的化学特征进行了研究。结果表明,该单斜辉石属于富钙透辉石,部分有正环带结构,从核部到边部Ca、Fe、Ti的含量逐渐增加,是岩浆正常结晶顺序的反映,说明该区域的岩浆演化是向着富Ca、Fe、Ti方向发展的。主量元素数据显示,单斜辉石具有低Si高Al的特征(SiO2=41.40%~48.44%,Al2O3=5.54%~10.20%),且AlⅣ含量较高,说明母岩浆为不饱和碱性岩浆系列;此外,单斜辉石Ca含量偏高,Ca/(Ca+Mg+Fe)值在46.1%~51.4%之间,推测是母岩浆的高Ca含量导致了大量高钙辉石的产出。结合西沙海域的地震和构造资料,推测琛航岛珊瑚礁的基底是玄武质火山碎屑岩组成的平顶状海山,系岩浆穿过断裂发育的岩石圈层在西沙群岛的海底喷发,随后火山碎屑物质经过堆积、固结作用而形成;该火山碎屑岩的原岩为板内碱性玄武岩。 相似文献
104.
造山型金矿床指造山过程中形成的后生脉状金矿床,受构造、建造双重控制,是全球最重要的金矿勘查类型。按容矿岩石建造的不同,造山型金矿可分为绿岩带型(包括绿片岩型、BIF型和花岗- 片麻岩型3个亚类型)、浊积岩型、碳酸盐岩型和浅成侵入岩型,构成了造山型金矿床完整的成矿谱系。不同类型之间具有紧密的时空和成因联系,可互为找矿标志。绿岩组合和浊积岩系具有高的金丰度,既是容矿岩系,也是重要的矿源层,多类型造山作用驱动大规模区域性流体活动,造就了造山型金矿省/巨型成矿带,岩浆流体叠加和“热机效应”是形成超大型金矿床的重要因素。构建了多源区域性流体+岩浆流体叠加的地壳连续成矿模型和造山型金矿区域成矿模式,强调了多旋回造山作用对造山型金矿的成矿意义。“富金矿源层+剪切变形带+浅成侵入岩”组合是大型金矿系统的勘查选区标志,靶区优选的目标是获取找矿潜力大的优质矿权;矿权区勘查的优先目标是发现可规模化露天开采的矿床(体),通过化探异常评价和浅钻追索次生富集带,可快速发现主矿体;矿区深部找矿(深度>300 m)潜力巨大,主攻目标是资源量大、品位高的热液通道相的厚板状或筒状矿体。 相似文献
105.
利用微波辐射计、激光测风雷达、多普勒雷达、相控阵雷达等新型探测资料、地面加密观测资料、ERA5再分析及多模式数值预报结果对2022年4月24日西安城区一次弱降水预报出现明显失误的原因进行分析,结果表明:(1)全球数值预报模式和中尺度数值预报模式对本次过程西安城区均报有明显降水,主要原因为模式对低层相对湿度预报明显偏大;(2)多种新型探测数据分析认为近地层湿度条件较差及中层的绝对水汽含量低,中层的干暖空气不利于成云致雨,垂直上升运动不强,且由于低层非常干燥,使水滴在下沉过程中蒸发,从而无法形成雨滴下落,这些原因共同造成西安城区无降水,低层相对湿度预报偏大是造成这次西安城区降水预报失误的主要原因之一;(3)造成西安城区近地层湿度条件差的原因是城市干热岛效应和低层干暖平流输送,且降水云团翻越秦岭后其湿空气绝热下沉至城区后出现增温降湿,使得城区形成较为深厚的干层,即使有雨滴在下落过程中也会造成更强的蒸发,这也是城区没有降水的重要原因之一;(4)预报员主观预报订正出现空报主要是源于对边界层水汽、抬升条件等关键降水要素缺乏订正能力,且对大城市的干热岛效应和秦岭山区地形影响研究不足。 相似文献
106.
A modified Rankine source panel method is presented for solving a linearized free-surface flow problem with respect to the double-body potential. The method of solution is based on the distribution of Rankine sources on the hull as well as its image and on the free surface. An iterative algorithm is used for determining the free surface and wave resistance using upstream finite difference operator. A verification of numerical modeling is made using the Wigley hull and the validity of the computer program is examined by comparing the details of wave profiles and wave making resistance with Series 60 model. 相似文献
107.
Fernando J. Mndez Melisa Menndez Alberto Luceo Raúl Medina Nicholas E. Graham 《Ocean Engineering》2008,35(1):131-138
This paper presents a statistical model to characterize the long-term extreme value distribution of significant wave height, conditioning to the duration of the storm and accounting for seasonality. A time-dependent version of the peak over threshold (POT) approach is used to build the model, which is then applied to specific reanalysis time series and NOAA buoy records. The model considers the annual and semiannual cycles which are parameterized in terms of harmonic functions. The inclusion of seasonal variabilities substantially reduces the residuals of the fitted model. The information obtained in this study can be useful to design maritime works, because (a) the model improves the understanding of the variability of extreme wave climate along a year and (b) the model accounts for the duration of the storm, which is a key parameter in several formulations for rubble mound breakwater design. 相似文献
108.
Based on a synthesis of zircon inheritance from Mesozoic igneous rocks in the eastern portion of the North China Craton (NCC) , it is proposed that inherited zircons with Neoproterozoie ages identified from these rocks are of a heterogenous derivation from the Yangtze/South China block, rather than from the NCC itself. The mechanism that introduces these zircons incorporated into the NCC is likely by tectonic underplating during the Triassic continental subduction of the Yangtze block beneath the NCC. Tectonic addition of abundant crustal materials represented by the heterogenous zircons into the NCC, probably along Moho or weak interfaces within the NCC's crust, led to the crustal thickening in the NCC. These heterogenous materials, either as (partial) source rocks or as contaminants of the magmas generated during an extension environment following the crustal thickening, were reworked and therefore have significant contribution to petrogenesis of the Mesozoic igneous rocks. The crustal thickening resulted from the tectonic underplating, as indicated by the distribution extent of the heterogenous zircons, is spatially similar to that of the lithospheric thinning, with both mainly occurring in the eastern segment of the NCC. This is probably suggestive of an intrinsic relation between the thickening and thinning events during the Mesozoic evolution of the NCC. 相似文献
109.
皖北奥陶系碳酸盐岩稀土元素地球化学特征及其古岩溶意义 总被引:1,自引:0,他引:1
依据安徽北部刘桥二矿奥陶系碳酸盐岩隐伏剖面 (下奥陶统顶部 ) 17个碳酸盐岩样品的稀土元素 (15个项目 )的测试资料 ,针对不同岩性 ,分类阐述了它们的REE总量和配分模式、LREE和HREE、δEu和δCe的地球化学特征及其剖面变化特点。在此基础上 ,详细讨论了碳酸盐岩稀土地球化学特征成因机理与古岩溶发育环境的关系 ,为在岩溶岩地球化学特征与其形成环境及溶蚀程度间建立定量识别标准提供了依据。 相似文献
110.
北淮阳金寨—苏仙石地区中生代花岗岩的成因类型及岩浆演化特征 总被引:1,自引:1,他引:1
摘 要 北淮阳金寨—苏仙石地区中生代侵入岩出露面积约150km 2 按岩石谱系单位的划
分原则可分为3个超单元(包括10个单元)和3个独立单元。根据主要造岩矿物及副矿物组
合、岩石化学和地球化学特征判别结果岩体成因类型以 I 型为主少数为 A 型和 S 型。岩
浆来源约30km 深处相当于下地壳或壳幔过渡部位。岩体形成深度约3~4km压力约0∙1
~0∙2GPa。形成温度约866~1150℃氧逸度 log f O
2 平均为—10∙97。进一步讨论了岩浆的
水逸度、水压及岩浆密度、岩浆演化和侵入岩与火山岩的成因关系。 相似文献