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。     

Responses of a Mediterranean soft bottom community to short-term (1993-1996) hydrological changes in the Rhone river

The polychaete fauna of muddy bottoms off the Rhone delta (NW Mediterranean) was seasonally sampled at two sites at 70 m depth, from 1993 to 1996. During this period, five severe flood events occurred. A clustering analysis (distance coefficient of Whittaker) and three way fixed factor ANOVAs (site x season x year) showed strong year-to-year changes in species density and community structure, changes that masked seasonal variations. Total density increased by a factor of 3 and density of most species significantly increased following the first flooding event. Changes in the community structure were due to the successive dominance of a few species. The opportunistic species, such as Cossura sp., Mediomastus sp. and Polycirrus sp., exhibited peaks in density 1-3 months after the flood. These peaks were followed by a drastic decline. For species with a long life span, such as Sternaspis scutata, a slower but continuous increase in density was observed which was maintained for several months. The density fluctuations of these species exhibited a good correlation with river flow with time lags of 1-2 years. The successional dynamics observed are explained according to the geographical origin of the floods and the biology and feeding ecology of species.     

Marine tether dynamics: retrieval and deployment from a heaving platform

A tether management system of a winch module in a marine environment is proposed. For the purpose of this study the subsea body is considered as a mass attached at the free end of a long tether which is wrapped around a circular drum controlled by an external torque. The winch is considered mounted on a heaving platform. The effect of the heaving platform on the motions of the drum, tether and attached mass are studied with respect to the longitudinal vibrations of the tether in one dimension. The hydrodynamic effects are considered on the deployed portion of the tether and the tethered mass, both of which are assumed submerged in otherwise still water. The resulting nonlinear system of equations of motion is developed and solved numerically for an example of a marine tether system. The effect of the tether extensibility on the operation threshold of the system is identified. Comparison with an inextensible tether case is provided. The numerical results and their analysis for the retrieval/deployment of the system are presented.     

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.     

水下滑翔器的运动建模与分析

介绍了水下滑翔器的工作机理，对其沉浮阶段的滑翔过程进行了动力学分析，推导了滑翔器在垂直剖面上的动力学方程。论文深入分析了水下滑翔器稳态时的运动规律，以水下滑翔器试验模型为例，推导了其稳态运动参数，通过线性化与适当的简化，得到模型在垂直剖面上的运动状态方程，讨论了系统的可控性与可观测性，为水下滑翔器系统的开发设计和控制提供了理论依据，具有重要的指导意义。     

Comparison of the biology, dynamics, and secondary production of Talorchestia brito (Amphipoda, Talitridae) in Atlantic (Portugal) and Mediterranean (Tunisia) populations

The biology, population dynamics, and production of Talorchestia brito were studied at two sandy beaches located on the Atlantic (Portugal) and on the Mediterranean (Tunisia) coasts, respectively. The seasonal variation in abundance and the overall densities were similar in both populations. Reproduction occurred from February to September in the Atlantic, and from March to early November in the Mediterranean. The sex ratio was male biased in the Atlantic, and female biased in the Mediterranean. Based on data from the Atlantic population, both abundance and the proportion of reproductive females were positively correlated with temperature, while the proportion of juveniles in the population was positively correlated with temperature and sediment moisture. On average, individuals from the Atlantic were larger than the ones from the Mediterranean. Life span was estimated at six to nine months in the Atlantic, and five to eight months in the Mediterranean. Talorchestia brito was shown to be a semiannual species, with iteroparous females producing two broods per year, and exhibited a bivoltine life cycle. The minimum age required for males' and females' sexual differentiation and for female sexual maturation was shorter in the Mediterranean. Growth production (P) was estimated at 0.19 g m⁻² y⁻¹ ash free dry weight (AFDW; 4.3 kJ m⁻² y⁻¹) in the Atlantic population, and 0.217 g m⁻² y⁻¹ AFDW (4.9 kJ m⁻² y⁻¹) in the Mediterranean one. Elimination production (E) was estimated at 0.35 g m⁻² y⁻¹ AFDW (7.9 kJ m⁻² y⁻¹) in the Atlantic, and 0.28 g m⁻² y⁻¹ AFDW (6.3 kJ m⁻² y⁻¹) in the Mediterranean. The average annual biomass ( ) (standing stock) was estimated at 0.032 g m⁻² in the Atlantic beach, and 0.029 g m⁻² in the Mediterranean one, resulting, respectively, in ratios of 5.9 and 7.5 and ratios of 10.8 and 9.6. Like other talitrids, T. brito exhibited geographic variation in morphometrical characteristics, sex ratio, growth rates, life span, and reproduction period, with the Atlantic population presenting a slower life history.