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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. 相似文献
183.
Very high-frequency marine multichannel seismic reflection data generated by small-volume air- or waterguns allow detailed, high-resolution studies of sedimentary structures of the order of one to few metres wavelength. The high-frequency content, however, requires (1) a very exact knowledge of the source and receiver positions, and (2) the development of data processing methods which take this exact geometry into account. Static corrections are crucial for the quality of very high-frequency stacked data because static shifts caused by variations of the source and streamer depths are of the order of half to one dominant wavelength, so that they can lead to destructive interference during stacking of CDP sorted traces. As common surface-consistent residual static correction methods developed for land seismic data require fixed shot and receiver locations two simple and fast techniques have been developed for marine seismic data with moving sources and receivers to correct such static shifts. The first method – called CDP static correction method – is based on a simultaneous recording of Parasound sediment echosounder and multichannel seismic reflection data. It compares the depth information derived from the first arrivals of both data sets to calculate static correction time shifts for each seismic channel relative to the Parasound water depths. The second method – called average static correction method – utilises the fact that the streamer depth is mainly controlled by bird units, which keep the streamer in a predefined depth at certain increments but do not prevent the streamer from being slightly buoyant in-between. In case of calm weather conditions these streamer bendings mainly contribute to the overall static time shifts, whereas depth variations of the source are negligible. Hence, mean static correction time shifts are calculated for each channel by averaging the depth values determined at each geophone group position for several subsequent shots. Application of both methods to data of a high-resolution seismic survey of channel-levee systems on the Bengal Fan shows that the quality of the stacked section can be improved significantly compared to stacking results achieved without preceding static corrections. The optimised records show sedimentary features in great detail, that are not visible without static corrections. Limitations only result from the sea floor topography. The CDP static correction method generally provides more coherent reflections than the average static correction method but can only be applied in areas with rather flat sea floor, where no diffraction hyperbolae occur. In contrast, the average static correction method can also be used in regions with rough morphology, but the coherency of reflections is slightly reduced compared to the results of the CDP static correction method. 相似文献
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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。 相似文献
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张训华 《海洋地质与第四纪地质》1994,14(4):95-100
本文简要介绍了局控项目《中国海区1∶50万区域地质编图(大连幅)》重力异常图、磁力异常图的编制过程,给出了一种以计算机为手段、实现编图自动化的新方法,并分析了该方法与以往编图方法的不同和优点,以国际分幅在中国海区开展区域地质编图尚属首次,在既无海区地质调查规范,又无海区地质调查编图规范的情况下,这一工作无异具有开创性。从理论上系统总结出一套切实可行的编图方法,对于编制中国海区区域地质调查编图规范以 相似文献
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凡纳滨对虾咸淡水养殖系统内细菌群落组成的PCR-DGGE分析 总被引:16,自引:0,他引:16
采用PCR(polym erase chain reaction)-DGGE(denaturing grad ient gel electrophoresis)及传统的微生物培养方法对凡纳滨对虾Litopenaeus vannam ei咸淡水养殖系统内各种环境的细菌群落组成进行了比较研究。传统的微生物培养计数表明,从海湾水、养殖池水到对虾粪样,细菌和弧菌的数量表现出依次增加的趋势,粪样及肠壁中弧菌的数量高出外界水环境1—4个数量级。相对于外界水环境,粪样中有很高的芽孢杆菌孢子含量,但是肠壁定植细菌中不存在芽孢杆菌(孢子)。PCR-DGGE及聚类分析结果表明,从海湾沿岸、养殖池、对虾粪便到对虾肠壁,细菌群落的多样性由高到低,无论是在哪种环境,群落的优势种都十分明显,且只有2—4种。来自同一环境各样品间的细菌群落组成非常相似,来自不同环境的样品,其细菌群落组成差别较大。聚类图上各簇的排列顺序反映了样品在取样空间分布上的毗邻次序和它们的相似程度。 相似文献
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