A hierarchical real-time control architecture for a semi-autonomous underwater vehicle

This paper describes a real-time control architecture for Dual Use Semi-Autonomous Underwater Vehicle (DUSAUV), which has been developed at Korea Research Institute of Ships and Ocean Engineering (KRISO) for being a test-bed of development of underwater navigation and manipulator technologies. DUSAUV has three built-in computers, seven thrusters for six DOF motion control, one 4-function electric manipulator, one ballasting motor, built-in power source, and various sensors. A supervisor control system with GUI and a multi-purpose joystick is mounted on the surface vessel and communicates with vehicle through a fiber optic link. Furthermore, QNX, one of real-time operating system, is ported on the built-in control and navigation computers for real-time control purpose, while Microsoft OS product is ported in the supervisor computer for GUI programming convenience. A hierarchical control architecture, which consists of application layer, real-time layer and physical layer, has been developed for efficient control system of above complex underwater robotic system. The experimental results with implementation of the layered control architecture for various motion control of DUSAUV in an ocean engineering basin of KRISO is also presented.     

一类全局最优化问题的动态隧道方法

研究了连续变量函数的全局最优化问题 ,给出了动态隧道方法。该动态隧道方法由局部搜索和动态隧道 2个阶段构成。在局部搜索阶段用了动态系统方法。对全局最优化问题的实例进行了数值实验 ,数值结果表明了该方法的稳健性和有效性。     

三对角系统的最佳向后扰动分析

用一种新方法研究了三对角方程组及对称三对角方程组计算解的最佳向后扰动分析。由于这两类方程组的系数矩阵具有特殊结构 ,因而本文结果不能从已有结果直接导出。所用方法亦可用于研究 KKT及 SQD等结构线性系统的最佳向后扰动分析。     

海洋环境数据业务化处理与应用原型系统

简单介绍了原型系统的概念,并重点介绍了在原型开发模式下,建立的海洋环境数据业务化处理原型系统的数据处理流程、总体结构和主要功能。     

Rejection of Intracoelomic Invading Material by Leptosynapta inhaerens (Echinodermata: Holothuroida): A Process of Ecological Significance?

Abstract. The synaptid holothuroid Leptosynapta inhaerens has the ability to expel unwanted particles that enter its body cavity. Intracoelomic particles ( viz. experimentally injected carmine particles) are trapped either by a coelom-produced mucoid net or by specialized organs (the vibratile urnae) that occur in bands in some interradial areas. Whatever the trapping method, particles are incorporated into dense mucoid masses that move towards the posterior part of the body cavity, in the vicinity of the rectum. These aggregates then cross the rectal wall through rectal pores, mix with the faeces, and are eventually incorporated into the wall of the synaptid burrow. Clearance of foreign particles requires 2 to 3 days. The coelom-cleaning system of synaptids appears to be the most effective within the class Holothuroidea , being well designed for endofaunal organisms whose walls are delicate and easily rupture.     

郯庐断裂带的断裂活动对渤海东部中、新生代裂谷盆地发育的控制作用

郯庐断裂带自南而北穿越渤海东部,自中生代中期至新生代中期表现裂谷发育特征。裂谷发育经历两个旋回,各旋回的裂谷发育演化、盆地分布格局,沉积相带,沉积补偿速度等均受断裂带的断裂活动的强烈控制。     

台风预报系统

本文介绍的是一项在微机上实现的台风预报专家系统。该系统可进行台风气候查询、台风路径检索、台风特例查询，并能利用相似加权法制作出１２－７２小时台风路径和中心强度预报，对异常路径台风也可提供一定的诊断预报判据。本系统已在军内外一些气象业务单位得到应用，实践证明它是一种简便有效的台风预报工具。     

红河断裂构造带在东南亚的延伸特征及其大地构造意义

根据地质、地貌及地球物理资料分析,探讨展布于云南边陲哀牢山两侧的北西向断裂组成的红河断裂构造带,在东南亚的延伸特征。提出在该延伸带两侧沉积建造、构造活动,地球物理场和大地构造发展上均有显著差异。并进一步探讨该断裂构造带在大地构造上的意义。