A Cascade Approach for Global Trajectory Tracking Control of Underactuated AUVs

A global trajectory tracking controller is presented for underactuated AUVs with only surge force and yaw moment in the horizontal plane. A transformation is introduced to represent the tracking error system into a cascade form. The global and uniform asymptotic stabilization problem of the resulting cascade system is reduced to the stabilization problem of two subsystems by use of the cascade approach. For the stabilization of the subsystem involving the yaw moment, a control law is proposed based on the feedback linearization method. Another subsystem is stabilized by designing a fuzzy sliding mode controller which can offer a systematical means of constructing a set of shrinking-span and dilating-span membership functions. In order to demonstrate the practicability of the proposed controller, control constraints, parameter uncertainties, and external disturbances are considered according to practical situation of AUVs. Simulation results show very good tracking performance and robustness of the proposed control schemes.     

基于轨迹偏移算法的居民就医时空特征与空间格局分析

居民就医时空特征与空间格局反映了医疗设施的服务能力与布局合理性.本文以厦门岛为例,采用出租车轨迹数据,探讨了居民就医的时空特征和空间格局.论文提出了基于道路中心线的研究单元划分方法;提出OD轨迹偏移算法,更精细地提取出三级医院的就医OD数据,改善传统的缓冲区分析法中精确度较低的问题;对居民就医行为进行时空特征分析;基于...     

TRAJECTORY DIAGNOSIS OF AIR PARCELS IN HIGH-AND LOW-LEVEL JETS FOR A HEAVY RAINFALL CASE DURING MEIYU SEASON OF 1991

Trajectory diagnostic methods were used to analyze air parcels of high-and low-level jets during the heavy rainfall of 4-6 July 1991.It is found that air parcels above rainfall area travelled from the entrance of the high-level jet,passing through the jet center and reached the exit region.Upper tropospheric divergence over rainfall area resulted from decelerative motion of the jet flow.Warm and moist southwest flow converged and ascended ahead of the low-level jet.The decreasing of low-level pressure as a result of high-level divergence that caused the low-level jet became unexpectedly strong.     

中国沿海城市的气块后向轨迹分析

该文讨论了大连、青岛、上海、福州、厦门和广州６个沿海城市的气块长距离后向输送轨迹。输送层假设在１５００ｍ上，计算了１９８５年１、４、７、１０月份的轨迹，轨迹分析得出：（１）气块后向轨迹与天气形势和季节有关，且南北方有差异；（２）北方沿海城市的７２小时气块后向轨迹输送距离要比南方沿海城市远些。     

1991年梅雨期中冷空气活动的个例分析

通过对1991年7月4—6日江淮地区大暴雨过程中冷空气的轨迹分析表明，来自西北方向的冷空气造成了冷暖空气在长江流域的对峙和高原东侧50hPa槽的发展，后者又进而促使了梅雨锋上的气旋发展。     

A Trajectory-Oriented, Carriageway-Based Road Network Data Model, Part 2： Methodology

IntroductionIf let roadway entities be denoted by arcs and in-tersections be denoted by nodes, then a road net-work can be represented with node-arc model. Be-cause the designation of nodes can be determinedby arcs according to the definition of node-arc mod-el, howto designate arcs becomes the key of repre-senting a road network. As described in the firstpaper of the series, all four kinds of roadway enti-ties (i.e., streets, road segments, carriageways,and lanes) can be represented by arcs. …     

An approximate analytical solution for the deposition of heavy particles released from an elevated line source

This work re-examines and further develops an analytical solution for the deposition swath of heavy particles released in the atmosphere from an elevated source over uniform terrain, correcting the particle diffusivity for the crossing trajectory effect. The revised (approximate) analytical solution proves to be accurate within 20% over a wide range of micrometeorological conditions and particle size, despite its neglect of the turbulence component of the deposition flux. It compares very satisfactorily with experimental data and with the simulations of a Lagrangian stochastic model, provided the variable U(H)/w _g ≤7 (ratio of the mean horizontal wind speed at source height to the particle settling velocity). In this domain of validity, simple formulae relating the statistics of the deposition swath to U(H)/w _g are derived.     

半拉格朗日方法在全球原始方程模式中的实现

简单介绍了半拉格朗日平流方案的基本概念,并详细总结了基估全球原始方程模式,特别是在ＩＦＳ的具体实现过程,拉格朗日平流的观点是着流体质点看流体运动,基贩关键是流体轨迹的计算。轨迹中点和起始点水平坐标的示得可以利用球面三角,直接在球极坐标中进行,并采用一些较高的近似。为了充分获得半拉格朗日方案析益处,在起始点的内插能工巧匠春阶数至少应在四阶以上,为避免昂贵的三维三次内插,可以采用三维“准三次”内插 。     

Modelling of sediment movement in the surf and swash zones

Under the action of marine currents, non-cohesive sediments evolve by bed-load, by saltation or suspension depending on their granulometry. Several authors have considered that the movement of sediment...     

南京市降水化学特征及其来源研究

为了解南京江北地区降水化学特征,分析了2011年3—6月共25个降水日的109个降水样品中的主要水溶性离子,并利用后向轨迹模式探讨了降水气团来源.结果表明:1)南京地区3—6月降水主要受南、北2种气团影响,北方气团降水的主要离子浓度高于南方气团降水.2)海盐示踪法和相关性分析显示,降水中NO₃^-和SO₄^2-主要来自燃煤、工业排放和汽车尾气;Ca²⁺主要来自地壳源;Cl^-主要来自海洋;海洋源和陆源对Mg²⁺和K⁺都有贡献,Mg²⁺的陆源贡献大于海洋源贡献,K⁺受海洋源的影响程度要低于Mg²⁺.3)南、北气团初期降水的各离子浓度高于总降水的各离子浓度,且初期降水的主要离子的富集系数高于总降水.这说明在降水初始阶段,雨水对南京大气中污染物(气态污染物和颗粒物)的云下冲刷去除作用较强,降水的离子浓度最高,局地源对降水离子的贡献较明显.